Parking hall for parking robot and vehicle position straightening method

Abstract

The invention belongs to the technical field of intelligent parking, and provides a parking hall for a parking robot and a vehicle position straightening method. The parking hall for the parking robot comprises a parking plate, a centering mechanism and a lifting auxiliary mechanism. The parking plate is a rectangular flat plate and used for parking vehicles, and a plurality of auxiliary holes are formed in the four positions, corresponding to wheels, of the parking plate. The two centering mechanisms are symmetrically arranged above the two sides of the parking plate in parallel and are used for extruding a vehicle or a wheel so that the vehicle or the wheel can be straightened; the four lifting auxiliary mechanisms are arranged below the parking plate, a plurality of bull-eye universal wheels are fixedly installed at the top end of each lifting auxiliary mechanism, and each bull-eye universal wheel can be matched with one auxiliary hole so that the bull-eye universal wheel can protrude out of the surface of the parking plate. Sliding friction is changed into rolling friction through the bull-eye universal wheels, thrust needed by the centering mechanism for straightening a vehicle is greatly reduced, and straightening efficiency is improved. The device is simple in structure, convenient to operate, applicable to various parking robots, low in cost and convenient to popularize.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent parking and relates to a parking hall, in particular to a parking hall for a parking robot. Background Art

[0002] With the development of science and technology, the number of vehicles in the car market is increasing, and parking spaces are becoming increasingly tight. As a result, the intelligent garage industry has developed rapidly, such as large-scale automatic mechanical garages and intelligent parking robots. Among them, parking robots have been widely used because of their simple structure and convenient operation. They can be used in the original ground parking lot or underground parking lot with simple reconstruction. When the parking robot lifts the vehicle parked in the parking hall, it is required to align the vehicle and the wheels cannot deflect, otherwise the vehicle may not be lifted off the ground or the vehicle may slide off the parking robot. At present, some parking halls use a limit structure that limits the parking position of the vehicle to achieve the purpose of aligning the vehicle, but this increases the difficulty of the driver's operation, and some drivers are inexperienced and cannot accurately enter the parking board; there are also direct extrusion methods to forcefully push the vehicle and its wheels, but this may cause tire wear, and the thrust required due to the large sliding friction is also strong; some parking boards are equipped with active or passive rollers, but this makes it difficult for the vehicle to drive or stop steadily, and the cost of adding this structure to each parking board is also high. Summary of the invention

[0003] In view of the above-mentioned technical problems in the prior art, one of the objects of the present invention is to provide a parking hall for a parking robot, in which the bull's-eye universal wheels are cleverly combined with a lifting mechanism on the parking spaces, and through holes are opened on the parking plates. While converting the sliding friction into rolling friction, there is no need to add other mechanisms to each parking plate, thereby reducing the cost and solving the problem that some drivers have difficulty in driving their vehicles onto the parking plates.

[0004] Another object of the present invention is to provide a method for adjusting the position of a vehicle in a parking hall for the parking robot.

[0005] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is:

[0006] A parking hall for a parking robot, the parking hall comprising a parking plate, a centering mechanism and a lifting auxiliary mechanism. The parking plate is a rectangular flat plate used for parking vehicles, and is provided with a plurality of auxiliary holes at four positions corresponding to wheels. Two centering mechanisms are arranged parallel and symmetrically above both sides of the parking plate, and are used to squeeze the vehicle or wheel to make it straight. Four lifting auxiliary mechanisms are respectively arranged below the parking plate, and a plurality of bull's eye universal wheels are fixedly installed on the top of each lifting auxiliary mechanism, and each of the bull's eye universal wheels can cooperate with an auxiliary hole to make it protrude from the surface of the parking plate.

[0007] In a further technical solution, the centering mechanism includes a long rod parallel to the length direction of the parking plate, two push rods perpendicular to the long rod and extending outward horizontally, and centering drivers respectively connected to the two push rods. All the centering drivers are activated at the same time, which can push or pull back the push rods and further push or pull back the long rods. When the two centering mechanisms push the long rods at the same time, the vehicle or wheel can be squeezed to make it straight.

[0008] In a further technical solution, the centering driver is installed on a centering driver fixing plate, and the centering driver fixing plate is fixedly installed on the ground.

