Vehicle centering device and vehicle centering method

Abstract

The invention belongs to the technical field of intelligent parking equipment, and discloses a vehicle centering device and a vehicle centering method.According to the scheme, a first distance value, detected by a distance detection unit, between a first push rod and a first preset position and a second distance value, detected by a distance detection unit, between a second push rod and a second preset position are obtained; then the driving unit is controlled to drive the first push rod and the second push rod to stretch out oppositely, and when an in-place signal of the first hub in-place detection unit or the second hub in-place detection unit is received, the driving unit is controlled to enable the first push rod and the second push rod to stop moving; a third distance value, detected by the distance detection unit, between the first push rod and the first preset position and a fourth distance value, detected by the distance detection unit, between the second push rod and the second preset position are obtained, and then the position deviation value of the first push rod and the second push rod is determined according to the obtained distance values; finally, the movement direction and the movement distance of the first push rod and the second push rod are controlled based on the position deviation value, and therefore accurate centering of the vehicle hub is achieved.

Description

Technical Field

[0001] This application relates to the field of intelligent parking equipment technology, and in particular to a vehicle centering device and a vehicle centering method. Background Technology

[0002] With the acceleration of urbanization, the rapid growth of car ownership, the increasing scarcity of urban land resources, and the ever-increasing demands of people for travel efficiency and parking experience, intelligent parking equipment, such as AGV parking robots, multi-level parking garages, and intelligent four-wheel positioning systems, has emerged.

[0003] In intelligent parking, precise alignment of the vehicle's wheel rims is crucial for ensuring safe parking and preventing scratches. If the wheel rims are not centered, the risk of vehicle damage increases significantly. Summary of the Invention

[0004] To address the aforementioned problems, this application provides a centering device and a centering method for automated parking systems.

[0005] According to an embodiment of this application, a vehicle centering device is disclosed, comprising a pushing mechanism, a detection system, and a controller. The pushing mechanism includes a first push rod, a second push rod, and a driving unit. The first and second push rods are laterally opposite each other. The driving unit connects the first and second push rods and drives them to move laterally. The detection system includes a first wheel hub positioning detection unit, a second wheel hub positioning detection unit, and a distance detection unit. The first wheel hub positioning detection unit is disposed on the first push rod and generates a positioning signal when the first push rod extends laterally and contacts the vehicle wheel hub. The second wheel hub positioning detection unit is disposed on the second push rod and generates a positioning signal when the second push rod extends laterally and contacts the vehicle wheel hub. The distance detection unit detects the distance data between the first push rod and a first preset position and the distance data between the second push rod and a second preset position.

[0006] The controller is connected to the first wheel hub positioning detection unit, the second wheel hub positioning detection unit, the distance detection unit, and the drive unit, and is configured to: acquire a first distance value between the first push rod and the first preset position detected by the distance detection unit, and a second distance value between the second push rod and the second preset position; control the drive unit to drive the first push rod and the second push rod to extend towards each other; when receiving a positioning signal from the first wheel hub positioning detection unit or the second wheel hub positioning detection unit, control the drive unit to stop the movement of the first push rod and the second push rod, and acquire a third distance value between the first push rod and the first preset position detected by the distance detection unit, and a fourth distance value between the second push rod and the second preset position; calculate a first difference between the third distance value and the first distance value, calculate a second difference between the fourth distance value and the second distance value, and determine a position deviation value between the first push rod and the second push rod based on the first difference and the second difference; when the position deviation value reaches or exceeds a deviation threshold, control the movement direction and movement distance of the first push rod and the second push rod based on the position deviation value, so that the position deviation value decreases below the deviation threshold.

[0007] In some embodiments, determining the positional deviation value between the first push rod and the second push rod based on the first difference and the second difference includes: subtracting the first difference from the second difference to obtain a third difference; and taking half of the third difference as the positional deviation value between the first push rod and the second push rod. Controlling the movement direction and movement distance of the first push rod and the second push rod based on the positional deviation value includes: comparing the positional deviation value with zero; and executing a first adjustment strategy or a second adjustment strategy based on the comparison result of the positional deviation value and zero. The first adjustment strategy includes: first controlling the drive unit to drive the first push rod to retract the positional deviation value, and then controlling the drive unit to drive the second push rod to extend the positional deviation value. The second adjustment strategy includes: first controlling the drive unit to drive the second push rod to retract the positional deviation value, and then controlling the drive unit to drive the first push rod to extend the positional deviation value.

[0008] In some embodiments, subtracting the first difference from the second difference to obtain a third difference includes: subtracting the second difference from the first difference to obtain a third difference; and executing a first adjustment strategy or a second adjustment strategy based on the comparison result of the position deviation value with zero includes: executing the first adjustment strategy if the position deviation value is greater than zero; and executing the second adjustment strategy if the position deviation value is less than zero.

[0009] In some embodiments, controlling the drive unit to drive the first push rod to retract the position deviation value, and then controlling the drive unit to drive the second push rod to extend further by the position deviation value, includes: controlling the drive unit to drive the first push rod to retract until the distance data detected by the distance detection unit between the first push rod and the first preset position is obtained as the difference between the absolute values ​​of the third distance value and the position deviation value; controlling the drive unit to drive the second push rod to extend further until the distance data detected by the distance detection unit between the second push rod and the second preset position is obtained as the sum of the absolute values ​​of the fourth distance value and the position deviation value. The step of controlling the drive unit to drive the second push rod to retract the position deviation value, and then controlling the drive unit to drive the first push rod to extend further by the position deviation value, includes: controlling the drive unit to drive the second push rod to retract until the distance data detected by the distance detection unit between the second push rod and the second preset position is obtained as the difference between the absolute value of the fourth distance value and the position deviation value; and controlling the drive unit to drive the first push rod to extend further until the distance data detected by the distance detection unit between the first push rod and the first preset position is obtained as the sum of the absolute values ​​of the third distance value and the position deviation value.

[0010] In some embodiments, the first wheel hub positioning detection unit includes a first front wheel hub positioning detection switch and a first rear wheel hub positioning detection switch. The first front wheel hub positioning detection switch generates a positioning signal when the first push rod contacts the front wheel hub, and the first rear wheel hub positioning detection switch generates a positioning signal when the first push rod contacts the rear wheel hub. The controller is configured to control the drive unit to stop the first push rod and the second push rod when it receives the positioning signals from the first front wheel hub positioning detection switch and the first rear wheel hub positioning detection switch. The second wheel hub positioning detection unit includes a second front wheel hub positioning detection switch and a second rear wheel hub positioning detection switch. The second front wheel hub positioning detection switch generates a positioning signal when the second push rod contacts the front wheel hub, and the second rear wheel hub positioning detection switch generates a positioning signal when the second push rod contacts the rear wheel hub. The controller is configured to control the drive unit to stop the first push rod and the second push rod when it receives the positioning signals from the second front wheel hub positioning detection switch and the second rear wheel hub positioning detection switch.

