Non-contact axis-free detection of rgv vehicle handling method and apparatus

Abstract

The application provides a non-contact non-wheelbase detection RGV vehicle carrying method and device, and the method comprises the following steps: in response to a vehicle taking instruction, a chassis walking part drives an RGV positioning device to move to the lower side of a vehicle to be carried; the clamping arms of a front clamping part and a rear clamping part are switched to a half-open state; a first lateral distance and a second lateral distance are obtained; according to the RGV structure size data, the first lateral distance and the second lateral distance, the chassis walking part and the wheelbase adjusting part are controlled to move cooperatively, so that the front clamping part and the rear clamping part reach preset positions respectively; the clamping arms of the front clamping part and the rear clamping part are switched to a full-open state; and the chassis walking part moves the RGV positioning device to a target storage area. The application effectively overcomes the defects of poor adaptability and the need for preset wheelbase in traditional RGV vehicle carrying.

Description

Technical Field

[0001] This invention relates to the field of intelligent equipment and automation, and in particular to a non-contact, wheelbase-free RGV vehicle handling method and apparatus. Background Technology

[0002] With the increasing demand for urban parking, automated parking garages are widely used due to their high space utilization. Vehicle handling robots, as their core equipment, mainly employ methods such as comb-tooth exchange, pallet handling, or tire clamping. Among these, tire clamping from the bottom of the vehicle has the lowest requirements for aisle and floor height, making it the mainstream development direction. However, existing tire clamping handling equipment largely relies on pre-known vehicle wheelbase or mechanical telescopic probing for positioning: the former requires pre-entry of vehicle information, limiting its applicability; the latter matches the wheelbase through the equipment's own telescopic mechanism, resulting in a time-consuming and sequential mechanical adjustment process, with efficiency and accuracy needing improvement. Neither of these methods achieves rapid, adaptive, and precise positioning. Therefore, existing vehicle handling robots and their positioning methods suffer from reliance on prior vehicle information, cumbersome positioning processes, and insufficient intelligence. Summary of the Invention

[0003] This invention provides a non-contact, wheelbase-free RGV vehicle handling method and apparatus, aiming to solve the problems of existing vehicle handling robots and their positioning methods, which rely on prior vehicle information, have cumbersome positioning processes, and lack sufficient intelligence.

[0004] In a first aspect, embodiments of the present invention provide a non-contact, wheelbase-free RGV vehicle handling method. The method is applied to a controller of an RGV positioning device. The RGV positioning device further includes a front clamping part, a rear clamping part, a wheelbase adjustment part, and a chassis traveling part communicatively connected to the controller. The chassis traveling part is disposed below the front clamping part, the rear clamping part, and the wheelbase adjustment part. The wheelbase adjustment part is disposed between the front clamping part and the rear clamping part. The method includes:

[0005] In response to the vehicle retrieval command, the chassis running gear is controlled to move the RGV positioning device to the underside of the vehicle to be transported;

[0006] Control the clamping arms of the front clamping part and the rear clamping part to switch from the retracted state to the semi-open state;

[0007] The system acquires a first lateral distance collected by a first ranging sensor and a second lateral distance collected by a second ranging sensor; wherein the first ranging sensor is disposed on the front clamping part and the second ranging sensor is disposed on the rear clamping part.

[0008] Based on the pre-stored RGV structural dimension data, the first lateral distance, and the second lateral distance, the chassis traveling part and the wheelbase adjustment part are controlled to move in coordination, so that the front clamping part and the rear clamping part reach the preset positions respectively;

[0009] Control the clamping arms of the front clamping part and the rear clamping part to switch from a half-open state to a fully open state to clamp the tires of the vehicle to be transported;

[0010] Control the chassis traveling unit to move the RGV positioning device, which holds the vehicle to be transported, to the target storage area.

[0011] Secondly, embodiments of the present invention also provide a non-contact, wheelbase-free RGV vehicle handling device. The device is configured in the controller of an RGV positioning device. The RGV positioning device further includes a front clamping part, a rear clamping part, a wheelbase adjustment part, and a chassis traveling part that are communicatively connected to the controller. The chassis traveling part is disposed below the front clamping part, the rear clamping part, and the wheelbase adjustment part. The wheelbase adjustment part is disposed between the front clamping part and the rear clamping part. The device includes:

[0012] The first control unit is used to respond to the vehicle retrieval command and control the chassis running gear to move the RGV positioning device to the underside of the vehicle to be transported;

[0013] The second control unit is used to control the clamping arms of the front clamping part and the rear clamping part to switch from the retracted state to the semi-open state;

[0014] The acquisition unit is used to acquire a first lateral distance acquired by a first ranging sensor and a second lateral distance acquired by a second ranging sensor; wherein, the first ranging sensor is disposed on the front clamping part and the second ranging sensor is disposed on the rear clamping part;

[0015] The third control unit is used to control the chassis running part and the wheelbase adjustment part to move in coordination according to the pre-stored RGV structural dimension data, the first lateral distance and the second lateral distance, so that the front clamping part and the rear clamping part reach the preset position respectively;

[0016] The fourth control unit is used to control the clamping arms of the front clamping part and the rear clamping part to switch from a half-open state to a fully open state to clamp the tires of the vehicle to be transported.

[0017] The fifth control unit is used to control the chassis running gear to move the RGV positioning device holding the vehicle to be transported to the target storage area.

[0018] Thirdly, embodiments of the present invention also provide an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method described in the first aspect above.

[0019] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor, can implement the method described in the first aspect.

[0020] This invention provides a non-contact, wheelbase-free RGV vehicle handling method and apparatus. The method is applied to the controller of an RGV positioning device. The RGV positioning device further includes a front clamping part, a rear clamping part, a wheelbase adjustment part, and a chassis traveling part, which are communicatively connected to the controller. The chassis traveling part is disposed below the front clamping part, the rear clamping part, and the wheelbase adjustment part, and the wheelbase adjustment part is disposed between the front clamping part and the rear clamping part. The method includes: responding to a vehicle retrieval command, controlling the chassis traveling part to move the RGV positioning device to below the vehicle to be transported; controlling the clamping arms of the front clamping part and the rear clamping part to switch from a retracted state to a semi-open state; obtaining... The system acquires a first lateral distance from a first ranging sensor and a second lateral distance from a second ranging sensor. The first ranging sensor is mounted on the front clamping part, and the second ranging sensor is mounted on the rear clamping part. Based on pre-stored RGV structural dimension data, the first lateral distance, and the second lateral distance, the system controls the chassis traveling part and the wheelbase adjustment part to move in tandem, so that the front clamping part and the rear clamping part reach preset positions respectively. The system controls the clamping arms of the front clamping part and the rear clamping part to switch from a half-open state to a fully open state, clamping the tires of the vehicle to be transported. The system controls the chassis traveling part to move the RGV positioning device clamping the vehicle to be transported to the target storage area. This invention effectively overcomes the shortcomings of traditional RGV vehicle handling, which requires preset wheelbase and has poor adaptability, by using non-contact ranging and wheelbase-independent positioning logic. Based on the RGV structural dimension data, the first lateral distance and the second lateral distance, the invention controls the coordinated movement of the chassis running gear and the wheelbase adjustment gear, significantly improving the positioning accuracy of the front and rear wheels, avoiding damage to the vehicle caused by contact detection, and is suitable for the automated vehicle transfer needs of various parking areas and storage areas. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart illustrating the non-contact, wheelbase-free RGV vehicle handling method provided in an embodiment of the present invention.

