Automobile turntable driving control system and automobile turntable

Abstract

The invention relates to the field of automobile turntable control, and particularly discloses an automobile turntable driving control system and an automobile turntable, and the system comprises a table board inclination correction module, a rotation jitter monitoring module, a rotation lagging monitoring module and a rotation stop precise positioning module. The table board inclination correction module judges table board inclination through a laser distance measuring sensor and corrects table board inclination through a leveling mechanism; the rotation jitter monitoring module realizes jitter grading early warning based on a tilt angle sensor; the rotation lagging monitoring module monitors angular velocity deviation through a photoelectric door and a light barrier to judge lagging; the rotating and stopping precise positioning module analyzes the rotating angle in the braking stage by calculating the actual braking angular acceleration of a rotating disc, and then the braking triggering position is calculated. According to the invention, table board inclination can be automatically corrected, rotation shaking and jamming can be monitored and early warning can be carried out, accurate positioning of turntable braking is realized, the problems of poor operation stability, insufficient positioning precision and the like of a traditional automobile turntable are solved, and the equipment reliability and operation convenience are improved.

Description

Technical Field

[0001] The present invention relates to the field of automotive turntable control, and relates to an automotive turntable drive control system and an automotive turntable. Background Art

[0002] An automotive turntable is a mechanical device used to achieve vehicle steering and displacement, and is widely used in scenarios such as automotive repair workshops, parking lots, and automotive inspection lines, which can help vehicles conveniently adjust the parking direction or position.

[0003] In actual use, problems such as tabletop tilt, rotational jitter, or jamming may occur in the automotive turntable. If the tabletop panel is tilted after the vehicle stops, it may cause the vehicle's center of gravity to shift, affecting the load balance of the turntable. Long-term use will exacerbate the wear of mechanical components and even pose potential safety hazards. If jitter occurs during the rotation of the turntable, it will reduce the running smoothness, cause vehicle positioning deviation, affect the operation accuracy, and may be accompanied by noise and vibration, shortening the service life of the equipment. The jamming phenomenon will result in uneven rotation speed of the turntable. In severe cases, it may cause the vehicle to stall or lose control, increasing the risk of mechanical failures and affecting work efficiency.

[0004] In addition, the traditional turntable braking position control accuracy is insufficient, making it difficult to meet the accuracy requirements for vehicle parking positions. Especially in scenarios with limited space or strict requirements for parking orientations, docking deviations are likely to occur, requiring manual secondary adjustment, reducing the usability.

[0005] Therefore, it is urgent to optimize the drive control of the automotive turntable to solve the above problems and improve the reliability and operation accuracy of the equipment. Summary of the Invention

[0006] In view of the above problems, the present invention proposes an automotive turntable drive control system and an automotive turntable to achieve the function of controlling the automotive turntable.

[0007] The technical solution adopted by the present invention to solve its technical problems is as follows: In the first aspect, the present invention provides an automotive turntable drive control system, including: a tabletop tilt correction module: after the vehicle drives onto the turntable and stops, it determines whether the tabletop panel is tilted based on the deviation of the measured tabletop panel height results at each measurement point on the ground directly below the tabletop panel, and performs tilt correction according to the leveling mechanism integrated with the load-bearing wheels in the tilt direction.

[0008] A rotational jitter monitoring module: after the turntable starts, it monitors the tabletop inclination angle during the rotation process through an inclination sensor installed on the central rotating shaft and compares it with the inclination threshold to determine whether the turntable rotates with jitter and gives a graded warning.

[0009] A rotational jamming monitoring module: installs a number of arc-shaped light-shielding sheets on the annular side surface of the tabletop panel and fixes a photoelectric gate on the slope, records the rotational angular velocity at each light-shielding sheet in each rotation period, and determines whether the turntable rotates with jamming and gives feedback based on the angular velocity deviation.

[0010] Turn and stop precise positioning module: The actual braking angular acceleration of the turntable is calculated based on the weight of the car and the distance between the center of gravity and the center of rotation. The turning angle during the braking phase is analyzed in combination with the angular velocity of the turntable. The trigger braking position for precise parking of the car is calculated based on the expected parking position of the car.