[0011] In some embodiments, the first wheel hub positioning detection unit further includes a third rear wheel hub positioning detection switch and a fourth rear wheel hub positioning detection switch, wherein the third rear wheel hub positioning detection switch, the fourth rear wheel hub positioning detection switch, and the first rear wheel hub positioning detection switch are spaced apart in the longitudinal direction. The controller is configured to control the drive unit to stop the first push rod and the second push rod when it receives a positioning signal from any one of the first rear wheel hub positioning detection switches, the third rear wheel hub positioning detection switch, the fourth rear wheel hub positioning detection switch, and a positioning signal from the first front wheel hub positioning detection switch. The second wheel hub positioning detection unit further includes a fifth rear wheel hub positioning detection switch and a sixth rear wheel hub positioning detection switch, wherein the fifth rear wheel hub positioning detection switch, the sixth rear wheel hub positioning detection switch, and the second rear wheel hub positioning detection switch are spaced apart in the longitudinal direction. The controller is configured to control the drive unit to stop the first push rod and the second push rod when it receives a positioning signal from any one of the second rear wheel hub positioning detection switches, the fifth rear wheel hub positioning detection switch, the sixth rear wheel hub positioning detection switch, and a positioning signal from the second front wheel hub positioning detection switch.

[0012] In some embodiments, the detection system further includes a first retraction position detection switch and a second retraction position detection switch. The first retraction position detection switch is used to detect the position of the first push rod and generates a zero-return signal when the first push rod returns to zero. The second retraction position detection switch is used to detect the position of the second push rod and generates a zero-return signal when the second push rod returns to zero. The controller is connected to the first retraction position detection switch and the second retraction position detection switch and is configured to: before acquiring the first distance value between the first push rod and the first preset position detected by the distance detection unit, and the second distance value between the second push rod and the second preset position, execute the following: control the drive unit to drive the first push rod and the second push rod to retract in opposite directions; when receiving the zero-return signal from the first retraction position detection switch, control the drive unit to stop the first push rod from moving; when receiving the zero-return signal from the second retraction position detection switch, control the drive unit to stop the second push rod from moving.

[0013] In some embodiments, the distance detection unit includes a first pull-rod sensor and a second pull-rod sensor. One end of the pull-rod of the first pull-rod sensor is fixed to the vehicle platform, and the other end is connected to the first push rod. One end of the pull-rod of the second pull-rod sensor is fixed to the vehicle platform, and the other end is connected to the second push rod. The vehicle platform is used to carry a vehicle, and the first push rod and the second push rod are arranged on the lateral sides of the vehicle platform.

[0014] According to an embodiment of this application, a vehicle centering method is also disclosed for a vehicle centering device. The vehicle centering device includes a pushing mechanism and a detection system. The pushing mechanism includes a first push rod, a second push rod, and a driving unit. The first push rod and the second push rod are arranged laterally opposite each other. The driving unit is connected to the first push rod and the second push rod and is used to drive the first push rod and the second push rod to move laterally. The detection system includes a first wheel hub positioning detection unit, a second wheel hub positioning detection unit, and a distance detection unit. The first wheel hub positioning detection unit is disposed on the first push rod and is used to generate a positioning signal when the first push rod extends laterally and contacts the vehicle wheel hub. The second wheel hub positioning detection unit is disposed on the second push rod and is used to generate a positioning signal when the second push rod extends laterally and contacts the vehicle wheel hub. The distance detection unit is used to detect the distance data between the first push rod and a first preset position and to detect the distance data between the second push rod and a second preset position.

[0015] The vehicle centering method includes the following steps:

[0016] The distance detection unit detects a first distance value between the first push rod and the first preset position, and a second distance value between the second push rod and the second preset position.

[0017] The drive unit is controlled to drive the first push rod and the second push rod to extend towards each other;

[0018] When the first wheel hub positioning detection unit or the second wheel hub positioning detection unit receives a positioning signal, the drive unit is controlled to stop the first push rod and the second push rod from moving, and the third distance value between the first push rod and the first preset position and the fourth distance value between the second push rod and the second preset position detected by the distance detection unit are obtained.

[0019] Calculate the first difference between the third distance value and the first distance value, calculate the second difference between the fourth distance value and the second distance value, and determine the positional deviation between the first push rod and the second push rod based on the first difference and the second difference;

[0020] When the position deviation value reaches or exceeds the deviation threshold, the movement direction and movement distance of the first push rod and the second push rod are controlled based on the position deviation value, so that the position deviation value drops below the deviation threshold.

[0021] The technical solutions provided by the embodiments of this application have at least the following beneficial effects:

[0022] The scheme disclosed in this application sets up a first wheel hub positioning detection unit, a second wheel hub positioning detection unit, and a distance detection unit. The first wheel hub positioning detection unit generates a positioning signal when the first push rod extends laterally and contacts the vehicle wheel hub. The second wheel hub positioning detection unit generates a positioning signal when the second push rod extends laterally and contacts the vehicle wheel hub. The distance detection unit detects the distance data between the first push rod and the first preset position and the distance data between the second push rod and the second preset position. When aligning the vehicle, the system first acquires the first distance value between the first push rod and the first preset position, and the second distance value between the second push rod and the second preset position, detected by the distance detection unit. Then, the drive unit is controlled to extend the first and second push rods towards each other. When a positioning signal is received from the first or second wheel hub positioning detection unit, the drive unit is controlled to stop the movement of the first and second push rods. The system then acquires the third distance value between the first push rod and the first preset position, and the fourth distance value between the second push rod and the second preset position, detected by the distance detection unit. After that, the system calculates the first difference between the third and first distance values, and the second difference between the fourth and second distance values. Based on the first and second differences, the system determines the positional deviation value between the first and second push rods. When the positional deviation value reaches or exceeds the deviation threshold, the system controls the movement direction and distance of the first and second push rods based on the positional deviation value, thereby reducing the positional deviation value below the deviation threshold and achieving precise alignment of the vehicle's wheel hubs.

[0023] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the principles of this application.