[0023] Figure 2 This is a schematic block diagram of a non-contact, wheelbase-free RGV vehicle handling device provided in an embodiment of the present invention.

[0024] Figure 3 A schematic block diagram of an electronic device provided in an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the fully open state of the RGV positioning device provided in an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the semi-open state of the RGV positioning device provided in an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the retraction state of the RGV positioning device provided in an embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram of the initial alignment state between the RGV positioning device and the vehicle to be transported, provided in an embodiment of the present invention.

[0029] Figure 8 This is a schematic diagram showing the position of the RGV positioning device under the vehicle to be transported, provided in an embodiment of the present invention.

[0030] Figure 9 This is a schematic diagram illustrating the positioning and adjustment state of the front and rear wheels of the vehicle to be transported, provided by an embodiment of the present invention.

[0031] Figure 10 This is a schematic diagram showing the state of the RGV positioning device clamping the vehicle to be transported, as provided in an embodiment of the present invention.

[0032] The labels for the attached figures are as follows:

[0033] 10. RGV positioning device; 11. Front clamping part; 12. Rear clamping part; 13. Axle distance adjustment part; 14. First ranging sensor; 15. Second ranging sensor. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0036] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0037] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0038] Please see Figure 4 , Figure 4 This is a schematic diagram of the fully open state of the RGV positioning device provided in an embodiment of the present invention. The present invention provides a non-contact, wheelbase-free RGV vehicle handling method and apparatus. This non-contact, wheelbase-free RGV vehicle handling method can be applied to the controller of the RGV positioning device 10. The RGV positioning device further includes a front clamping part 11, a rear clamping part 12, a wheelbase adjustment part 13, and a chassis traveling part that are communicatively connected to the controller. The chassis traveling part is disposed below the front clamping part 11, the rear clamping part 12, and the wheelbase adjustment part 13. The wheelbase adjustment part 13 is disposed between the front clamping part 11 and the rear clamping part 12. The front clamping part 11 includes a front clamping arm and a connecting arm. The invention includes a front drive mechanism electrically connected to the front clamping arm, and a rear clamping part 12 including a rear clamping arm and a rear drive mechanism electrically connected to the rear clamping arm. Both the front and rear clamping arms include a first deployable arm and a second deployable arm disposed opposite to the first deployable arm. A first distance sensor 14 is provided on the first deployable arm of the front clamping arm, which is used to detect the distance between the first deployable arm of the front clamping arm and the front wheel of the vehicle to be transported. A second distance sensor 15 is provided on the first deployable arm of the rear clamping arm, which is used to detect the distance between the first deployable arm of the rear clamping arm and the rear wheel of the vehicle to be transported. The invention will now be described in detail through specific embodiments.

[0039] Figure 1 This is a schematic flowchart of a non-contact, wheelbase-free RGV vehicle handling method provided in an embodiment of the present invention. Figure 1As shown, the method includes the following steps S110-S160.

[0040] S110. In response to the vehicle retrieval command, control the chassis running gear to move the RGV positioning device to the underside of the vehicle to be transported.

[0041] In this embodiment, the target parking area and target storage area are obtained based on the user's vehicle retrieval instruction. The chassis running gear is controlled to move along a preset track, driving the RGV positioning device to the initial positioning position of the target parking area. When the RGV positioning device moves to the initial positioning position of the target parking area, the RGV positioning device is located below the vehicle to be transported (see details). Figure 7 and Figure 8 ); where the initial positioning location is a fixed coordinate point pre-set for each parking area.

[0042] In one embodiment, step S110 includes: responding to a vehicle retrieval command and controlling the RGV positioning device to initialize according to preset initialization state information; after initialization, controlling the chassis running unit to move the RGV positioning device to the initial positioning position of the target parking area; at the initial positioning position, the first unfolding arm of the front clamping part is located on the front side of the front wheel of the vehicle to be transported along the vehicle length direction, and the first unfolding arm of the rear clamping part is located on the front side of the rear wheel of the vehicle to be transported along the vehicle length direction.

[0043] In this embodiment, in response to a vehicle retrieval command, the RGV positioning device is initialized according to preset initialization state information to adjust the wheelbase adjustment unit to the minimum wheelbase position. After initialization, the chassis running gear is controlled to move the RGV positioning device to the initial positioning position of the target parking area. The initial positioning position is a fixed coordinate point pre-set for each parking area. At the initial positioning position, the first extended arm of the front clamping part is located on the front side of the front wheel of the vehicle to be transported along the vehicle's length direction, and the first extended arm of the rear clamping part is located on the front side of the rear wheel of the vehicle to be transported along the vehicle's length direction (see details...). Figure 8 ).

[0044] S120, Control the clamping arms of the front clamping part and the rear clamping part to switch from the retracted state to the semi-open state.

[0045] In this embodiment, the front clamping part includes a front clamping arm and a front drive mechanism electrically connected to the front clamping arm, and the rear clamping part includes a rear clamping arm and a rear drive mechanism electrically connected to the rear clamping arm. Both the front and rear clamping arms include a first unfolding arm and a second unfolding arm disposed opposite to the first unfolding arm. By controlling the first unfolding arm of the front clamping arm and the first unfolding arm of the rear clamping arm to open, the front and rear clamping parts are in a semi-open state (see details...). Figure 5 and Figure 9 ).

[0046] In one embodiment, the front clamping portion includes a front clamping arm and a front drive mechanism electrically connected to the front clamping arm, and the rear clamping portion includes a rear clamping arm and a rear drive mechanism electrically connected to the rear clamping arm. Both the front clamping arm and the rear clamping arm include a first unfolding arm and a second unfolding arm disposed opposite to the first unfolding arm. Step S120 includes: controlling the first unfolding arm of the front clamping arm to open through the front drive mechanism, so that the front clamping portion switches from a retracted state to a half-open state; wherein the first unfolding arm of the front clamping arm is disposed on the side away from the wheelbase adjustment portion; controlling the first unfolding arm of the rear clamping arm to open through the rear drive mechanism, so that the rear clamping portion switches from a retracted state to a half-open state; wherein the first unfolding arm of the rear clamping arm is disposed on the side close to the wheelbase adjustment portion.

[0047] In this embodiment, the front clamping part includes a front clamping arm and a front drive mechanism electrically connected to the front clamping arm, and the rear clamping part includes a rear clamping arm and a rear drive mechanism electrically connected to the rear clamping arm. Both the front clamping arm and the rear clamping arm include a first unfolding arm and a second unfolding arm. When the clamping arms of the front clamping part and the rear clamping part are in a fully open state, in each clamping arm, the first unfolding arm and the second unfolding arm are arranged opposite to each other to form a clamping space therebetween for accommodating a tire.