[0011] In a second aspect, the present invention further provides a car turntable, the car turntable comprising the car turntable drive control system according to the present invention.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Automatic correction of table top inclination: The present invention determines whether the table top is tilted based on the deviation of the table top height measurement results at each measuring point directly below the table top, and automatically adjusts the height of the load-bearing wheels according to the electric leveling mechanism, thereby ensuring the levelness of the table top, improving load balance, reducing mechanical wear, and ensuring safe operation.

[0013] 2. Jitter classification warning: The present invention monitors the table top inclination during rotation through the inclination sensor installed on the central shaft and compares it with the inclination threshold to determine whether the turntable is jittering and issue a graded warning. It can detect operating abnormalities in advance, maintain equipment in time, and reduce the risk of failure.

[0014] 3. Accurate monitoring of jamming: The present invention cooperates with the photoelectric gate and the arc-shaped light shielding sheet to monitor the deviation of the rotation angular velocity measured at each light shielding sheet in real time, accurately determine the jamming phenomenon of the turntable and give feedback, avoid equipment stagnation or loss of control due to uneven rotation speed, and improve operating stability.

[0015] 4. Accurate calculation of braking position: The present invention calculates the actual braking angular acceleration of the turntable, analyzes the rotation angle during the braking phase in combination with the turntable rotation angular velocity, and deduces the trigger braking position based on the expected parking position of the car, thereby achieving precise control of the turntable angle during the braking phase, ensuring that the car stops at the expected position, reducing manual adjustments, and improving ease of use and positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0017] Figure 1 This is a system module connection diagram of the present invention.

[0018] Figure 2 It is a schematic diagram of the three-dimensional structure of the automobile turntable device of the present invention.

[0019] Figure 3Schematic diagram of the tabletop inclination correction scenario of the present invention.

[0020] Figure 4 Schematic diagram of the mounting of the arc-shaped light shield of the present invention.

[0021] Figure 5 Schematic diagram of the rotation jamming monitoring scenario of the present invention.

[0022] Figure 6 First schematic diagram of the scenario for determining the trigger braking position point of the present invention.

[0023] Figure 7 Second schematic diagram of the scenario for determining the trigger braking position point of the present invention.

[0024] Reference numerals: 1. Central rotating shaft; 2. Ramp; 3. Tabletop panel; 4. Turntable frame; 5. Ground rail; 6. Driving wheel; 7. Driving motor; 8. Load-bearing wheel; 9. Measuring point; 10. Electric leveling mechanism; 11. Annular side; 12. Arc-shaped light shield; 13. Central angle corresponding to the arc-shaped light shield; 14. Photoelectric gate; 15. Front of the vehicle; 16. Desired docking position point; 17. Trigger braking position point; 18. Positive direction of polar coordinate rotation; 19. Rotation direction of the vehicle turntable.

[0025] It should be noted that in the three-dimensional structure of the vehicle turntable device: Central rotating shaft (1): Vertically fixed at the center of the turntable, providing axial support and restricting radial offset; Turntable frame (4): Annular steel structure, rigidly connected to the central rotating shaft, constituting the rotating body; Tabletop panel (3): Covering the turntable frame, with anti-slip patterns on the surface, used to carry vehicles; Friction drive system: Comprising a driving motor (7), a driving wheel (6) and a ground rail (5), the driving wheel is in frictional contact with the surface of the ground rail through motor drive, driving the turntable to rotate; Load-bearing wheel (8): Uniformly distributed under the turntable frame, in contact with the ground rail and bearing the main vertical load; Ramp (2): An adjustable inclination transition structure, facilitating the vehicle to smoothly drive onto the turntable.

[0026] It should be noted that the specific operation process of the vehicle turntable device: After the driving motor (7) is started, the driving wheel (6) generates frictional force with the surface of the ground rail (5) under the action of the motor torque, driving the turntable frame (4) to rotate around the central rotating shaft (1). The load-bearing wheel (8) is in close contact with the ground rail, reducing the vertical load on the driving wheel. When the vehicle drives onto the ramp (2), the axle weight is detected by a weight sensor, and the hydraulic system adjusts to the appropriate slope and locks it. Detailed implementation manners

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all 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 belong to the scope of protection of the present invention.

[0028] Please refer to Figure 1 and Figure 2 As shown, the first aspect of the present invention provides an automobile turntable drive control system, including a tabletop tilt correction module, a rotation jitter monitoring module, a rotation jamming monitoring module, and a rotation and stop precise positioning module.