[0025] Figure 1 A schematic diagram of the structure of a vehicle centering device according to an embodiment of this application is shown;

[0026] Figure 2 It shows Figure 1 Enlarged view of section A;

[0027] Figure 3 It shows Figure 1 Enlarged view of section B;

[0028] Figure 4 A schematic diagram of the system control architecture according to an embodiment of this application is shown;

[0029] Figure 5 A flowchart of a vehicle centering method according to an embodiment of this application is shown;

[0030] Figure 6 It shows Figure 5 A detailed flowchart of an embodiment of step S540 is shown;

[0031] Figure 7 It shows Figure 5 A detailed flowchart of one embodiment of step S550 is shown;

[0032] Figure 8 A detailed flowchart of the push rod zero-return calibration operation according to an embodiment of this application is shown;

[0033] Figure 9 A flowchart of a vehicle centering method according to another embodiment of this application is shown.

[0034] The annotations in the attached figures are explained as follows:

[0035] 1. Car platform; 10. Parking area; 21. First push rod; 211. Front movable curved plate; 212. Front push rod; 213. Front impact block; 214. Rear movable curved plate; 215. Rear push rod; 216. Rear impact block; 22. Second push rod; 23. First drive unit; 24. Second drive unit; 31. First front wheel hub positioning detection switch; 32. First rear wheel hub positioning detection switch; 33. Third rear wheel hub positioning detection switch; 34. Fourth rear wheel hub positioning detection switch; 35. Second front wheel hub positioning detection switch; 36. Second rear wheel hub positioning detection switch; 37. Fifth rear wheel hub positioning detection switch; 38. Sixth rear wheel hub positioning detection switch; 41. First pull rope sensor; 42. Second pull rope sensor; 51. First retraction positioning detection switch; 52. Second retraction positioning detection switch; 53. First extension limit detection switch; 54. Second extension limit detection switch; 6. Controller. Detailed Implementation

[0036] To make the objectives, implementation methods, and advantages of this application clearer, exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these exemplary embodiments are provided to make the description of this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. It should be noted that the brief descriptions of terminology in this application are merely for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0037] In the description of this application, it should be understood that the terms "left", "right", "front", "rear", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0038] In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include one or more features.

[0040] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0042] Figure 1 A schematic diagram of the structure of a vehicle centering device according to an embodiment of this application is shown. Figure 2 It shows Figure 1 An enlarged view of part A in the middle. Figure 3 It shows Figure 1 Enlarged view of section B.

[0043] like Figure 1 As shown, the vehicle centering device of this application embodiment includes a vehicle platform 1. The vehicle platform 1 serves as a vehicle support structure for carrying vehicles and has a parking area 10 for parking vehicles.

[0044] The vehicle centering device also includes a push mechanism, which includes a first push rod 21, a second push rod 22, and a drive unit.

[0045] The first push rod 21 and the second push rod 22 are arranged laterally opposite each other. Figure 1 Taking the angle shown as an example, the first push rod 21 and the second push rod 22 are arranged opposite each other on the lateral sides of the vehicle platform 1, wherein the first push rod 21 is located on the left side of the vehicle platform 1 and the second push rod 22 is located on the right side of the vehicle platform 1.

[0046] The drive unit connects the first push rod 21 and the second push rod 22, and is used to drive the first push rod 21 and the second push rod 22 to move laterally.

[0047] Figure 4 A schematic diagram of the system control architecture according to an embodiment of this application is shown.

[0048] In some embodiments, such as Figure 4 As shown, the drive unit includes a first drive unit 23 and a second drive unit 24. The first drive unit 23 is connected to a first push rod 21 and drives the first push rod 21 to move laterally. The lateral movement of the first push rod 21 includes a lateral extension movement towards the second push rod 22 and a lateral retraction movement away from the second push rod 22. The second drive unit 24 is connected to the second push rod 22 and drives the second push rod 22 to move laterally. The lateral movement of the second push rod 22 includes a lateral extension movement towards the first push rod 21 and a lateral retraction movement away from the first push rod 21.

[0049] The vehicle alignment device also includes a detection system, which comprises a first wheel hub positioning detection unit, a second wheel hub positioning detection unit, and a distance detection unit.

[0050] The first wheel hub positioning detection unit is mounted on the first push rod 21 and is used to generate a positioning signal when the first push rod 21 extends laterally and contacts the vehicle wheel hub.

[0051] The first push rod 21 extends laterally to contact the vehicle wheel hub. This can be either the first push rod 21 just touches the vehicle wheel hub, or the first push rod 21 further presses against the vehicle wheel hub after touching it.

[0052] In some embodiments, such as Figure 1 As shown, the first wheel hub positioning detection unit includes a first front wheel hub positioning detection switch 31 and a first rear wheel hub positioning detection switch 32. The first front wheel hub positioning detection switch 31 generates a positioning signal when the first push rod 21 contacts the front wheel hub, and the first rear wheel hub positioning detection switch 32 generates a positioning signal when the first push rod 21 contacts the rear wheel hub.

[0053] By setting the first front wheel hub positioning detection switch 31 and the first rear wheel hub positioning detection switch 32 to detect whether the first push rod 21 is in contact with the front wheel hub and whether it is in contact with the rear wheel hub, it helps to accurately determine whether the first push rod 21 is close to the left wheel hub of the vehicle.

[0054] In some embodiments, such as Figure 1 As shown, the first wheel hub positioning detection unit further includes a third rear wheel hub positioning detection switch 33 and a fourth rear wheel hub positioning detection switch 34. The third rear wheel hub positioning detection switch 33, the fourth rear wheel hub positioning detection switch 34, and the first rear wheel hub positioning detection switch 32 are spaced apart longitudinally. The third rear wheel hub positioning detection switch 33 and the fourth rear wheel hub positioning detection switch 34 generate a positioning signal when the first push rod 21 contacts the rear wheel hub.

[0055] By setting three rear wheel hub positioning detection switches, the wheelbase difference of different vehicle models can be adapted to ensure that the action of the first push rod 21 is precisely matched with the position of the vehicle wheel hub.

[0056] Of course, in other embodiments, the first wheel hub positioning detection unit may also include only a rear wheel hub positioning detection switch, or only a front wheel hub positioning detection switch, or only a rear wheel hub positioning detection switch.

[0057] The second wheel hub positioning detection unit is mounted on the second push rod 22 and is used to generate a positioning signal when the second push rod 22 extends laterally and contacts the vehicle wheel hub.

[0058] The second push rod 22 extends laterally to contact the vehicle wheel hub. This can be either the second push rod 22 just touching the vehicle wheel hub, or the second push rod 22 further pressing against the vehicle wheel hub after touching it.