[0048] The first unfolding arm of the front clamping arm is opened by controlling the front drive mechanism, so that the front clamping part is in the retracted state (e.g., Figure 6 (As shown) Switch to the half-open state (e.g.) Figure 5 As shown); wherein, the first unfolding arm of the front clamping arm is located on the side away from the wheelbase adjustment part; the first unfolding arm of the rear clamping arm is opened by controlling the rear drive mechanism, so that the rear clamping part switches from the retracted state to the semi-open state; wherein, the first unfolding arm of the rear clamping arm is located on the side close to the wheelbase adjustment part.

[0049] In one embodiment, after step S120, the method further includes: controlling the chassis running gear to move according to the first inherent arm side distance in the RGV structural dimension data and the first real-time lateral distance collected by the first distance measuring sensor, so that the front clamping part reaches the front wheel positioning position; and controlling the wheelbase adjustment part to move according to the second inherent arm side distance in the RGV structural dimension data and the second real-time lateral distance collected by the second distance measuring sensor, so that the rear clamping part reaches the rear wheel positioning position.

[0050] In this embodiment, the chassis traveling unit is first controlled to start moving, and during the movement, the first real-time lateral distance A1 collected by the first ranging sensor is acquired in real time; the first real-time target traveling distance B1 (B1=A1-a) is updated in real time according to the first real-time lateral distance A1 and the first inherent arm edge distance a, and the speed of the chassis traveling unit is adjusted according to the position range of the first real-time target traveling distance B1, that is, the running speed of the chassis traveling unit is reduced accordingly as the first real-time target traveling distance B1 decreases; wherein, the first inherent arm edge distance a is the edge distance between the first ranging sensor and the first extended arm of the front clamping arm; when the first real-time target traveling distance B1 is less than the first preset threshold c1, the chassis traveling unit is controlled to stop moving, at which time the front clamping part reaches the front wheel positioning position; then, the chassis traveling unit is controlled to stop moving. The wheelbase adjustment unit drives the rear clamping unit to start moving, and during the movement, the second real-time lateral distance A2 collected by the second ranging sensor is acquired in real time; the second real-time target walking distance B2 (B2=A2-b) is updated in real time according to the second real-time lateral distance A2 and the second inherent arm edge distance b, and the speed of the wheelbase adjustment unit is adjusted according to the position range where the second real-time target walking distance B2 is located, that is, the extension speed of the wheelbase adjustment unit is adjusted according to the position range where the second real-time target walking distance B2 is located; wherein, the second inherent arm edge distance b is the edge distance between the second ranging sensor and the first extended arm of the rear clamping arm; when the second real-time target walking distance B2 is less than the second preset threshold c2, the wheelbase adjustment unit is controlled to stop moving, at which time the rear clamping unit also successfully reaches the rear wheel positioning position.

[0051] S130. Acquire the first lateral distance collected by the first ranging sensor and the second lateral distance collected by the second ranging sensor; wherein the first ranging sensor is disposed on the front clamping part and the second ranging sensor is disposed on the rear clamping part.

[0052] In this embodiment, as Figure 5 and Figure 9As shown, a first distance sensor is provided on the first extended arm of the front clamping arm, which is used to detect the distance between the first extended arm of the front clamping arm and the front wheel of the vehicle to be transported (i.e., the first lateral distance Y1); a second distance sensor is provided on the first extended arm of the rear clamping arm, which is used to detect the distance between the first extended arm of the rear clamping arm and the rear wheel of the vehicle to be transported (i.e., the second lateral distance Y2); wherein, the first lateral distance Y1 is the distance between the first extended arm of the front clamping arm and the front wheel of the vehicle to be transported when the RGV positioning device is initially positioned in the target parking area, and the second lateral distance Y2 is the distance between the first extended arm of the rear clamping arm and the rear wheel of the vehicle to be transported when the RGV positioning device is initially positioned in the target parking area.

[0053] Preferably, the number and position of the first ranging sensor and the second ranging sensor are not limited. The first ranging sensor may be located on the left, right or both sides of the first unfolding arm of the front clamping arm, and the second ranging sensor may be located on the left, right or both sides of the first unfolding arm of the rear clamping arm.

[0054] S140. Based on the pre-stored RGV structural dimension data, the first lateral distance, and the second lateral distance, control the chassis traveling part and the wheelbase adjustment part to move in coordination, so that the front clamping part and the rear clamping part reach the preset positions respectively.

[0055] In this embodiment, the first inherent arm distance a and the second inherent arm distance b are obtained based on the RGV structural size data. The first inherent arm distance a is the edge distance between the first ranging sensor and the first extended arm of the front clamping arm, and the second inherent arm distance b is the edge distance between the second ranging sensor and the first extended arm of the rear clamping arm. The chassis traveling part is moved according to the first inherent arm distance a and the first real-time lateral distance collected by the first ranging sensor. At the same time, the wheelbase adjustment part is controlled to drive the rear clamping part to move according to the first inherent arm distance a, the second inherent arm distance b, the first lateral distance, and the second lateral distance, so that the front clamping part and the rear clamping part reach the preset positions respectively.

[0056] In one embodiment, step S140 includes: controlling the chassis walking unit to move according to the first inherent arm side distance in the RGV structural dimension data and the first real-time lateral distance collected by the first ranging sensor, and simultaneously controlling the wheelbase adjustment unit to drive the rear clamping unit to move according to the first lateral distance, the second lateral distance and the first inherent arm side distance and the second inherent arm side distance in the RGV structural dimension data, so that the front clamping unit and the rear clamping unit reach preset positions respectively.

[0057] In this embodiment, the chassis traveling unit is controlled to start moving, and during the movement, the first real-time lateral distance A1 collected by the first ranging sensor is acquired in real time; the first real-time target traveling distance B1 (B1=A1-a) is updated in real time based on the first real-time lateral distance A1 and the first inherent arm side distance a, and the speed of the chassis traveling unit is adjusted according to the position range of the first real-time target traveling distance B1, that is, the running speed of the chassis traveling unit is reduced accordingly as the first real-time target traveling distance B1 decreases; when the first real-time target traveling distance B1 is less than the first preset threshold c1, the chassis is controlled to move. When the walking unit stops moving, the front clamping part reaches the front wheel positioning position. When the chassis walking unit starts moving, the wheelbase adjustment part is simultaneously extended to drive the rear clamping part to the rear wheel positioning position. Specifically, the first target walking distance is calculated based on the first inherent arm side distance and the first lateral distance. Then, the second target walking distance is calculated based on the first target walking distance, the second inherent arm side distance, and the second lateral distance. Based on the second target walking distance, the wheelbase adjustment part is controlled to drive the rear clamping part to move, so that the rear clamping part reaches the rear wheel positioning position.

[0058] In one embodiment, controlling the movement of the chassis running gear based on the first inherent arm side distance in the RGV structural dimension data and the first real-time lateral distance collected by the first ranging sensor includes: controlling the chassis running gear to start moving, and during the movement, acquiring the first real-time lateral distance collected by the first ranging sensor in real time; updating the first real-time target walking distance in real time based on the first real-time lateral distance and the first inherent arm side distance, and adjusting the speed of the chassis running gear according to the position range of the first real-time target walking distance; and controlling the chassis running gear to stop moving when the first real-time target walking distance is less than a first preset threshold.