[0029] The rotation jitter monitoring module is respectively connected to the tabletop tilt correction module and the rotation jamming monitoring module, and the rotation and stop precise positioning module is connected to the rotation jamming monitoring module.

[0030] After the vehicle drives into the turntable and stops, the tabletop tilt correction module determines whether the tabletop is tilted based on the deviation of the measured results of the tabletop height at each measuring point on the ground directly below the tabletop panel, and performs tilt correction according to the leveling mechanism integrated with the load-bearing wheels in the tilt direction.

[0031] Further, referring to Figure 3 As shown, the specific working process of determining whether the tabletop is tilted in the tabletop tilt correction module is as follows: Measuring points are arranged at the positions of each load-bearing wheel on the ground directly below the tabletop panel of the automobile turntable, and laser distance sensors are installed at the measuring point positions.

[0032] After the vehicle drives into the turntable and stops, the measured tabletop heights at each measuring point on the ground directly below the tabletop panel are obtained and compared with each other. The maximum value and the minimum value of the measured tabletop heights at the measuring points are obtained, and the difference between the two extreme values is recorded as the deviation of the measured results of the heights between the measuring points.

[0033] The deviation of the measured results of the heights between the measuring points is compared with a preset deviation threshold of the measured results of the heights. If the deviation of the measured results of the heights between the measuring points exceeds the deviation threshold, the tabletop is tilted.

[0034] It should be noted that when the tabletop is horizontal, the measured tabletop heights at each measuring point on the ground directly below the tabletop panel are basically the same.

[0035] It should be noted that after the vehicle drives into the turntable and stops, due to problems such as the offset of the center of gravity when the vehicle stops, uneven distribution of the vehicle body weight, or defects in the design and manufacture of the turntable itself, and uneven installation, the tabletop panel of the turntable may be tilted and not horizontal.

[0036] It should be noted that the inclination of the tabletop will cause abnormal conditions in the turntable bearing and gear meshing, exacerbate wear, and may trigger faults such as jamming and fracture, and even cause the turntable to stop; at the same time, the inclination of the tabletop may cause uneven stress on the tires when the vehicle is parked, the body to scrape the edge of the turntable, or the vehicle to slip when starting; moreover, the inclination of the tabletop may cause the vehicle to scrape or fall when the turntable rotates. Therefore, it is very necessary to perform inclination correction on the tabletop before starting the turntable.

[0037] Furthermore, the specific working process of inclination correction in the tabletop inclination correction module is as follows: Denote the load-bearing wheel corresponding to the measurement point with the minimum height of the tabletop as the load-bearing wheel in the inclination direction, and denote half of the deviation of the height measurement results between the measurement points as the height to be adjusted.

[0038] Drive the push rod of the electric leveling mechanism integrated with the load-bearing wheel in the inclination direction to stretch upward by the height to be adjusted for inclination correction.

[0039] After inclination correction, re-obtain the deviation of the height measurement results between the measurement points. If this deviation is less than or equal to the deviation threshold, the inclination correction is completed. If this deviation exceeds the deviation threshold and is less than that before correction, repeat the inclination correction process until the deviation is less than or equal to the deviation threshold. If this deviation has no change compared with that before correction, the inclination correction has no effect and a warning is triggered.

[0040] It should be noted that each load-bearing wheel of the vehicle turntable is integrated with an electric leveling mechanism, and the electric leveling mechanism is a lifting device driven by an electric push rod or a servo motor.

[0041] It should be noted that if the inclination correction of the electric leveling mechanism integrated with the load-bearing wheel fails, a warning is triggered to notify the corresponding personnel for handling.

[0042] In this embodiment, the present invention determines whether the tabletop is inclined based on the deviation of the height measurement results of each measurement point directly below the tabletop, and automatically adjusts the height of the load-bearing wheels according to the electric leveling mechanism, thereby ensuring the levelness of the tabletop, improving the load balance, reducing mechanical wear, and ensuring safe operation.

[0043] After the turntable starts, the rotation jitter monitoring module monitors the inclination angle of the tabletop during rotation through the inclination sensor installed on the central rotating shaft, compares it with the inclination angle threshold, and judges whether the turntable rotates with jitter and issues a graded warning.

[0044] Furthermore, the specific working process of judging whether the turntable rotates with jitter in the rotation jitter monitoring module is as follows: Install an inclination sensor on the central rotating shaft of the vehicle turntable. After the turntable starts, set each monitoring time point during the rotation process, obtain the inclination angles of the tabletop at each monitoring time point during the rotation process and compare them with each other to obtain the maximum inclination angle of the tabletop during the rotation process.