[0059] In some embodiments, such as Figure 1 As shown, the second wheel hub positioning detection unit includes a second front wheel hub positioning detection switch 35 and a second rear wheel hub positioning detection switch 36. The second front wheel hub positioning detection switch 35 generates a positioning signal when the second push rod 22 contacts the front wheel hub, and the second rear wheel hub positioning detection switch 36 generates a positioning signal when the second push rod 22 contacts the rear wheel hub.

[0060] By setting the second front wheel hub positioning detection switch 35 and the second rear wheel hub positioning detection switch 36 to detect whether the second push rod 22 is in contact with the front wheel hub and the rear wheel hub respectively, it is helpful to accurately determine whether the second push rod 22 is close to the right wheel hub of the vehicle.

[0061] In some embodiments, such as Figure 1As shown, the second wheel hub positioning detection unit further includes a fifth rear wheel hub positioning detection switch 37 and a sixth rear wheel hub positioning detection switch 38. The fifth rear wheel hub positioning detection switch 37, the sixth rear wheel hub positioning detection switch 38, and the second rear wheel hub positioning detection switch 36 are spaced apart longitudinally. The fifth rear wheel hub positioning detection switch 37 and the sixth rear wheel hub positioning detection switch 38 generate a positioning signal when the second push rod 22 contacts the rear wheel hub.

[0062] By setting three rear wheel hub positioning detection switches, the wheelbase difference of different models can be adapted to ensure that the action of the second push rod 22 is precisely matched with the position of the vehicle wheel hub.

[0063] Of course, in other embodiments, the second wheel hub positioning detection unit may also include only one rear wheel hub positioning detection switch, or only one front wheel hub positioning detection switch, or only one rear wheel hub positioning detection switch.

[0064] like Figure 2 As shown, in some embodiments, a front movable bend plate 211 is provided on the front end of the first push rod 21 facing the second push rod 22. As the first push rod 21 extends towards the second push rod 22, the front movable bend plate 211 gradually approaches the front wheel hub of the vehicle and eventually contacts the front wheel hub. A front push rod 212 is provided on the front movable bend plate 211, and a front impact block 213 is provided on the front push rod 212. The front impact block 213 is located near the first wheel hub positioning detection switch 31. When the front movable bend plate 211 contacts the front wheel hub, it is linked to the impact block 213 on the front push rod 212 to strike the first front wheel hub positioning detection switch 31, thereby triggering the first front wheel hub positioning detection switch 31 to generate a positioning signal.

[0065] like Figure 3 As shown, a rear movable curved plate 214 is provided on the rear end of the first push rod 21 facing the second push rod 22. As the first push rod 21 extends towards the second push rod 22, the rear movable curved plate 214 gradually approaches the rear wheel hub of the vehicle, eventually contacting it. A rear push rod 215 is provided on the rear movable curved plate 214, and a rear impact block 216 is provided on the rear push rod 215. The rear impact block 216 is positioned near the rear wheel hub positioning detection switch. When the rear movable curved plate 214 contacts the rear wheel hub, it triggers the rear impact block 216 on the rear push rod 215 to strike the rear wheel hub positioning detection switch, thereby generating a positioning signal from the rear wheel hub positioning detection switch.

[0066] exist Figure 3In the illustrated embodiment, a rear impact block 216 is provided corresponding to each of the three rear wheel hub positioning detection switches 32, 33, and 34. The three rear impact blocks 216 are spaced apart longitudinally and are each positioned adjacent to one of the rear wheel hub positioning detection switches. The three rear impact blocks 216 are respectively mounted on a rear push rod 215, and the three rear impact blocks 216 respectively trigger the three rear wheel hub positioning detection switches 32, 33, and 34 to generate positioning signals.

[0067] Similarly, the second push rod 22 can use the above-mentioned movable bending plate, push rod and impact block to trigger the detection switch to generate a positioning signal, which will not be described in detail here.

[0068] The distance detection unit is used to detect the distance data between the first push rod 21 and the first preset position and the distance data between the second push rod 22 and the second preset position.

[0069] The first preset position can be any fixed position in the horizontal direction, and the second preset position can also be any fixed position in the horizontal direction. For example, the first preset position is a certain position on the left side of the vehicle platform 1, which can be the zero point position corresponding to the first push rod 21; the second preset position is a certain position on the right side of the vehicle platform 1, which can be the zero point position corresponding to the second push rod 22.

[0070] In some embodiments, such as Figure 1 As shown, the distance detection unit includes a first pull rope sensor 41 and a second pull rope sensor 42.

[0071] In this design, one end of the pull rope of the first pull rope sensor 41 is fixed to the platform 1, and the other end is connected to the first push rod 21. When the first push rod 21 moves laterally, the pull rope of the first pull rope sensor 41 extends or retracts with the first push rod 21, thereby realizing distance measurement.

[0072] One end of the pull rope of the second pull rope sensor 42 is fixed to the platform 1, and the other end is connected to the second push rod 22. When the second push rod 22 moves laterally, the pull rope of the second pull rope sensor 42 extends or retracts with the second push rod 22, thereby realizing distance measurement. Using a pull rope sensor to detect the distance data of the first push rod 21 and the second push rod 22 can avoid the influence of other surrounding components and ensure the accuracy of the distance data.

[0073] Of course, in other embodiments, other ranging sensors can also be used to detect the distance data of the first push rod 21 and the second push rod 22, such as laser ranging sensors, ultrasonic ranging sensors, infrared ranging sensors, etc.

[0074] In some embodiments, such as Figure 1As shown, the detection system further includes a first retraction detection switch 51 and a second retraction detection switch 52.

[0075] The first retraction detection switch 51 is used to detect the position of the first push rod 21, and generates a zero-return signal when the first push rod 21 returns to zero. Figure 1 Taking the angle shown as an example, the first retraction detection switch 51 is located on the left side of the vehicle platform 1.

[0076] In some embodiments, such as Figure 1 As shown, there are two first return-to-position detection switches 51, which are set at a distance in the longitudinal direction to detect whether the front end and rear end of the first push rod 21 have returned to zero, thereby improving the accuracy of the return-to-zero detection result of the first push rod 21.

[0077] The second return-to-position detection switch 52 is used to detect the position of the second push rod 22, and generates a return-to-zero signal when the second push rod 22 returns to zero. Figure 1 Taking the angle shown as an example, the second retraction detection switch 52 is located on the right side of the vehicle platform 1.

[0078] In some embodiments, such as Figure 1 As shown, there are two second return-to-position detection switches 52, which are spaced apart in the longitudinal direction to detect whether the front and rear ends of the second push rod 22 have returned to zero, thereby improving the accuracy of the return-to-zero detection result of the second push rod 22.