[0059] In this embodiment, the chassis traveling unit is controlled to start moving, and during the movement, the first real-time lateral distance A1 collected by the first ranging sensor is acquired in real time; the first real-time target traveling distance B1 (B1=A1-a) is updated in real time according to the first real-time lateral distance A1 and the first inherent arm edge distance a, and the speed of the chassis traveling unit is adjusted according to the position range of the first real-time target traveling distance B1, that is, the running speed of the chassis traveling unit is reduced accordingly as the first real-time target traveling distance B1 decreases; wherein, the first inherent arm edge distance a is the edge distance between the first ranging sensor and the first extended arm of the front clamping arm; when the first real-time target traveling distance B1 is less than the first preset threshold c1, the chassis traveling unit is controlled to stop moving, at which time the front clamping part reaches the designated position of the front wheel.

[0060] In one embodiment, a servo motor electrically connected to the wheelbase adjustment unit is provided on the chassis traveling unit. An encoder is provided at one end of the servo motor. Both the servo motor and the encoder are connected to a servo driver, which is communicatively connected to the controller. Controlling the wheelbase adjustment unit to move the rear clamping unit based on the first lateral distance, the second lateral distance, and the first and second inherent arm side distances in the RGV structural dimension data includes: the controller calculating a first target traveling distance based on the first inherent arm side distance and the first lateral distance; and the controller calculating a second target traveling distance based on the first target traveling distance, the second inherent arm side distance, and the second lateral distance. The controller calculates the target movement position based on the second target walking distance and the initial relative position from the servo driver; wherein, the initial relative position is the initial displacement of the encoder relative to the origin of the wheelbase adjustment unit, read by the encoder; the controller sends the target movement position to the servo driver, causing the servo driver to control the wheelbase adjustment unit to move according to a pre-configured speed curve via the servo motor, thereby driving the rear clamping unit to move towards the rear wheel; the servo driver continuously receives the real-time relative position from the encoder; if the servo driver detects that the real-time relative position is consistent with the target movement position, it controls the wheelbase adjustment unit to stop moving via the servo motor.

[0061] In this embodiment, the controller calculates the first target walking distance ∆L1 based on the first inherent arm side distance a and the first lateral distance Y1, using the formula: ∆L1 = Y1 - a; the controller calculates the second target walking distance ∆L2 based on the first target walking distance ∆L1, the second inherent arm side distance b, and the second lateral distance Y2, using the formula: ∆L2 = Y2 - b - ∆L1; the controller calculates the target movement position based on the second target walking distance ∆L2 and the initial relative position Z1 from the servo driver; wherein, the target movement position = Z1 + ∆L2, and the initial relative position is the initial displacement of the encoder relative to the origin of the shaft pitch adjustment unit, as read by the encoder. The target movement position is the encoder's displacement relative to the target. The controller sends the target movement position to the servo driver, causing the servo driver to adjust the extension speed of the wheelbase adjustment unit via the servo motor according to a pre-configured speed curve, thereby driving the rear clamping unit to move towards the rear wheel. The speed curve includes an acceleration segment, a constant speed segment, and a deceleration segment, and the duration and rate change slope of each segment are pre-set based on the target movement position. The servo driver continuously receives the real-time relative position from the encoder, which is the real-time displacement of the encoder relative to the origin of the wheelbase adjustment unit. If the servo driver detects that the real-time relative position is consistent with the target movement position, it controls the wheelbase adjustment unit to stop moving via the servo motor.

[0062] S150: Control the clamping arms of the front clamping part and the rear clamping part to switch from a half-open state to a fully open state to clamp the tires of the vehicle to be transported.

[0063] In this embodiment, the clamping arms of the front clamping part and the rear clamping part are controlled to switch from a half-open state to a fully open state (e.g., Figure 10 As shown in the diagram, during the switching process, the first extended arm of the front clamping arm maintains its positioning posture with the front wheel, while the second extended arm extends outward along the length direction perpendicular to the vehicle to be transported and fits against the tire sidewall of the front wheel. Correspondingly, the first extended arm of the rear clamping arm maintains its positioning posture with the rear wheel, while the second extended arm simultaneously extends outward along the length direction perpendicular to the vehicle to be transported and fits against the tire sidewall of the rear wheel. Through the coordinated action of the first and second extended arms in each clamping arm, symmetrical rigid clamping of the front and rear wheels of the vehicle is achieved, ensuring that the relative position of the vehicle to be transported on the RGV positioning device is fixed. At the same time, during the clamping process, the clamping status can be fed back through a preset clamping force detection component (such as a pressure sensor) to avoid excessive clamping force damaging the tire or insufficient clamping force causing the vehicle to be transported to loosen. After clamping is completed, the vehicle to be transported is lifted synchronously with the front and rear clamping parts and leaves the ground, providing stable support for the subsequent RGV positioning device to move the vehicle to the target storage area.

[0064] In one embodiment, step S150 includes: driving the second unfolding arm of the front clamping arm to move along the first clamping direction via the front drive mechanism, so that the clamping arm of the front clamping part switches from a half-open state to a fully open state, clamping the front wheel of the vehicle to be transported; controlling the second unfolding arm of the rear clamping arm to move along the second clamping direction via the rear drive mechanism, so that the clamping arm of the rear clamping part switches from a half-open state to a fully open state, clamping the rear wheel of the vehicle to be transported.

[0065] In this embodiment, the front drive mechanism drives the second extended arm of the front clamping arm to move along the first clamping direction (i.e., perpendicular to the length direction of the vehicle to be transported and close to the first extended arm of the front clamping arm), so that the clamping arm of the front clamping part switches from a half-open state to a fully open state, clamping the front wheels of the vehicle to be transported; at the same time, the rear drive mechanism controls the second extended arm of the rear clamping arm to move along the second clamping direction (i.e., perpendicular to the length direction of the vehicle to be transported and close to the first extended arm of the rear clamping arm), so that the clamping arm of the rear clamping part switches from a half-open state to a fully open state, clamping the rear wheels of the vehicle to be transported.

[0066] S160. Control the chassis traveling unit to move the RGV positioning device holding the vehicle to be transported to the target storage area.

[0067] In this embodiment, after clamping is completed, the chassis traveling unit is controlled to move the RGV positioning device holding the vehicle to be transported to the initial positioning position of the target storage area.

[0068] In summary, this invention effectively overcomes the shortcomings of traditional RGV vehicle handling, such as the need for preset wheelbase and poor adaptability, through non-contact ranging and wheelbase-independent positioning logic. By controlling the coordinated movement of the chassis running gear and wheelbase adjustment gear based on RGV structural dimension data, first lateral distance, and second lateral distance, it significantly improves the positioning accuracy of the front and rear wheels, avoids damage to the vehicle caused by contact detection, and is suitable for the automated vehicle transfer needs of various parking and storage areas.