[0009] In a further technical solution, the lifting auxiliary mechanism includes a top plate, a plurality of bull's eye universal wheels fixedly mounted on the top plate, and a lifting drive vertically arranged directly below the top plate. Starting the lifting drive can raise or lower the position of the top plate, and further raise or lower the position of the bull's eye universal wheels. When all the lifting drives are raised at the same time, the bull's eye universal wheels pass through the auxiliary holes of the parking plate and can contact the wheels of the vehicle. When the centering mechanism is centered, the sliding friction between the wheel and the parking plate is converted into rolling friction between the wheel and the bull's eye universal wheels, making it easier for the vehicle or wheel to be pushed, and reducing the power required for centering.

[0010] In a further technical solution, the lifting drive is installed on a lifting drive fixing plate, and the lifting drive fixing plate is fixedly installed on the ground.

[0011] The centering drive and lifting drive may be a cylinder, a telescopic motor, etc.

[0012] In a further technical solution, the parking hall for the parking robot can be applied to a lifting plate parking robot or a telescopic clamping parking robot. The lifting plate parking robot can enter under the parking plate, lift the parking plate and / or the vehicle parked on the parking plate, transport it, and place it at a predetermined position. The telescopic clamping parking robot can enter under the vehicle from the front or rear, and use a clamping mechanism to clamp the wheels, thereby lifting, transporting, and placing the vehicle at a predetermined position.

[0013] In a further technical solution, if the parking robot is a lift-plate parking robot, vertical legs are provided at the four corners of the parking plate, the top surface of the lowered lifting auxiliary mechanism is at the same height as the plane where the lift-plate parking robot is located, the lift-plate parking robot enters and exits from one end below the parking plate, and the other end of the parking plate is provided with a slope for vehicles to travel or a step of the same height as the parking plate. Each parking space in the corresponding parking lot or garage requires a parking plate.

[0014] In a further technical solution, the parking robot is a lift-plate parking robot, and horizontal legs are provided at the four corners of the parking plate, and the top surface of the lowered lifting auxiliary mechanism is at the same height as the plane where the lift-plate parking robot is located, and the lift-plate parking robot enters and exits from one end below the parking plate, and the other three sides of the parking plate are provided with steps of the same height as the parking plate. Each parking space in the corresponding parking lot or garage requires a parking plate.

[0015] In a further technical solution, the parking robot is a telescopic clamping parking robot, and the top surface of the parking plate is at the same height as the ground, so there is no need to equip other parking spaces in the parking lot or garage with parking plates.

[0016] The present invention also provides a method for correcting the position of a vehicle in the parking hall for the parking robot, the method comprising the following contents:

[0017] (1) After the vehicle is parked on the parking board, the auxiliary lifting device is controlled to rise until the bull's eye universal wheel protrudes from the top surface of the parking board;

[0018] (2) Controlling the centering mechanism to push the long rod and squeeze the vehicle or wheel until the thrust reaches a preset threshold and then stops pushing the long rod;

[0019] (3) controlling the lifting auxiliary mechanism to descend to a preset lowest position;

[0020] (4) Control the centering mechanism to retract the long rod.

[0021] In a further technical solution, the method further includes step (5), collecting real-time images through a camera, and determining whether the vehicle has been aligned through image analysis; if the vehicle has been aligned, then terminating the vehicle alignment process; if the vehicle has not been aligned, repeating (1)-(5) until the vehicle is aligned.

[0022] After confirming that the vehicle has been successfully aligned through the above-mentioned vehicle alignment method, the parking robot can be controlled to move the vehicle to the designated parking space.

[0023] The present invention has the following beneficial effects:

[0024] 1. The parking robot parking hall uses a bull's eye universal wheel to convert the sliding friction between the wheel and the parking plate into the rolling friction between the wheel and the bull's eye universal wheel, which greatly reduces the thrust required by the centering mechanism when aligning the vehicle or wheel, improves the alignment efficiency, and avoids the problem of vehicle damage.

[0025] 2. The bull's eye universal wheel is not directly installed on the parking board, but is installed on the top of the lifting auxiliary mechanism, and a through hole is set on the parking board; it contacts the vehicle only when the lifting auxiliary mechanism is raised to protrude from the top surface of the parking board, and when the lifting auxiliary mechanism is lowered, the bull's eye universal wheel no longer contacts the vehicle. In this way, the bull's eye universal wheel contacts the vehicle only when needed, and does not contact the vehicle at other times, which can avoid the situation that the vehicle cannot be driven onto the parking board, the risk of the vehicle slipping when the lifting parking robot is transporting it, and the high cost of installing each parking board.

[0026] 3. The centering mechanism is used to align the vehicle, which does not require high driving skills from the driver and provides a good user experience.