[0079] In some embodiments, such as Figure 1 As shown, the detection system further includes a first extension limit detection switch 53 and a second extension limit detection switch 54.

[0080] The first extension limit detection switch 53 is used to detect whether the first push rod 21 has extended to its limit position. Figure 1 Taking the angle shown as an example, the first extension limit detection switch 53 is located on the left side of the vehicle platform 1.

[0081] The second extension limit detection switch 54 is used to detect whether the second push rod 22 has extended to its limit position. Figure 1 Taking the angle shown as an example, the second extension limit detection switch 54 is located on the right side of the vehicle platform 1.

[0082] In some embodiments, such as Figure 1As shown, there are two first extension limit detection switches 53, which are spaced apart longitudinally to detect whether the first push rod 21 has extended to its limit position, thus improving the accuracy of the detection results. Similarly, there are two second extension limit detection switches 54, which are also spaced apart longitudinally to detect whether the second push rod 22 has extended to its limit position, further improving the accuracy of the detection results.

[0083] like Figure 4 As shown, the vehicle alignment device also includes a controller 6. The controller 6 can be connected to various detection components of the detection system, such as wheel hub positioning detection switches 31-38, pull rope sensors 41-42, retraction positioning detection switches 51-52, and extension limit detection switches 53-54, to receive position signals, return-to-zero signals, distance data, etc. The controller 6 can be connected to the first drive unit 23 and the second drive unit 24 and is configured to execute the vehicle alignment method to output control commands to the first drive unit 23 and / or the second drive unit 24, so that the first drive unit 23 drives the first push rod 21 and / or the second drive unit 24 drives the second push rod 22 to make corresponding lateral movements, thereby achieving precise alignment of the vehicle wheel hubs.

[0084] Figure 5 A flowchart of a vehicle centering method according to an embodiment of this application is shown. (See attached document.) Figure 5 As shown, the vehicle alignment method includes at least the following steps S510-S550, which are described in detail below:

[0085] In step S510, the first distance value between the first push rod and the first preset position, and the second distance value between the second push rod and the second preset position, detected by the distance detection unit, are obtained.

[0086] In one embodiment, the first preset position corresponds to the zero point position of the first push rod, and the second preset position corresponds to the zero point position of the second push rod. That is, in step S510, the first distance value between the first push rod and its zero point position detected by the distance detection unit, and the second distance value between the second push rod and its zero point position are obtained.

[0087] In step S520, the control drive unit drives the first push rod and the second push rod to extend towards each other.

[0088] The control drive unit drives the first push rod and the second push rod to extend towards each other; that is, the control drive unit drives the first push rod to extend toward the second push rod, and drives the second push rod to extend toward the first push rod. Figure 1 Taking the angle shown as an example, in step S520, the control drive unit drives the first push rod to extend to the right and drives the second push rod to extend to the left.

[0089] In an embodiment where the drive unit includes a first drive unit and a second drive unit, the first drive unit drives the first push rod, and the second drive unit drives the second push rod, the drive unit is controlled to drive the first push rod and the second push rod to extend toward each other, that is, the first drive unit is controlled to drive the first push rod to extend toward the second push rod, and the second drive unit is controlled to drive the second push rod to extend toward the first push rod.

[0090] In step S530, when the arrival signal of the first wheel hub arrival detection unit or the second wheel hub arrival detection unit is received, the control drive unit stops the first push rod and the second push rod from moving, and obtains the third distance value between the first push rod and the first preset position and the fourth distance value between the second push rod and the second preset position detected by the distance detection unit.

[0091] In some embodiments where the first wheel hub positioning detection unit includes a first front wheel hub positioning detection switch and a first rear wheel hub positioning detection switch, and the second wheel hub positioning detection unit includes a second front wheel hub positioning detection switch and a second rear wheel hub positioning detection switch, when a positioning signal is received from either the first or second wheel hub positioning detection unit, the control drive unit stops the first and second push rods from moving. That is, when a positioning signal is received from either the first or second wheel hub positioning detection switch, or when a positioning signal is received from either the second or second wheel hub positioning detection switch, the control drive unit stops the first and second push rods from moving.

[0092] By setting the first and second push rods to stop moving when they receive the position signals from the front wheel hub position detection switch and the rear wheel hub position detection switch, it is helpful to achieve precise vehicle centering.

[0093] In some embodiments where the first wheel hub positioning detection unit also includes a third and a fourth rear wheel hub positioning detection switch, and the second rear wheel hub positioning detection switch also includes a fifth and a sixth rear wheel hub positioning detection switch, when a positioning signal is received from the first or second wheel hub positioning detection unit, the control drive unit stops the first and second push rods from moving. That is, when a positioning signal is received from any one of the first, third, and fourth rear wheel hub positioning detection switches and the first front wheel hub positioning detection switch, or when a positioning signal is received from any one of the second, fifth, and sixth rear wheel hub positioning detection switches and the second front wheel hub positioning detection switch, the control drive unit stops the first and second push rods from moving.

[0094] By setting the first and second push rods to stop moving when receiving the position signal from the front wheel hub position detection switch and the position signal from any one of the rear wheel hub position detection switches, it can be applied to vehicles with different wheelbases for precise centering.

[0095] In one embodiment, the control drive unit stops the first push rod and the second push rod from moving; that is, the control first drive unit stops the first push rod from moving, and the control second drive unit stops the second push rod from moving.

[0096] In step S540, the first difference between the third distance value and the first distance value is calculated, the second difference between the fourth distance value and the second distance value is calculated, and the positional deviation between the first push rod and the second push rod is determined based on the first difference and the second difference.

[0097] In some embodiments, such as Figure 6 As shown, the positional deviation between the first push rod and the second push rod is determined based on the first difference and the second difference, including steps S610-S620, which are described in detail below:

[0098] In step S610, the first difference is subtracted from the second difference to obtain the third difference.

[0099] In some embodiments, the difference between the first difference and the second difference is obtained by subtracting the second difference from the first difference, thereby obtaining the third difference.

[0100] Of course, the difference between the first and second differences can also be obtained by subtracting the first difference from the second difference to get the third difference.

[0101] In step S620, half of the third difference is taken as the positional deviation value between the first push rod and the second push rod.

[0102] For example, the first distance value is X1, the second distance value is X2, the third distance value is X3, the fourth distance value is X4, the first difference is (X3-X1), the second difference is (X4-X2), the third difference is [(X3-X1)-(X4-X2)], and the position deviation value is C=[(X3-X1)-(X4-X2)] / 2.

[0103] In step S550, when the position deviation value reaches or exceeds the deviation threshold, the movement direction and movement distance of the first push rod and the second push rod are controlled based on the position deviation value so that the position deviation value drops below the deviation threshold.