[0069] Figure 2 This is a schematic block diagram of a non-contact, wheelbase-free RGV vehicle handling device provided in an embodiment of the present invention. Figure 2As shown, corresponding to the above-described non-contact RGV vehicle handling method without wheelbase detection, this invention also provides a non-contact RGV vehicle handling device without wheelbase detection. The device is configured in the controller of an RGV positioning device. The RGV positioning device further includes a front clamping part, a rear clamping part, a wheelbase adjustment part, and a chassis traveling part that are communicatively connected to the controller. The chassis traveling part is located below the front clamping part, the rear clamping part, and the wheelbase adjustment part. The wheelbase adjustment part is located between the front clamping part and the rear clamping part. For details, please refer to... Figure 2 The non-contact, wheelbase-free RGV vehicle handling device 700 includes:

[0070] The first control unit 701 is used to respond to the vehicle retrieval command and control the chassis running gear to move the RGV positioning device to the underside of the vehicle to be transported.

[0071] The second control unit 702 is used to control the clamping arms of the front clamping part and the rear clamping part to switch from the retracted state to the semi-open state;

[0072] The acquisition unit 703 is used to acquire a first lateral distance acquired by a first ranging sensor and a second lateral distance acquired by a second ranging sensor; wherein, the first ranging sensor is disposed on the front clamping part and the second ranging sensor is disposed on the rear clamping part;

[0073] The third control unit 704 is used to control the chassis running part and the wheelbase adjustment part to move in coordination according to the pre-stored RGV structural dimension data, the first lateral distance and the second lateral distance, so that the front clamping part and the rear clamping part reach the preset position respectively.

[0074] The fourth control unit 705 is used to control the clamping arms of the front clamping part and the rear clamping part to switch from a half-open state to a fully open state to clamp the tires of the vehicle to be transported.

[0075] The fifth control unit 706 is used to control the chassis running unit to move the RGV positioning device holding the vehicle to be transported to the target storage area.

[0076] In some embodiments, when the third control unit 704 performs the step of controlling the coordinated movement of the chassis running gear and the wheelbase adjustment unit based on pre-stored RGV structural dimension data, the first lateral distance, and the second lateral distance, it is specifically used for:

[0077] The chassis traveling part is controlled to move according to the first inherent arm side distance in the RGV structural dimension data and the first real-time lateral distance collected by the first distance measuring sensor. At the same time, the wheelbase adjustment part is controlled to drive the rear clamping part to move according to the first lateral distance, the second lateral distance and the first inherent arm side distance and the second inherent arm side distance in the RGV structural dimension data, so that the front clamping part and the rear clamping part reach the preset position respectively.

[0078] In some embodiments, when the third control unit 704 performs the step of controlling the movement of the chassis running gear based on the first inherent arm distance in the RGV structural dimension data and the first real-time lateral distance acquired by the first ranging sensor, it is specifically used for:

[0079] The chassis walking unit is controlled to start moving, and during the movement, the first real-time lateral distance collected by the first ranging sensor is acquired in real time; the first real-time target walking distance is updated in real time according to the first real-time lateral distance and the first inherent arm edge distance, and the speed of the chassis walking unit is adjusted according to the position range of the first real-time target walking distance; when the first real-time target walking distance is less than the first preset threshold, the chassis walking unit is controlled to stop moving.

[0080] In some embodiments, a servo motor electrically connected to the wheelbase adjustment unit is provided on the chassis traveling unit. An encoder is provided at one end of the servo motor. Both the servo motor and the encoder are connected to a servo driver, which is communicatively connected to the controller. When the third control unit 704 executes the step of controlling the wheelbase adjustment unit to move the rear clamping unit according to the first lateral distance, the second lateral distance, and the first and second inherent arm side distances in the RGV structural dimension data, it is specifically used for:

[0081] The controller calculates a first target walking distance based on the first inherent arm side distance and the first lateral distance; the controller calculates a second target walking distance based on the first target walking distance, the second inherent arm side distance, and the second lateral distance; the controller calculates a target moving position based on the second target walking distance and the initial relative position from the servo driver; wherein, the initial relative position is the initial displacement of the encoder relative to the origin of the wheelbase adjustment unit, read by the encoder; the controller sends the target moving position to the servo driver, causing the servo driver to control the wheelbase adjustment unit to move according to a pre-configured speed curve via the servo motor, thereby driving the rear clamping unit to move towards the rear wheel; the servo driver continuously receives the real-time relative position from the encoder; if the servo driver detects that the real-time relative position is consistent with the target moving position, it controls the wheelbase adjustment unit to stop moving via the servo motor.

[0082] In some embodiments, after performing the step of controlling the clamping arms of the front clamping portion and the rear clamping portion to switch from a retracted state to a semi-open state, the second control unit 702 is further configured to:

[0083] The chassis running gear is moved according to the first inherent arm side distance in the RGV structural dimension data and the first real-time lateral distance collected by the first distance measuring sensor, so that the front clamping part reaches the front wheel positioning position; the wheelbase adjustment part is moved according to the second inherent arm side distance in the RGV structural dimension data and the second real-time lateral distance collected by the second distance measuring sensor, so that the rear clamping part reaches the rear wheel positioning position.

[0084] In some embodiments, the front clamping portion includes a front clamping arm and a front drive mechanism electrically connected to the front clamping arm, and the rear clamping portion includes a rear clamping arm and a rear drive mechanism electrically connected to the rear clamping arm. Both the front clamping arm and the rear clamping arm include a first unfolding arm and a second unfolding arm disposed opposite to the first unfolding arm. When the second control unit 702 executes the step of controlling the clamping arms of the front clamping portion and the rear clamping portion to switch from a retracted state to a semi-open state, it is specifically used for:

[0085] The front drive mechanism controls the opening of the first extendable arm of the front clamping arm, switching the front clamping part from a retracted state to a semi-open state; wherein the first extendable arm of the front clamping arm is located on the side away from the wheelbase adjustment part; the rear drive mechanism controls the opening of the first extendable arm of the rear clamping arm, switching the rear clamping part from a retracted state to a semi-open state; wherein the first extendable arm of the rear clamping arm is located on the side close to the wheelbase adjustment part.

[0086] In some embodiments, when the fourth control unit 705 performs the step of controlling the clamping arms of the front clamping part and the rear clamping part to switch from a half-open state to a fully open state to clamp the tires of the vehicle to be transported, it is specifically used for:

[0087] The front drive mechanism drives the second unfolding arm of the front clamping arm to move along the first clamping direction, so that the clamping arm of the front clamping part switches from a half-open state to a fully open state, clamping the front wheels of the vehicle to be transported; the rear drive mechanism controls the second unfolding arm of the rear clamping arm to move along the second clamping direction, so that the clamping arm of the rear clamping part switches from a half-open state to a fully open state, clamping the rear wheels of the vehicle to be transported.

[0088] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above-mentioned non-contact wheelbase detection RGV vehicle handling device and each unit can be referred to the corresponding description in the foregoing method embodiments. For the sake of convenience and brevity, it will not be repeated here.

[0089] The aforementioned non-contact, wheelbase-free RGV vehicle handling device can be implemented as a computer program, which can be used in, for example... Figure 3 It runs on the electronic device shown.

[0090] Please see Figure 3 , Figure 3 This is a schematic block diagram of an electronic device provided in an embodiment of the present invention. The electronic device 800 can be a terminal or a server. The terminal can be an electronic device with communication functions. The server can be a standalone server or a server cluster composed of multiple servers.