[0045] According to the table top tilt angles allowed at various rotation angular speeds of the car turntable stored in the database, the table top tilt angle allowed at the current rotation angular speed of the turntable is screened and recorded as the table top tilt angle threshold.

[0046] The maximum tilt angle of the table top during the rotation process is compared with the table top tilt angle threshold. If the maximum tilt angle of the table top is greater than or equal to the threshold, there is jitter in the rotation of the turntable.

[0047] It should be noted that installing an inclination sensor on the central axis of the turntable to monitor the axial tilt during rotation can reflect the jitter of the turntable during rotation.

[0048] It should be noted that the shaking of the car turntable during rotation may be caused by a combination of factors. On the one hand, if the turntable base is not installed flat, the fixing bolts are loose, or there are assembly errors, wear and aging of the transmission parts, it will cause unstable transmission during rotation and vibration; on the other hand, the turntable is unevenly loaded or the load exceeds the design load limit, resulting in uneven inertia force during rotation and causing shaking; in addition, the motor drive system failure of the electric turntable, improper control system parameter settings, or insufficient lubrication of mechanical parts leading to sudden changes in friction resistance may also be the cause of shaking.

[0049] It should be noted that the jitter of a car turntable may have a negative impact on the display effect, equipment life and safety. First, jitter will cause the display vehicle to shake significantly, destroying the stability and aesthetics of the static display and affecting the audience experience; second, continuous jitter will aggravate the wear of the mechanical parts of the turntable, shorten the service life of the equipment, and may even cause parts to loosen or fall off, causing the turntable to jam, stagnate or make abnormal noise, increasing maintenance costs; in addition, if the control system of the electric turntable is disturbed by jitter for a long time, program misjudgment or hardware damage may occur, affecting the normal operation of the equipment. Therefore, it is very necessary to monitor and warn of turntable jitter.

[0050] Furthermore, the specific working process of the graded warning in the rotational jitter monitoring module is: according to the warning levels corresponding to the various ranges of the table panel inclination angle at various rotational angular velocities of the car turntable stored in the database, the warning levels corresponding to the various ranges of the table panel inclination angle at the current rotational angular velocity of the turntable are screened.

[0051] According to the maximum tilt angle of the table panel during the rotation process, the corresponding warning level is matched and a warning is issued.

[0052] In a specific embodiment, the current rotation angular velocity of the car turntable is , the table top is allowed to tilt at an angle of 5° at the current rotation angular velocity. When the maximum tilt angle of the table top during rotation is , there is no warning; when the maximum tilt angle of the table panel during rotation is , a first-level warning is triggered, the warning light flashes to prompt the maintenance personnel to check; when the maximum tilt angle of the table panel during rotation belongs to , a second-level alarm is triggered, and the system automatically triggers shutdown protection, prohibits the turntable from rotating, and notifies the administrator.

[0053] In this embodiment, the present invention monitors the tilt angle of the tabletop during rotation through the tilt sensor installed on the central rotating shaft and compares it with the tilt angle threshold to determine whether the turntable rotates with jitter and gives a graded warning, which can detect abnormal operation in advance, maintain the equipment in time, and reduce the risk of failure.

[0054] The rotation jitter monitoring module mounts a number of arc-shaped light-shielding sheets on the annular side surface of the table panel and fixes a photoelectric door on the slope, records the rotational angular velocity at each light-shielding sheet during each rotation period, and judges whether the turntable rotates with jitter and gives feedback based on the angular velocity deviation.

[0055] Further, referring to Figure 4 and Figure 5 shown, the specific working process of the rotation jitter monitoring module includes: equidistantly and circumferentially mounting a number of arc-shaped light-shielding sheets with a set arc length on the annular side surface of the table panel, and selecting a position on the slope of the vehicle turntable to fix the photoelectric door.

[0056] Set the number of rotations of the monitored turntable. Each rotation corresponds to a rotation period.

[0057] Record the light-shielding duration of each light-shielding sheet during each rotation period, and determine the rotational angular velocity measured at each light-shielding sheet in combination with the central angle corresponding to the arc length of the light-shielding sheet.