[0104] Specifically, if the position deviation value reaches or exceeds the deviation threshold, meaning the absolute value of the position deviation value exceeds the deviation threshold, it indicates that the vehicle alignment has not met the accuracy requirements. Therefore, the movement direction and distance of the first and second push rods are controlled based on the position deviation value to reduce the position deviation value below the deviation threshold and thus meet the accuracy requirements.

[0105] In some embodiments, such as Figure 7 As shown, the movement direction and distance of the first and second push rods are controlled based on the position deviation value, including steps S710-S720, which are described in detail below:

[0106] In step S710, the position deviation value is compared with zero.

[0107] In step S720, based on the comparison result between the position deviation value and zero, either the first adjustment strategy or the second adjustment strategy is executed.

[0108] The first adjustment strategy includes: first controlling the drive unit to retract the first push rod by the position deviation value, and then controlling the drive unit to extend the second push rod by the position deviation value. The second adjustment strategy includes: first controlling the drive unit to retract the second push rod by the position deviation value, and then controlling the drive unit to extend the first push rod by the position deviation value.

[0109] Based on the comparison between the position deviation value and zero, the position deviation value is reduced by driving the first push rod to retract the position deviation value and driving the second push rod to extend the position deviation value, or by driving the second push rod to retract the position deviation value and driving the first push rod to extend the position deviation value. This reduces the position deviation value to below the deviation threshold, thereby achieving precise alignment of the vehicle wheel hub.

[0110] Specifically, based on the comparison between the position deviation value and zero, a first adjustment strategy or a second adjustment strategy is executed, including: if the position deviation value is greater than zero, the first adjustment strategy is executed; if the position deviation value is less than zero, the second adjustment strategy is executed.

[0111] In some embodiments, controlling the drive unit to drive the first push rod to retract by a position deviation value, and then controlling the drive unit to drive the second push rod to extend by another position deviation value, includes: controlling the drive unit to drive the first push rod to retract until the distance data detected by the distance detection unit between the first push rod and the first preset position is obtained as the difference between the absolute values ​​of a third distance value and the position deviation value. Controlling the drive unit to drive the second push rod to extend until the distance data detected by the distance detection unit between the second push rod and the second preset position is obtained as the sum of the absolute values ​​of a fourth distance value and the position deviation value.

[0112] In some embodiments, controlling the drive unit to drive the second push rod to retract by a position deviation value, and then controlling the drive unit to drive the first push rod to extend by another position deviation value, includes: controlling the drive unit to drive the second push rod to retract until the distance data detected by the distance detection unit between the second push rod and the second preset position is obtained as the difference between the absolute values ​​of the fourth distance value and the position deviation value. Controlling the drive unit to drive the first push rod to extend until the distance data detected by the distance detection unit between the first push rod and the first preset position is obtained as the sum of the absolute values ​​of the third distance value and the position deviation value.

[0113] In some embodiments, controlling the drive unit to retract the first push rod by a position deviation value means controlling the first drive unit to retract the first push rod by a position deviation value; controlling the drive unit to extend the second push rod by a position deviation value means controlling the second drive unit to extend the second push rod by a position deviation value.

[0114] In some embodiments, where the detection system is equipped with a first retracted position detection switch for detecting the position of the first push rod and a second retracted position detection switch for detecting the position of the second push rod, before acquiring the first distance value between the first push rod and the first preset position detected by the distance detection unit, and the second distance value between the second push rod and the second preset position, a push rod zeroing calibration operation is performed first to ensure that the push rod stops accurately at the preset zero point position, eliminate the cumulative error caused by long-term use or mechanical wear, and ensure the accuracy of subsequent centering operations.

[0115] like Figure 8 As shown, the push rod zero-return calibration operation includes at least the following steps S810-S830, which are described in detail below:

[0116] In step S810, the control drive unit drives the first push rod and the second push rod to retract in opposite directions.

[0117] In one embodiment, the control drive unit drives the first push rod and the second push rod to retract in opposite directions; that is, the control drive unit drives the first push rod to retract away from the second push rod, and the control drive unit drives the second push rod to retract away from the first push rod. Figure 1 Taking the angle shown as an example, that is, controlling the first drive unit to drive the first push rod to retract to the left, and controlling the second drive unit to retract to the right.

[0118] In step S820, when the zero-return signal of the first retraction detection switch is received, the control drive unit stops the first push rod from moving.

[0119] That is, when the first return-to-zero signal is received from the first return-to-position detection switch, the first drive unit is controlled to stop the first push rod from moving.

[0120] In step S830, when the zero-return signal of the second retraction position detection switch is received, the control drive unit stops the second push rod from moving.

[0121] That is, when the second return-to-zero signal is received from the second return-to-position detection switch, the second drive unit is controlled to stop the second push rod from moving.

[0122] The vehicle centering method of this application will be described in detail below using a specific embodiment as an example.

[0123] like Figure 9 As shown, after the vehicle comes to a complete stop in the parking area, a vehicle centering method is executed, which includes the following steps:

[0124] First, the initial state of the first and second push rods is checked to ensure they are in the standby position, providing a reference for subsequent calibration actions.

[0125] Next, it checks whether the first push rod and the second push rod have retracted to their positions. If the first push rod has not retracted to its position, it controls the first drive unit to retract the first push rod; if the second push rod has not retracted to its position, it controls the second drive unit to retract the second push rod.

[0126] When both the first and second push rods are retracted into position, obtain the first distance value X1 and the second distance value X2.

[0127] Next, the control drive unit drives the first push rod and the second push rod to extend towards each other.

[0128] Next, it is determined whether the first front wheel hub positioning detection switch and any one of the first rear wheel hub positioning detection switches, the third rear wheel hub positioning detection switch, and the fourth rear wheel hub positioning detection switch have been received. If so, the first drive unit is controlled to stop the first push rod from moving.

[0129] Determine whether an arrival signal is received from the second front wheel hub arrival detection switch or any one of the second rear wheel hub arrival detection switches, the fifth rear wheel hub arrival detection switch, or the sixth rear wheel hub arrival detection switch. If so, control the second drive unit to stop the second push rod from moving.

[0130] Next, the third distance value X3 and the fourth distance value X4 are obtained, and the positional deviation value C between the first push rod and the second push rod is calculated. A deviation threshold E is then set, which represents the allowable error range for centering. The positional deviation value C is calculated based on the formula C = [(X3-X1)-(X4-X2)] / 2.