[0091] See Figure 3 The electronic device 800 includes a processor 802, a memory, and a network interface 805 connected via a system bus 801. The memory may include a non-volatile storage medium 803 and internal memory 804.

[0092] The non-volatile storage medium 803 may store an operating system 8031 ​​and a computer program 8032. The computer program 8032 includes program instructions that, when executed, cause the processor 802 to perform a non-contact, wheelbase-free RGV vehicle handling method.

[0093] The processor 802 provides computing and control capabilities to support the operation of the entire electronic device 800.

[0094] The internal memory 804 provides an environment for the operation of the computer program 8032 in the non-volatile storage medium 803. When the computer program 8032 is executed by the processor 802, the processor 802 can execute a non-contact, wheelbase-free RGV vehicle handling method.

[0095] This network interface 805 is used for network communication with other devices. Those skilled in the art will understand that... Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the electronic device 800 to which the present invention is applied. The specific electronic device 800 may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0096] The processor 802 is used to run a computer program 8032 stored in the memory to perform the following steps:

[0097] In response to a vehicle retrieval command, the chassis traveling unit is controlled to move the RGV positioning device to the underside of the vehicle to be transported; the clamping arms of the front clamping unit and the rear clamping unit are controlled to switch from a retracted state to a semi-open state; a first lateral distance collected by a first ranging sensor and a second lateral distance collected by a second ranging sensor are acquired; wherein the first ranging sensor is mounted on the front clamping unit and the second ranging sensor is mounted on the rear clamping unit; based on pre-stored RGV structural dimension data, the first lateral distance, and the second lateral distance, the chassis traveling unit and the wheelbase adjustment unit are controlled to move collaboratively, so that the front clamping unit and the rear clamping unit reach preset positions respectively; the clamping arms of the front clamping unit and the rear clamping unit are controlled to switch from a semi-open state to a fully open state, clamping the tires of the vehicle to be transported; the chassis traveling unit is controlled to move the RGV positioning device clamping the vehicle to be transported to the target storage area.

[0098] In some embodiments, when the processor 802 implements the step of controlling the coordinated movement of the chassis running gear and the wheelbase adjustment gear based on pre-stored RGV structural dimension data, the first lateral distance, and the second lateral distance, the following steps are specifically implemented:

[0099] The chassis traveling part is controlled to move according to the first inherent arm side distance in the RGV structural dimension data and the first real-time lateral distance collected by the first distance measuring sensor. At the same time, the wheelbase adjustment part is controlled to drive the rear clamping part to move according to the first lateral distance, the second lateral distance and the first inherent arm side distance and the second inherent arm side distance in the RGV structural dimension data, so that the front clamping part and the rear clamping part reach the preset position respectively.

[0100] In some embodiments, when the processor 802 implements the step of controlling the movement of the chassis running gear based on the first inherent arm side distance in the RGV structural dimension data and the first real-time lateral distance collected by the first ranging sensor, the specific implementation is as follows:

[0101] The chassis walking unit is controlled to start moving, and during the movement, the first real-time lateral distance collected by the first ranging sensor is acquired in real time; the first real-time target walking distance is updated in real time according to the first real-time lateral distance and the first inherent arm edge distance, and the speed of the chassis walking unit is adjusted according to the position range of the first real-time target walking distance; when the first real-time target walking distance is less than the first preset threshold, the chassis walking unit is controlled to stop moving.

[0102] In some embodiments, a servo motor electrically connected to the wheelbase adjustment unit is provided on the chassis traveling part. An encoder is provided at one end of the servo motor. Both the servo motor and the encoder are connected to a servo driver. The servo driver is communicatively connected to the controller. When the processor 802 implements the step of controlling the wheelbase adjustment unit to move the rear clamping part according to the first lateral distance, the second lateral distance, and the first and second inherent arm side distances in the RGV structural dimension data, the specific steps are as follows:

[0103] The controller calculates a first target walking distance based on the first inherent arm side distance and the first lateral distance; the controller calculates a second target walking distance based on the first target walking distance, the second inherent arm side distance, and the second lateral distance; the controller calculates a target moving position based on the second target walking distance and the initial relative position from the servo driver; wherein, the initial relative position is the initial displacement of the encoder relative to the origin of the wheelbase adjustment unit, read by the encoder; the controller sends the target moving position to the servo driver, causing the servo driver to control the wheelbase adjustment unit to move according to a pre-configured speed curve via the servo motor, thereby driving the rear clamping unit to move towards the rear wheel; the servo driver continuously receives the real-time relative position from the encoder; if the servo driver detects that the real-time relative position is consistent with the target moving position, it controls the wheelbase adjustment unit to stop moving via the servo motor.

[0104] In some embodiments, after implementing the step of controlling the clamping arms of the front clamping portion and the rear clamping portion to switch from a retracted state to a semi-open state, the processor 802 further implements the following steps:

[0105] The chassis running gear is moved according to the first inherent arm side distance in the RGV structural dimension data and the first real-time lateral distance collected by the first distance measuring sensor, so that the front clamping part reaches the front wheel positioning position; the wheelbase adjustment part is moved according to the second inherent arm side distance in the RGV structural dimension data and the second real-time lateral distance collected by the second distance measuring sensor, so that the rear clamping part reaches the rear wheel positioning position.

[0106] In some embodiments, the front clamping portion includes a front clamping arm and a front drive mechanism electrically connected to the front clamping arm, and the rear clamping portion includes a rear clamping arm and a rear drive mechanism electrically connected to the rear clamping arm. Both the front and rear clamping arms include a first unfolding arm and a second unfolding arm disposed opposite to the first unfolding arm. When the processor 802 implements the step of controlling the clamping arms of the front and rear clamping portions to switch from a retracted state to a semi-open state, it specifically implements the following steps:

[0107] The front drive mechanism controls the opening of the first extendable arm of the front clamping arm, switching the front clamping part from a retracted state to a semi-open state; wherein the first extendable arm of the front clamping arm is located on the side away from the wheelbase adjustment part; the rear drive mechanism controls the opening of the first extendable arm of the rear clamping arm, switching the rear clamping part from a retracted state to a semi-open state; wherein the first extendable arm of the rear clamping arm is located on the side close to the wheelbase adjustment part.

[0108] In some embodiments, when the processor 802 controls the clamping arms of the front clamping part and the rear clamping part to switch from a half-open state to a fully open state to clamp the tires of the vehicle to be transported, the processor 802 specifically implements the following steps:

[0109] The front drive mechanism drives the second unfolding arm of the front clamping arm to move along the first clamping direction, so that the clamping arm of the front clamping part switches from a half-open state to a fully open state, clamping the front wheels of the vehicle to be transported; the rear drive mechanism controls the second unfolding arm of the rear clamping arm to move along the second clamping direction, so that the clamping arm of the rear clamping part switches from a half-open state to a fully open state, clamping the rear wheels of the vehicle to be transported.