[0058] Compare the rotational angular velocities measured at each light-shielding sheet during each rotation period with each other to obtain the maximum deviation of the rotational angular velocity measured at the light-shielding sheet during each rotation period, and calculate the average value to obtain the maximum deviation of the rotational angular velocity measured during the rotation of the turntable.

[0059] It should be noted that the arc-shaped light-shielding sheet fits perfectly with the annular side surface of the table panel.

[0060] It should be noted that the arc lengths of the arc-shaped light-shielding sheets are equal and the specifications are exactly the same.

[0061] It should be noted that when the arc-shaped light-shielding sheet completely blocks the light of the photoelectric door on the slope, the timer automatically records the light-shielding duration of the light-shielding sheet.

[0062] It should be noted that the rotational angular velocity measured at the light-shielding sheet is obtained by dividing the central angle corresponding to the arc length of the light-shielding sheet by the light-shielding duration.

[0063] It should be noted that the maximum value of the rotational angular velocity measured at the light-shielding sheet during each rotation period is subtracted from the minimum value to obtain the maximum deviation of the rotational angular velocity measured at the light-shielding sheet during each rotation period.

[0064] It should be noted that if the turntable rotates smoothly, it rotates at a constant speed. At this time, the measured rotational angular velocities at each light shielding piece are equal. On the contrary, if the turntable rotates with jamming, the rotational angular velocity of the turntable fluctuates, and at this time, there are deviations in the measured rotational angular velocities at each light shielding piece.

[0065] It should be noted that the jamming of the vehicle turntable during rotation is caused by various factors. It may be due to the wear of mechanical transmission components, insufficient lubrication or assembly precision deviation resulting in increased resistance; it may also be caused by a malfunction in the motor drive system resulting in unstable power output; it may also be due to uneven load distribution on the turntable surface or foreign objects on the track hindering rotation; in addition, incorrect control system programs or sensor failures may also cause intermittent jamming.

[0066] It should be noted that the jamming of the vehicle turntable may cause the turntable to rotate smoothly, affecting the display effect; long-term jamming will exacerbate the wear of mechanical components, shorten the service life of the turntable, and even cause serious failures such as component fracture and motor overload burnout; in addition, the jamming of the turntable may trigger the safety protection mechanism and then stop. Therefore, it is very necessary to monitor and warn against the jamming of the vehicle turntable.

[0067] Furthermore, the specific working process of the rotation jamming monitoring module further includes: comparing the maximum deviation of the measured rotational angular velocity during the rotation of the turntable with a preset deviation threshold of the measured rotational angular velocity. If the maximum deviation of the measured rotational angular velocity during the rotation of the turntable is greater than the deviation threshold, it means that the turntable rotates with jamming and gives feedback.

[0068] In this embodiment, the present invention cooperates with a photoelectric gate and an arc light shielding piece to continuously monitor the deviation of the measured rotational angular velocity at each light shielding piece, accurately judge the jamming phenomenon of the turntable and give feedback, avoiding equipment stagnation or out-of-control caused by uneven rotation speed, and improving the operation stability.

[0069] The rotation and stop precise positioning module calculates the actual braking angular acceleration of the turntable based on the vehicle weight and the distance between the center of gravity position and the rotation center of the turntable, analyzes the rotation angle during the braking stage in combination with the rotational angular velocity of the turntable, and calculates the trigger braking position for the vehicle to accurately stop according to the expected parking position of the vehicle.

[0070] Furthermore, the specific working process of calculating the actual braking angular acceleration of the turntable in the rotation and stop precise positioning module is: obtaining the vehicle weight and the distance between the center of gravity position and the rotation center of the turntable , and substituting them into the analysis formula to calculate the actual braking angular acceleration of the turntable , where and respectively represent the braking torque provided by the vehicle turntable braking system stored in the database and the moment of inertia of the turntable itself.

[0071] It should be noted that the vehicle weight can be detected by the weight sensor installed on the vehicle turntable.

[0072] It should be noted that the distance between the vehicle's center of gravity position and the center of rotation can be obtained based on the theoretical calculation of vehicle parameters. For example, given the basic vehicle parameters such as wheelbase, track width, mass distribution, etc., the distance between the vehicle's center of gravity position and the center of rotation can be estimated through a mechanical model; it can also be obtained based on the actual measurement of the turntable test. By directly measuring the motion parameters of the vehicle during steering through a turntable device such as a steering parameter tester and combining sensor data, the distance between the center of gravity position and the center of rotation can be calculated; it can also be calculated by inputting vehicle parameters into simulation software, simulating the vehicle steering process, and calculating the distance between the center of gravity position and the center of rotation.