[0131] Next, it is determined whether |C|≤E is satisfied. If so, the drive unit is controlled to retract the first and second push rods to the zero position, ending the vehicle centering process. Otherwise, a centering compensation operation is performed: it is determined whether C>0 is satisfied. If C>0, it means the first push rod has extended too much; then the first push rod is first retracted to X5=X3-C, and then the second push rod is extended to X6=X4+C. If C<0, it means the second push rod has extended too much; then the second push rod is first retracted to X6=X4-|C|, and then the first push rod is extended to X5=X3+|C|.

[0132] After performing the centering compensation operation, it is checked again whether |C|≤E is satisfied. If satisfied, the drive unit is controlled to retract the first and second push rods to the zero position, indicating that the centering is complete and the vehicle centering process ends. If not satisfied, the centering compensation operation is repeated until |C|≤E is satisfied.

[0133] In summary, this application sets up a first wheel hub positioning detection unit, a second wheel hub positioning detection unit, and a distance detection unit. The first wheel hub positioning detection unit generates a positioning signal when the first push rod extends laterally and contacts the vehicle wheel hub. The second wheel hub positioning detection unit generates a positioning signal when the second push rod extends laterally and contacts the vehicle wheel hub. The distance detection unit detects the distance data between the first push rod and the first preset position and the distance data between the second push rod and the second preset position. When aligning the vehicle, the system first acquires the first distance value between the first push rod and the first preset position, and the second distance value between the second push rod and the second preset position, detected by the distance detection unit. Then, the drive unit is controlled to extend the first and second push rods towards each other. When a positioning signal is received from the first or second wheel hub positioning detection unit, the drive unit is controlled to stop the movement of the first and second push rods. The system then acquires the third distance value between the first push rod and the first preset position, and the fourth distance value between the second push rod and the second preset position, detected by the distance detection unit. After that, the system calculates the first difference between the third and first distance values, and the second difference between the fourth and second distance values. Based on the first and second differences, the system determines the positional deviation value between the first and second push rods. When the positional deviation value reaches or exceeds the deviation threshold, the system controls the movement direction and distance of the first and second push rods based on the positional deviation value, thereby reducing the positional deviation value below the deviation threshold and achieving precise alignment of the vehicle's wheel hubs.

[0134] It achieves automatic identification of vehicles with different wheelbases through a composite triggering mechanism of front wheel single-position detection switch and rear wheel multi-position detection switch. Based on closed-loop feedback control of position deviation value C, it achieves centering accuracy of ±1.5mm within 3 convergences. Through dynamic zero-point calibration, multi-level trigger detection, and closed-loop compensation control, it achieves high-precision centering, full-vehicle adaptiveness, cost reduction and efficiency improvement.

[0135] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the appended claims.

Claims

1. A vehicle centering device, characterized in that, include: The pushing mechanism includes a first push rod, a second push rod, and a driving unit. The first push rod and the second push rod are arranged laterally opposite each other. The driving unit is connected to the first push rod and the second push rod and is used to drive the first push rod and the second push rod to move laterally. The detection system includes a first wheel hub positioning detection unit, a second wheel hub positioning detection unit, and a distance detection unit. The first wheel hub positioning detection unit is mounted on the first push rod and is used to generate a positioning signal when the first push rod extends laterally and contacts the vehicle wheel hub. The second wheel hub positioning detection unit is mounted on the second push rod and is used to generate a positioning signal when the second push rod extends laterally and contacts the vehicle wheel hub. The distance detection unit is used to detect the distance data between the first push rod and a first preset position and to detect the distance data between the second push rod and a second preset position. The controller, connected to the first wheel hub positioning detection unit, the second wheel hub positioning detection unit, the distance detection unit, and the drive unit, is configured as follows: The distance detection unit detects a first distance value between the first push rod and the first preset position, and a second distance value between the second push rod and the second preset position. The drive unit is controlled to drive the first push rod and the second push rod to extend towards each other; When the first wheel hub positioning detection unit or the second wheel hub positioning detection unit receives a positioning signal, the drive unit is controlled to stop the first push rod and the second push rod from moving, and the third distance value between the first push rod and the first preset position and the fourth distance value between the second push rod and the second preset position detected by the distance detection unit are obtained. Calculate the first difference between the third distance value and the first distance value, calculate the second difference between the fourth distance value and the second distance value, and determine the positional deviation between the first push rod and the second push rod based on the first difference and the second difference; When the position deviation value reaches or exceeds the deviation threshold, the movement direction and movement distance of the first push rod and the second push rod are controlled based on the position deviation value, so that the position deviation value drops below the deviation threshold.

2. The vehicle alignment device according to claim 1, characterized in that, Determining the positional deviation between the first push rod and the second push rod based on the first difference and the second difference includes: Subtract the first difference from the second difference to obtain the third difference; Take half of the third difference as the positional deviation value between the first push rod and the second push rod; The control of the movement direction and movement distance of the first push rod and the second push rod based on the position deviation value includes: Compare the position deviation value with zero; Based on the comparison result between the position deviation value and zero, execute the first adjustment strategy or the second adjustment strategy; The first adjustment strategy includes: first controlling the drive unit to drive the first push rod to retract the position deviation value, and then controlling the drive unit to drive the second push rod to extend the position deviation value. The second adjustment strategy includes: first controlling the drive unit to drive the second push rod to retract the position deviation value, and then controlling the drive unit to drive the first push rod to extend the position deviation value.

3. The vehicle alignment device according to claim 2, characterized in that, The step of subtracting the first difference from the second difference to obtain the third difference includes: Subtract the second difference from the first difference to obtain the third difference; The step of executing a first adjustment strategy or a second adjustment strategy based on the comparison result of the position deviation value and zero includes: If the position deviation value is greater than zero, then the first adjustment strategy is executed; If the position deviation value is less than zero, then the second adjustment strategy is executed.

4. The vehicle alignment device according to claim 2, characterized in that, The step of controlling the drive unit to drive the first push rod to retract the position deviation value, and then controlling the drive unit to drive the second push rod to extend the position deviation value, includes: The drive unit is controlled to drive the first push rod to retract until the distance data between the first push rod and the first preset position detected by the distance detection unit is the difference between the absolute value of the third distance value and the position deviation value. The drive unit is controlled to drive the second push rod to continue extending until the distance data between the second push rod and the second preset position detected by the distance detection unit is the sum of the absolute values ​​of the fourth distance value and the position deviation value; The process of controlling the drive unit to drive the second push rod to retract the position deviation value, and then controlling the drive unit to drive the first push rod to extend the position deviation value, includes: The drive unit is controlled to drive the second push rod to retract until the distance data between the second push rod and the second preset position detected by the distance detection unit is the difference between the absolute value of the fourth distance value and the position deviation value. The drive unit is controlled to drive the first push rod to continue extending until the distance data between the first push rod and the first preset position detected by the distance detection unit is the sum of the absolute values ​​of the third distance value and the position deviation value.