[0027] 4. The present invention has a simple structure, is easy to operate, can be applied to a variety of parking robots, has low cost, and is easy to promote. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of the structure of a parking hall for a parking robot in an embodiment of the present invention;

[0029] Figure 2 It is a schematic diagram of the structure of the lifting auxiliary mechanism of the parking hall for the parking robot in the embodiment of the present invention;

[0030] Figure 3 Schematic diagram of the structure of the lifting auxiliary mechanism of the parking hall for the parking robot in the embodiment of the present invention;

[0031] Figure 4 A schematic diagram of the structure of a parking board for a parking robot in an embodiment of the present invention;

[0032] Figure 5 A schematic diagram of the structure of another parking board in a parking hall for a parking robot according to an embodiment of the present invention;

[0033] Among them, 1 is a parking plate, 2 is a centering mechanism, 3 is a lifting auxiliary mechanism, 4 is an auxiliary hole, 5 is a bull's eye universal wheel, 6 is a long rod, 7 is a push rod, 8 is a top plate, 9 is a vertical support leg, and 10 is a horizontal support leg. DETAILED DESCRIPTION

[0034] In order to more clearly illustrate the technical solution of the present invention, the following will be described in conjunction with specific embodiments and drawings. Obviously, the embodiments described below are only some embodiments of the present invention. For ordinary technicians in this field, other examples can be obtained based on these embodiments without paying creative work.

[0035] Example

[0036] The present embodiment relates to a parking hall for a parking robot and a method for adjusting the position of a vehicle.

[0037] like Figure 1 As shown, the parking hall for the parking robot includes a parking plate 1, a centering mechanism 2 and a lifting auxiliary mechanism 3. The parking plate 1 is a rectangular flat plate used for parking vehicles, and is provided with a plurality of auxiliary holes 4 at four positions corresponding to the wheels. Two centering mechanisms 2 are arranged parallel and symmetrically above both sides of the parking plate 1, and are used to squeeze the vehicle or wheel to make it straight. Four lifting auxiliary mechanisms 3 are respectively arranged below the parking plate 1, and a plurality of bull's eye universal wheels 5 are fixedly installed on the top of each lifting auxiliary mechanism 3, and each of the bull's eye universal wheels 5 can cooperate with an auxiliary hole 4 to make it protrude from the surface of the parking plate 1.

[0038] The centering mechanism 2 includes a long rod 6 parallel to the length direction of the parking plate 1, two push rods 7 perpendicular to the long rod 6 and extending outward horizontally, and centering drivers respectively connected to the two push rods 7. All the centering drivers are started at the same time, which can push or pull back the push rods 7 and further push or pull back the long rod 6. When the two centering mechanisms 2 push the long rod 6 at the same time, the vehicle or wheel can be squeezed to make it straight. The centering driver is a cylinder installed on the centering driver fixing plate, and the centering driver fixing plate is fixedly installed on the ground.

[0039] like Figure 3 As shown in FIG. 1 , the lifting auxiliary mechanism 3 includes a top plate 8, a plurality of bull's eye universal wheels 5 fixedly mounted on the top plate 8, and a lifting drive vertically arranged directly below the top plate 8. Starting the lifting drive can raise or lower the position of the top plate 8, and further raise or lower the position of the bull's eye universal wheels 5. When all the lifting drives are raised at the same time, as shown in FIG. Figure 2 As shown, the bull's eye universal wheel 5 passes through the auxiliary hole 4 of the parking plate 1 and can contact the wheel of the vehicle. When the centering mechanism 2 is centered, the sliding friction between the wheel and the parking plate 1 is converted into rolling friction between the wheel and the bull's eye universal wheel 5, making it easier to push the vehicle or wheel, reducing the power required for centering. The lifting drive is installed on the lifting drive fixing plate, the lifting drive is a cylinder, and the fixing plate is fixedly installed on the ground.

[0040] The parking hall for the parking robot in this embodiment is suitable for a lift-plate parking robot, and the top surface of the lowered lifting auxiliary mechanism 3 is at the same height as the plane where the lift-plate parking robot is located, and the lift-plate parking robot enters and exits from one end below the parking board. Each parking space in the corresponding parking lot or garage requires a parking board.

[0041] In one of the parking lots, Figure 4As shown, the four corners of the parking board 1 are provided with vertical legs 9, and the other end of the parking board 1 is provided with a slope for vehicles to travel or a step of the same height as the parking board. Figure 5 As shown, horizontal feet 10 are provided at the four corners of the parking board 1, and steps of the same height as the parking board are provided on the other three sides of the parking board.