[0110] It should be understood that, in this embodiment of the invention, the processor 802 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0111] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program includes program instructions and can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0112] Therefore, the present invention also provides a storage medium. This storage medium can be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When executed by a processor, the program instructions cause the processor to perform the following steps:

[0113] In response to a vehicle retrieval command, the chassis traveling unit is controlled to move the RGV positioning device to the underside of the vehicle to be transported; the clamping arms of the front clamping unit and the rear clamping unit are controlled to switch from a retracted state to a semi-open state; a first lateral distance collected by a first ranging sensor and a second lateral distance collected by a second ranging sensor are acquired; wherein the first ranging sensor is mounted on the front clamping unit and the second ranging sensor is mounted on the rear clamping unit; based on pre-stored RGV structural dimension data, the first lateral distance, and the second lateral distance, the chassis traveling unit and the wheelbase adjustment unit are controlled to move collaboratively, so that the front clamping unit and the rear clamping unit reach preset positions respectively; the clamping arms of the front clamping unit and the rear clamping unit are controlled to switch from a semi-open state to a fully open state, clamping the tires of the vehicle to be transported; the chassis traveling unit is controlled to move the RGV positioning device clamping the vehicle to be transported to the target storage area.

[0114] In one embodiment, when the processor executes the program instructions to control the coordinated movement of the chassis running gear and the wheelbase adjustment gear based on pre-stored RGV structural dimension data, the first lateral distance, and the second lateral distance, the specific steps are as follows:

[0115] The chassis traveling part is controlled to move according to the first inherent arm side distance in the RGV structural dimension data and the first real-time lateral distance collected by the first distance measuring sensor. At the same time, the wheelbase adjustment part is controlled to drive the rear clamping part to move according to the first lateral distance, the second lateral distance and the first inherent arm side distance and the second inherent arm side distance in the RGV structural dimension data, so that the front clamping part and the rear clamping part reach the preset position respectively.

[0116] In one embodiment, when the processor executes the program instructions to control the movement of the chassis running gear based on the first inherent arm distance in the RGV structural dimension data and the first real-time lateral distance collected by the first ranging sensor, the processor specifically implements the following steps:

[0117] The chassis walking unit is controlled to start moving, and during the movement, the first real-time lateral distance collected by the first ranging sensor is acquired in real time; the first real-time target walking distance is updated in real time according to the first real-time lateral distance and the first inherent arm edge distance, and the speed of the chassis walking unit is adjusted according to the position range of the first real-time target walking distance; when the first real-time target walking distance is less than the first preset threshold, the chassis walking unit is controlled to stop moving.

[0118] In one embodiment, a servo motor electrically connected to the wheelbase adjustment unit is provided on the chassis traveling unit. An encoder is provided at one end of the servo motor. Both the servo motor and the encoder are connected to a servo driver. The servo driver is communicatively connected to the controller. When the processor executes the program instructions to control the wheelbase adjustment unit to move the rear clamping unit according to the first lateral distance, the second lateral distance, and the first and second inherent arm side distances in the RGV structural dimension data, the specific steps are as follows:

[0119] The controller calculates a first target walking distance based on the first inherent arm side distance and the first lateral distance; the controller calculates a second target walking distance based on the first target walking distance, the second inherent arm side distance, and the second lateral distance; the controller calculates a target moving position based on the second target walking distance and the initial relative position from the servo driver; wherein, the initial relative position is the initial displacement of the encoder relative to the origin of the wheelbase adjustment unit, read by the encoder; the controller sends the target moving position to the servo driver, causing the servo driver to control the wheelbase adjustment unit to move according to a pre-configured speed curve via the servo motor, thereby driving the rear clamping unit to move towards the rear wheel; the servo driver continuously receives the real-time relative position from the encoder; if the servo driver detects that the real-time relative position is consistent with the target moving position, it controls the wheelbase adjustment unit to stop moving via the servo motor.

[0120] In one embodiment, after the processor executes the program instructions to control the clamping arms of the front clamping part and the rear clamping part to switch from a retracted state to a semi-open state, it further performs the following steps:

[0121] The chassis running gear is moved according to the first inherent arm side distance in the RGV structural dimension data and the first real-time lateral distance collected by the first distance measuring sensor, so that the front clamping part reaches the front wheel positioning position; the wheelbase adjustment part is moved according to the second inherent arm side distance in the RGV structural dimension data and the second real-time lateral distance collected by the second distance measuring sensor, so that the rear clamping part reaches the rear wheel positioning position.

[0122] In one embodiment, the front clamping portion includes a front clamping arm and a front drive mechanism electrically connected to the front clamping arm, and the rear clamping portion includes a rear clamping arm and a rear drive mechanism electrically connected to the rear clamping arm. Both the front clamping arm and the rear clamping arm include a first unfolding arm and a second unfolding arm disposed opposite to the first unfolding arm. When the processor executes the program instructions to control the clamping arms of the front clamping portion and the rear clamping portion to switch from a retracted state to a semi-open state, the following steps are specifically implemented:

[0123] The front drive mechanism controls the opening of the first extendable arm of the front clamping arm, switching the front clamping part from a retracted state to a semi-open state; wherein the first extendable arm of the front clamping arm is located on the side away from the wheelbase adjustment part; the rear drive mechanism controls the opening of the first extendable arm of the rear clamping arm, switching the rear clamping part from a retracted state to a semi-open state; wherein the first extendable arm of the rear clamping arm is located on the side close to the wheelbase adjustment part.

[0124] In one embodiment, when the processor executes the program instructions to control the clamping arms of the front clamping part and the rear clamping part to switch from a half-open state to a fully open state to clamp the tires of the vehicle to be transported, the processor specifically implements the following steps:

[0125] The front drive mechanism drives the second unfolding arm of the front clamping arm to move along the first clamping direction, so that the clamping arm of the front clamping part switches from a half-open state to a fully open state, clamping the front wheels of the vehicle to be transported; the rear drive mechanism controls the second unfolding arm of the rear clamping arm to move along the second clamping direction, so that the clamping arm of the rear clamping part switches from a half-open state to a fully open state, clamping the rear wheels of the vehicle to be transported.

[0126] The storage medium can be any computer-readable storage medium capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk.

[0127] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0128] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0129] The steps in the method of this invention can be adjusted, merged, or reduced in order according to actual needs. The units in the device of this invention can be merged, divided, or reduced according to actual needs. Furthermore, the functional units in the various embodiments of this invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0130] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0131] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A non-contact, wheelbase-free RGV vehicle handling method, characterized in that, The method is applied to the controller of an RGV positioning device. The RGV positioning device further includes a front clamping part, a rear clamping part, a wheelbase adjustment part, and a chassis traveling part that are communicatively connected to the controller. The chassis traveling part is disposed below the front clamping part, the rear clamping part, and the wheelbase adjustment part, and the wheelbase adjustment part is disposed between the front clamping part and the rear clamping part. The method includes: In response to the vehicle retrieval command, the chassis running gear is controlled to move the RGV positioning device to the underside of the vehicle to be transported; Control the clamping arms of the front clamping part and the rear clamping part to switch from the retracted state to the semi-open state; The system acquires a first lateral distance collected by a first ranging sensor and a second lateral distance collected by a second ranging sensor; wherein the first ranging sensor is disposed on the front clamping part and the second ranging sensor is disposed on the rear clamping part. Based on the pre-stored RGV structural dimension data, the first lateral distance, and the second lateral distance, the chassis traveling part and the wheelbase adjustment part are controlled to move in coordination, so that the front clamping part and the rear clamping part reach the preset positions respectively; Control the clamping arms of the front clamping part and the rear clamping part to switch from a half-open state to a fully open state to clamp the tires of the vehicle to be transported; Control the chassis traveling unit to move the RGV positioning device, which holds the vehicle to be transported, to the target storage area.