5. The vehicle alignment device according to claim 1, characterized in that, The first wheel hub positioning detection unit includes a first front wheel hub positioning detection switch and a first rear wheel hub positioning detection switch. The first front wheel hub positioning detection switch generates a positioning signal when the first push rod contacts the front wheel hub, and the first rear wheel hub positioning detection switch generates a positioning signal when the first push rod contacts the rear wheel hub. The controller is configured to control the drive unit to stop the first push rod and the second push rod from moving when it receives the positioning signals from the first front wheel hub positioning detection switch and the first rear wheel hub positioning detection switch. The second wheel hub positioning detection unit includes a second front wheel hub positioning detection switch and a second rear wheel hub positioning detection switch. The second front wheel hub positioning detection switch generates a positioning signal when the second push rod contacts the front wheel hub, and the second rear wheel hub positioning detection switch generates a positioning signal when the second push rod contacts the rear wheel hub. The controller is configured to control the drive unit to stop the first push rod and the second push rod when it receives the positioning signals from the second front wheel hub positioning detection switch and the second rear wheel hub positioning detection switch.

6. The vehicle alignment device according to claim 5, characterized in that, The first wheel hub positioning detection unit further includes a third rear wheel hub positioning detection switch and a fourth rear wheel hub positioning detection switch. The third rear wheel hub positioning detection switch, the fourth rear wheel hub positioning detection switch, and the first rear wheel hub positioning detection switch are spaced apart in the longitudinal direction. The controller is configured to control the drive unit to stop the first push rod and the second push rod from moving when it receives a positioning signal from any one of the first rear wheel hub positioning detection switch, the third rear wheel hub positioning detection switch, the fourth rear wheel hub positioning detection switch, and a positioning signal from the first front wheel hub positioning detection switch. The second wheel hub positioning detection unit further includes a fifth rear wheel hub positioning detection switch and a sixth rear wheel hub positioning detection switch. The fifth rear wheel hub positioning detection switch, the sixth rear wheel hub positioning detection switch, and the second rear wheel hub positioning detection switch are spaced apart in the longitudinal direction. The controller is configured to control the drive unit to stop the first push rod and the second push rod when it receives the positioning signal of any one of the second rear wheel hub positioning detection switches, the fifth rear wheel hub positioning detection switch, the sixth rear wheel hub positioning detection switch, and the positioning signal of the second front wheel hub positioning detection switch.

7. The vehicle alignment device according to any one of claims 1 to 6, characterized in that, The detection system also includes: The first retraction detection switch is used to detect the position of the first push rod and generate a zero-return signal when the first push rod returns to zero. The second return-to-position detection switch is used to detect the position of the second push rod and generate a return-to-zero signal when the second push rod returns to zero. The controller is connected to the first retracted position detection switch and the second retracted position detection switch, and is configured as follows: Before acquiring the first distance value between the first push rod and the first preset position, and the second distance value between the second push rod and the second preset position, detected by the distance detection unit, the following is executed: The drive unit is controlled to drive the first push rod and the second push rod to retract in opposite directions. When the zero-return signal is received from the first retraction detection switch, the drive unit is controlled to stop the first push rod from moving. When the second return-to-zero signal is received from the second return-to-position detection switch, the drive unit is controlled to stop the second push rod from moving.

8. The vehicle alignment device according to any one of claims 1 to 6, characterized in that, The distance detection unit includes a first pull-rope sensor and a second pull-rope sensor. One end of the pull rope of the first pull-rope sensor is fixed to the vehicle platform, and the other end is connected to the first push rod. One end of the pull rope of the second pull-rope sensor is fixed to the vehicle platform, and the other end is connected to the second push rod. The vehicle platform is used to carry vehicles. The first push rod and the second push rod are arranged on the lateral sides of the vehicle platform.

9. A vehicle alignment method, used in a vehicle alignment device, characterized in that, The vehicle centering device includes a pushing mechanism and a detection system. The pushing mechanism includes a first push rod, a second push rod, and a driving unit. The first push rod and the second push rod are arranged laterally opposite each other. The driving unit connects the first push rod and the second push rod and drives the first push rod and the second push rod to move laterally. The detection system includes a first wheel hub positioning detection unit, a second wheel hub positioning detection unit, and a distance detection unit. The first wheel hub positioning detection unit is disposed on the first push rod and generates a positioning signal when the first push rod extends laterally and contacts the vehicle wheel hub. The second wheel hub positioning detection unit is disposed on the second push rod and generates a positioning signal when the second push rod extends laterally and contacts the vehicle wheel hub. The distance detection unit detects the distance data between the first push rod and a first preset position and the distance data between the second push rod and a second preset position. The vehicle centering method includes: The distance detection unit detects a first distance value between the first push rod and the first preset position, and a second distance value between the second push rod and the second preset position. The drive unit is controlled to drive the first push rod and the second push rod to extend towards each other; When the first wheel hub positioning detection unit or the second wheel hub positioning detection unit receives a positioning signal, the drive unit is controlled to stop the first push rod and the second push rod from moving, and the third distance value between the first push rod and the first preset position and the fourth distance value between the second push rod and the second preset position detected by the distance detection unit are obtained. Calculate the first difference between the third distance value and the first distance value, calculate the second difference between the fourth distance value and the second distance value, and determine the positional deviation between the first push rod and the second push rod based on the first difference and the second difference; When the position deviation value reaches or exceeds the deviation threshold, the movement direction and movement distance of the first push rod and the second push rod are controlled based on the position deviation value, so that the position deviation value drops below the deviation threshold.

10. The vehicle centering method according to claim 9, characterized in that, Determining the positional deviation between the first push rod and the second push rod based on the first difference and the second difference includes: Subtract the first difference from the second difference to obtain the third difference; Take half of the third difference as the positional deviation value between the first push rod and the second push rod; The control of the movement direction and movement distance of the first push rod and the second push rod based on the position deviation value includes: Compare the position deviation value with zero; Based on the comparison result between the position deviation value and zero, execute the first adjustment strategy or the second adjustment strategy; The first adjustment strategy includes: first controlling the drive unit to drive the first push rod to retract the position deviation value, and then controlling the drive unit to drive the second push rod to extend the position deviation value. The second adjustment strategy includes: first controlling the drive unit to drive the second push rod to retract the position deviation value, and then controlling the drive unit to drive the first push rod to extend the position deviation value.

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