[0073] It should be noted that the braking torque provided by the vehicle turntable braking system is a fixed value.

[0074] It should be noted that the moment of inertia of the turntable itself is related to the mass and structure of the turntable and is a constant.

[0075] It should be noted that the vehicle turntable has an accurate positioning function and can accurately stop at the target angle when it needs to stay and display at a specific angle. For example, when displaying specific vehicle configurations or exterior details, it can be accurately positioned.

[0076] It should be noted that the vehicle weight and the distance between the center of gravity position and the center of rotation will change the moment of inertia of the rotating part of the turntable, thereby changing the braking angular acceleration of the vehicle turntable, and thus affecting the accurate positioning of the vehicle turntable braking. The greater the total vehicle mass, the greater the inertial force that needs to be overcome during braking, and the smaller the braking angular acceleration under the same braking force. Vehicles with the center of gravity in the front, such as front-wheel drive vehicles, are more likely to experience understeer during steering and braking, while vehicles with the center of gravity in the rear, such as rear-wheel drive vehicles, may experience oversteer. Both situations will affect the stability and effective braking angular acceleration during braking. Therefore, it is necessary to obtain the actual braking angular acceleration of the turntable and correct it to ensure that the vehicle stops at the desired position after the turntable brakes.

[0077] Furthermore, referring to Figure 6 and Figure 7 as shown, the specific working process of the rotation-stop precise positioning module for calculating the trigger braking position for the vehicle to precisely dock is as follows: Obtain the rotational angular velocity of the turntable and substitute it into the analysis formula to calculate the angle turned by the turntable during the braking stage.

[0078] Establish a polar coordinate system with the center of the vehicle turntable as the pole and a set fixed ray drawn from the pole as the polar axis, and determine the counterclockwise direction as the positive rotation direction of the polar coordinate system.

[0079] Record the position point where the front of the car is expected to be when the turntable stops as the expected parking position point of the car.

[0080] Obtain the distance from the expected parking position point of the car on the turntable plane to the pole, and record it as the polar radius corresponding to the expected parking position point of the car. 。

[0081] Obtain the angle formed by rotating counterclockwise from the polar axis around the pole to the line connecting the expected parking position point of the car and the pole on the turntable plane, and record it as the polar angle corresponding to the expected parking position point of the car. 。

[0082] According to the polar radius and polar angle corresponding to the expected parking position point of the car, obtain the polar coordinates of the expected parking position point of the car. 。

[0083] If the turntable rotates counterclockwise, that is, the rotation direction of the turntable is the same as the positive rotation direction of the polar coordinate system, rotate the expected parking position point of the car clockwise around the pole. To obtain the trigger braking position point for the car to park precisely, and the polar coordinates of the trigger braking position point are 。

[0084] If the turntable rotates clockwise, that is, the rotation direction of the turntable is opposite to the positive rotation direction of the polar coordinate system, rotate the expected parking position point of the car counterclockwise around the pole. To obtain the trigger braking position point for the car to park precisely, and the polar coordinates of the trigger braking position point are 。

[0085] In a specific embodiment, the ray drawn horizontally to the right from the center of the turntable is used as the polar axis, and this is used as the reference line for angle measurement.

[0086] In a specific embodiment, the polar radius corresponding to the expected parking position point of the car is the radius of the car turntable.

[0087] It should be noted that the trigger braking position point means that after the front of the car reaches this position point, the car turntable triggers braking and enters the braking stage.

[0088] In this embodiment, the present invention analyzes the angle turned in the braking stage by calculating the actual braking angular acceleration of the turntable and combining the rotational angular velocity of the turntable, and calculates the trigger braking position based on the expected parking position of the car, so as to achieve precise control of the angle in the braking stage of the turntable, ensure that the car parks at the expected position, reduce manual adjustment, and improve the convenience of use and positioning accuracy.

[0089] In this embodiment, the present invention forms a complete drive control system through the collaborative work of a table tilt correction module, a rotation jitter monitoring module, a rotation jamming monitoring module, and a rotation-stop precise positioning module, comprehensively solving the defects of traditional vehicle turntables in terms of tilt, jitter, jamming, and positioning, and improving the automation level and comprehensive performance of the equipment.