2. The non-contact, wheelbase-free RGV vehicle handling method according to claim 1, characterized in that, The method of controlling the coordinated movement of the chassis running gear and the wheelbase adjustment unit based on pre-stored RGV structural dimension data, the first lateral distance, and the second lateral distance includes: The chassis traveling part is controlled to move according to the first inherent arm side distance in the RGV structural dimension data and the first real-time lateral distance collected by the first distance measuring sensor. At the same time, the wheelbase adjustment part is controlled to drive the rear clamping part to move according to the first lateral distance, the second lateral distance and the first inherent arm side distance and the second inherent arm side distance in the RGV structural dimension data, so that the front clamping part and the rear clamping part reach the preset position respectively.

3. The non-contact, wheelbase-free RGV vehicle handling method according to claim 2, characterized in that, The step of controlling the movement of the chassis running gear based on the first inherent arm side distance in the RGV structural dimension data and the first real-time lateral distance collected by the first ranging sensor includes: The chassis running gear is controlled to start moving, and during the movement, the first real-time lateral distance collected by the first ranging sensor is acquired in real time; The first real-time target walking distance is updated in real time based on the first real-time lateral distance and the first inherent arm side distance, and the speed of the chassis walking unit is adjusted according to the location range of the first real-time target walking distance. When the first real-time target travels a distance less than a first preset threshold, the chassis walking unit is controlled to stop moving.

4. The non-contact, wheelbase-free RGV vehicle handling method according to claim 2, characterized in that, A servo motor electrically connected to the wheelbase adjustment unit is installed on the chassis traveling section. An encoder is installed at one end of the servo motor. Both the servo motor and the encoder are connected to a servo driver, which communicates with the controller. Controlling the wheelbase adjustment unit to move the rear clamping unit based on the first lateral distance, the second lateral distance, and the first and second inherent arm side distances in the RGV structural dimension data includes: The controller calculates the first target walking distance based on the first inherent arm side distance and the first lateral distance; The controller calculates the second target walking distance based on the first target walking distance, the second inherent arm distance, and the second lateral distance; The controller calculates the target movement position based on the second target walking distance and the initial relative position from the servo driver; wherein, the initial relative position is the initial displacement of the encoder relative to the origin of the shaft pitch adjustment unit, as read by the encoder. The controller sends the target movement position to the servo driver, so that the servo driver controls the wheelbase adjustment part to move according to the pre-configured speed curve through the servo motor, thereby driving the rear clamping part to move towards the rear wheel; The servo driver continuously receives the real-time relative position from the encoder; If the servo driver detects that the real-time relative position is consistent with the target moving position, it controls the wheelbase adjustment unit to stop moving via the servo motor.

5. The non-contact, wheelbase-free RGV vehicle handling method according to claim 1, characterized in that, After the clamping arms of the front clamping part and the rear clamping part are switched from the retracted state to the semi-open state, the method further includes: The chassis running gear is moved according to the first inherent arm side distance in the RGV structural dimension data and the first real-time lateral distance collected by the first ranging sensor, so that the front clamping part reaches the front wheel positioning position; The wheelbase adjustment unit is moved according to the second inherent arm side distance in the RGV structural dimension data and the second real-time lateral distance collected by the second distance measuring sensor, so that the rear clamping unit reaches the rear wheel positioning position.

6. The non-contact, wheelbase-free RGV vehicle handling method according to claim 1, characterized in that, The front clamping part includes a front clamping arm and a front drive mechanism electrically connected to the front clamping arm; the rear clamping part includes a rear clamping arm and a rear drive mechanism electrically connected to the rear clamping arm; both the front clamping arm and the rear clamping arm include a first unfolding arm and a second unfolding arm disposed opposite to the first unfolding arm; controlling the clamping arms of the front clamping part and the rear clamping part to switch from a retracted state to a semi-open state includes: The front drive mechanism controls the opening of the first extendable arm of the front clamping arm, switching the front clamping part from a retracted state to a semi-open state; wherein, the first extendable arm of the front clamping arm is located on the side away from the wheelbase adjustment part; The first unfolding arm of the rear clamping arm is opened by controlling the rear drive mechanism, so that the rear clamping part switches from the retracted state to the semi-open state; wherein, the first unfolding arm of the rear clamping arm is located on the side close to the wheelbase adjustment part.

7. The non-contact, wheelbase-free RGV vehicle handling method according to claim 6, characterized in that, The control of the clamping arms of the front clamping part and the rear clamping part from a half-open state to a fully open state to clamp the tires of the vehicle to be transported includes: The front drive mechanism drives the second unfolding arm of the front clamping arm to move along the first clamping direction, so that the clamping arm of the front clamping part switches from a half-open state to a fully open state, clamping the front wheel of the vehicle to be transported. The rear drive mechanism controls the second unfolding arm of the rear clamping arm to move along the second clamping direction, so that the clamping arm of the rear clamping part switches from a half-open state to a fully open state, clamping the rear wheels of the vehicle to be transported.

8. A non-contact, wheelbase-free RGV vehicle handling device, characterized in that, The device is configured in the controller of the RGV positioning equipment. The RGV positioning equipment further includes a front clamping part, a rear clamping part, a wheelbase adjustment part, and a chassis traveling part that are communicatively connected to the controller. The chassis traveling part is disposed below the front clamping part, the rear clamping part, and the wheelbase adjustment part. The wheelbase adjustment part is disposed between the front clamping part and the rear clamping part. The device includes: The first control unit is used to respond to the vehicle retrieval command and control the chassis running gear to move the RGV positioning device to the underside of the vehicle to be transported; The second control unit is used to control the clamping arms of the front clamping part and the rear clamping part to switch from the retracted state to the semi-open state. The acquisition unit is used to acquire a first lateral distance acquired by a first ranging sensor and a second lateral distance acquired by a second ranging sensor; wherein, the first ranging sensor is disposed on the front clamping part and the second ranging sensor is disposed on the rear clamping part; The third control unit is used to control the chassis running part and the wheelbase adjustment part to move in coordination according to the pre-stored RGV structural dimension data, the first lateral distance and the second lateral distance, so that the front clamping part and the rear clamping part reach the preset position respectively; The fourth control unit is used to control the clamping arms of the front clamping part and the rear clamping part to switch from a half-open state to a fully open state to clamp the tires of the vehicle to be transported. The fifth control unit is used to control the chassis running gear to move the RGV positioning device holding the vehicle to be transported to the target storage area.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the non-contact, wheelbase-free RGV vehicle handling method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which includes program instructions that, when executed by a processor, cause the processor to perform the non-contact, wheelbase-free RGV vehicle handling method as described in any one of claims 1-7.

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