[0042] This embodiment also relates to a method for correcting the position of a vehicle based on the parking hall for the parking robot, and the method includes the following contents:

[0043] (1) After the vehicle is parked on the parking board, the auxiliary lifting device is controlled to rise until the bull's eye universal wheel protrudes from the top surface of the parking board;

[0044] (2) Controlling the centering mechanism to push the long rod and squeeze the vehicle or wheel until the thrust reaches a preset threshold and then stops pushing the long rod;

[0045] (3) controlling the lifting auxiliary mechanism to descend to a preset lowest position;

[0046] (4) Control the centering mechanism to retract the long rod.

[0047] (5) The real-time image is collected by the camera, and the image is analyzed to determine whether the vehicle has been aligned. If the vehicle has been aligned, the vehicle alignment process is terminated. If the vehicle has not been aligned, steps (1) to (5) are repeated until the vehicle is aligned.

[0048] After confirming that the vehicle has been successfully aligned through the above-mentioned vehicle alignment method, the parking robot can be controlled to move the vehicle to the designated parking space.

Claims

1. A parking hall for a parking robot, characterized in that: The parking hall includes a parking plate, a centering mechanism and a lifting auxiliary mechanism; the parking plate is a rectangular flat plate used for parking vehicles, and is provided with a plurality of auxiliary holes at four positions corresponding to the wheels; Two centering mechanisms are arranged in parallel and symmetrically above both sides of the parking board, and are used to squeeze the vehicle or wheel to make it straight; four lifting auxiliary mechanisms are arranged below the parking board, and a number of bull's eye universal wheels are fixedly installed on the top of each lifting auxiliary mechanism. Each of the bull's eye universal wheels can cooperate with an auxiliary hole to make it protrude from the surface of the parking board.

2. The parking hall for a parking robot according to claim 1, characterized in that: The centering mechanism comprises a long rod parallel to the length direction of the parking plate, two push rods perpendicular to the long rod and extending outward horizontally, and a centering driver respectively connected to the two push rods.

3. The parking hall for a parking robot according to claim 1, characterized in that: The lifting auxiliary mechanism includes a top plate, a plurality of bull's eye universal wheels fixedly mounted on the top plate, and a lifting driver vertically arranged just below the top plate.

4. The parking hall for a parking robot according to claim 2 or 3, characterized in that: The centering driver and lifting driver are cylinders or telescopic motors.

5. The parking hall for a parking robot according to claim 1, characterized in that: The parking hall for the parking robot can be applicable to a lift-plate parking robot or a telescopic clamping parking robot.

6. The parking hall for a parking robot according to claim 1, characterized in that: If the parking robot is a lift-plate parking robot, vertical legs are provided at the four corners of the parking board, and the top surface of the lifting auxiliary mechanism after being lowered is at the same height as the plane where the lift-plate parking robot is located. The lift-plate parking robot enters and exits from one end below the parking board, and the other end of the parking board is provided with a slope for vehicles to travel or a step at the same height as the parking board.

7. The parking hall for a parking robot according to claim 1, characterized in that: If the parking robot is a lift-plate parking robot, horizontal legs are provided at the four corners of the parking board. The top surface of the lifting auxiliary mechanism after being lowered is at the same height as the plane where the lift-plate parking robot is located. The lift-plate parking robot enters and exits from one end below the parking board, and the other three sides of the parking board are provided with steps of the same height as the parking board.

8. The parking hall for a parking robot according to claim 1, characterized in that: If the parking robot is a telescopic clamping parking robot, the top surface of the parking board is at the same height as the ground, and there is no need to equip other parking spaces in the parking lot or garage with parking boards.

9. A method for adjusting the position of a vehicle in a parking hall for a parking robot according to any one of claims 1 to 8, characterized in that: The method includes the following contents: (1) After the vehicle is parked on the parking board, the auxiliary lifting device is controlled to rise until the bull's eye universal wheel protrudes from the top surface of the parking board; (2) Controlling the centering mechanism to push the long rod and squeeze the vehicle or wheel until the thrust reaches a preset threshold and then stops pushing the long rod; (3) controlling the lifting auxiliary mechanism to descend to a preset lowest position; (4) Control the centering mechanism to retract the long rod.

10. The method for adjusting the position of a vehicle in a parking hall for a parking robot according to claim 9, characterized in that: The method further comprises step (5), collecting real-time images by means of a camera, and determining whether the vehicle has been aligned by means of image analysis; if the vehicle has been aligned, then terminating the vehicle alignment process; if the vehicle has not been aligned, repeating (1) to (5) until the vehicle is aligned.

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