[0090] In a second aspect, the present invention also provides a vehicle turntable, which includes the vehicle turntable drive control system according to the present invention.

[0091] The above formulas are all dimensionless and take their numerical values for calculation. The formulas are obtained by collecting a large amount of data for software simulation to obtain a formula closest to the actual situation. The preset parameters in the formulas are set by those skilled in the art according to the actual situation.

[0092] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product.

[0093] Those of ordinary skill in the art can realize that the modules and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0094] In addition, the functional modules in each embodiment of this application can be integrated into one processing module, or each module can exist physically alone, or two or more modules can be integrated into one module.

[0095] The above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application, and all should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

[0096] Finally, the above is only the preferred embodiment of the present invention and is not used to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automotive turntable drive control system, characterized in that, Including: Tabletop inclination correction module: After the vehicle drives into the turntable and stops, based on the deviation of the measured results of the tabletop height at each measuring point on the ground directly below the tabletop panel, it judges whether the tabletop panel is inclined, and performs inclination correction according to the leveling mechanism integrated with the load-bearing wheels in the inclined direction; Rotary jitter monitoring module: After the turntable starts, it monitors the inclination angle of the tabletop during rotation through the inclination sensor installed on the central rotating shaft, compares it with the inclination angle threshold, and judges whether the turntable rotates with jitter and issues graded warnings; Rotary jamming monitoring module: Install several arc-shaped light-shielding sheets on the annular side surface of the tabletop panel and fix photoelectric gates on the slope, record the rotational angular velocity at each light-shielding sheet position within each rotation period, and judge whether the turntable rotates with jamming and gives feedback based on the angular velocity deviation; Rotary stop precise positioning module: Based on the vehicle weight, the position of the center of gravity, and the distance from the center of rotation, it calculates the actual braking angular acceleration of the turntable, analyzes the angle turned during the braking phase in combination with the rotational angular velocity of the turntable, and calculates the trigger braking position for the vehicle to stop precisely according to the expected parking position of the vehicle.

2. The automotive turntable drive control system according to claim 1, wherein: The specific working process of judging whether the tabletop panel is inclined in the tabletop inclination correction module is as follows: Layout measuring points at the positions of each load-bearing wheel on the ground directly below the tabletop panel of the vehicle turntable and install laser distance sensors at the measuring point positions; After the vehicle drives into the turntable and stops, obtain the tabletop height measured at each measuring point on the ground directly below the tabletop panel and compare them with each other, obtain the maximum and minimum values of the tabletop height measured by the measuring points, and record the difference between the two extreme values as the deviation of the measured results of the height between the measuring points; Compare the deviation of the measured results of the height between the measuring points with the preset deviation threshold of the measured results of the height. If the deviation of the measured results of the height between the measuring points exceeds the deviation threshold, the tabletop panel is inclined.

3. The automotive turntable drive control system according to claim 2, characterized in that: The specific working process of inclination correction in the tabletop inclination correction module is as follows: Mark the load-bearing wheel corresponding to the measuring point with the minimum measured tabletop height as the load-bearing wheel in the inclined direction, and record half of the deviation of the measured results of the height between the measuring points as the height to be adjusted; Drive its push rod to stretch upward by the height to be adjusted through the electric leveling mechanism integrated with the load-bearing wheel in the inclined direction to perform inclination correction; After inclination correction, re-obtain the deviation of the measured results of the height between the measuring points. If the deviation is less than or equal to the deviation threshold, the inclination correction is completed. If the deviation exceeds the deviation threshold and is less than before correction, repeat the inclination correction process until the deviation is less than or equal to the deviation threshold. If the deviation does not change compared with before correction, the inclination correction has no effect and a warning is triggered.

4. The vehicle turntable drive control system according to claim 1, characterized in that: The specific working process of judging whether the turntable rotates with jitter in the rotary jitter monitoring module is as follows: Install an inclination sensor on the central rotating shaft of the vehicle turntable. After the turntable starts, set each monitoring time point during rotation, obtain the inclination angles of the tabletop at each monitoring time point during rotation and compare them with each other to obtain the maximum inclination angle of the tabletop during rotation; According to the allowable inclination angles of the tabletop panel at each rotational angular velocity of the vehicle turntable stored in the database, screen the allowable inclination angle of the tabletop panel at the current rotational angular velocity of the turntable and record it as the inclination angle threshold of the tabletop panel; Compare the maximum inclination angle of the tabletop during rotation with the inclination angle threshold of the tabletop panel. If the maximum inclination angle of the tabletop panel is greater than or equal to the threshold, the turntable rotates with jitter.

5. A vehicle turntable drive control system according to claim 4, characterized in that: The specific working process of the graded warning in the rotational vibration monitoring module is as follows: According to the warning levels corresponding to the various ranges of the tilt angles of the table panel at various rotation angular velocities of the car turntable stored in the database, the warning levels corresponding to the various ranges of the tilt angles of the table panel at the current rotation angular velocity of the turntable are filtered; According to the maximum tilt angle of the table panel during the rotation process, the corresponding warning level is matched and a warning is issued.

6. The automotive turntable drive control system according to claim 1, wherein: The specific working process of the rotation jam monitoring module includes: A plurality of arc-shaped light shielding sheets with set arc lengths are mounted in an equidistant manner on the annular side surface of the table panel, and a photoelectric door is fixed at a selected position on the slope of the car turntable; Set the number of revolutions of the monitoring turntable. Each revolution corresponds to one rotation cycle. Record the light blocking time of each light blocking sheet in each rotation cycle, and determine the rotation angular velocity measured at each light blocking sheet in combination with the central angle corresponding to the arc length of the light blocking sheet; The rotational angular velocities measured at each light shield in each rotation cycle are compared with each other to obtain the maximum deviation of the rotational angular velocity measured at the light shield in each rotation cycle, and the average value is calculated to obtain the maximum deviation of the rotational angular velocity measured during the rotation of the turntable.

7. A vehicle turntable drive control system according to claim 6, characterized in that: The specific working process of the rotation jam monitoring module also includes: The maximum deviation of the rotational angular velocity measured during the rotation of the turntable is compared with a preset measured rotational angular velocity deviation threshold. If the maximum deviation of the rotational angular velocity measured during the rotation of the turntable is greater than the deviation threshold, there is a jam in the rotation of the turntable and feedback is given.

8. The automotive turntable drive control system according to claim 1, characterized in that: The specific working process of calculating the actual braking angular acceleration of the turntable in the turn-stop precise positioning module is as follows: Obtain the vehicle weight and the distance between the center of gravity position and the center of rotation , and substitute them into the analysis formula to calculate the actual braking angular acceleration of the turntable , where and respectively represent the braking torque provided by the vehicle turntable braking system stored in the database and the moment of inertia of the turntable itself.

9. The vehicle turntable drive control system according to claim 8, wherein: The specific working process of calculating the trigger braking position for accurately stopping the car in the transfer and stop precise positioning module is as follows: Obtain the rotational angular velocity of the turntable , and substitute it into the analysis formula to calculate the angle turned by the turntable during the braking phase ; A polar coordinate system is established by taking the center of the car turntable as the pole and the set fixed ray drawn from the pole as the polar axis, and determining the counterclockwise direction as the positive direction of rotation of the polar coordinate system; The position point where the front of the car is expected to be when the turntable stops is recorded as the expected stopping position point of the car; Obtain the distance from the expected parking position point of the vehicle on the turntable plane to the pole, and denote it as the polar radius corresponding to the expected parking position point of the vehicle ; Obtain the angle formed by the line connecting the pole and the desired parking position point of the vehicle rotating counterclockwise around the pole on the turntable plane from the polar axis, and denote it as the polar angle corresponding to the desired parking position point of the vehicle ; Based on the polar radius and polar angle corresponding to the expected parking position point of the vehicle, the polar coordinates of the expected parking position point of the vehicle are obtained ; If the turntable rotates counterclockwise, that is, the rotation direction of the turntable is the same as the positive rotation direction of the polar coordinate system, rotate the expected parking position point of the vehicle clockwise around the pole to obtain the trigger braking position point for the vehicle to park precisely, and the polar coordinates of the trigger braking position point are ; If the turntable rotates clockwise, that is, the rotation direction of the turntable is opposite to the positive rotation direction of the polar coordinate system, rotate the expected parking position point of the vehicle counterclockwise around the pole to obtain the trigger braking position point for the vehicle to park precisely, and the polar coordinates of the trigger braking position point are .

10. A vehicle turntable, characterized in that: The car turntable comprises a car turntable drive control system according to any one of claims 1-9.

Images