Vehicle centering apparatus

Abstract

A vehicle centering device is disclosed that allows a vehicle to naturally align to the center by utilizing the lifting motion of the floor surface and the vehicle's own weight, without external force forcibly pushing the side of the vehicle. The disclosed vehicle centering device is, A pair of wheel supports having a plurality of rotatable idler rollers on their upper surfaces, on which the wheels of a vehicle are seated; a lifting unit installed below the pair of wheel supports, which pushes the pair of wheel supports upwards respectively so that the wheels of the vehicle move toward the center by riding on the plurality of idler rollers due to the eccentric self-weight of the vehicle; and a control unit that detects the entry of the vehicle and controls the operation of the lifting unit.

Description

Technology Field

[0001] The present invention relates to vehicle alignment technology applicable to mechanical parking facilities, automated guided vehicle (AGV) systems, etc. More specifically, it relates to a vehicle centering device that automatically aligns a vehicle to the center by utilizing the vehicle's own weight and lifting motion to correct lateral deviation that may occur when a vehicle enters a parking plate or a transfer device. Background Technology

[0003] To alleviate modern urban parking shortages, tower-type mechanical parking systems and flat reciprocating parking facilities are becoming widely adopted. Furthermore, smart parking systems are being introduced recently, in which parking robots equipped with autonomous driving capabilities enter the vehicle's underside, lift it, and transport it to a parking space.

[0004] In such automated systems, the most critical prerequisite is accurately positioning the vehicle at a designated location, namely the center line of the facility. Even if the driver enters the vehicle according to the guidelines, it frequently stops off-center to the left or right due to driving inexperience or differences in tread width.

[0005] If the parking facility operates with the vehicle off-center, there is a risk that the vehicle may fall due to an imbalance in the center of gravity when the transport robot grips the vehicle's tires, or that the side of the vehicle may collide with the internal structure of the parking tower during lift movement, causing serious damage.

[0006] Conventionally, to solve this problem, a method was used in which the sidewalls of the tires were forcibly pushed using hydraulic cylinders or motor-driven pushers to move the vehicle to the center.

[0007] However, these conventional technologies pose a significant risk of scratching the tire rim or damaging the tire sidewall. Furthermore, due to the complexity of the hydraulic system, installation costs are high and maintenance is difficult, and they occupy a large amount of separate installation space, resulting in reduced space efficiency.

[0008] Therefore, a new type of vehicle centering device is required that can quickly and accurately center a vehicle using only a simple mechanical structure without causing physical damage to the tires. Prior art literature

[0010] Korean Registered Patent No. 10-0680712 The problem to be solved

[0011] The present invention has been devised to solve the problems of the aforementioned prior art, and aims to provide a vehicle centering device that allows a vehicle to naturally align to the center by utilizing the lifting motion of the floor surface and the vehicle's own weight, without external force forcibly pushing the side of the vehicle. means of solving the problem

[0013] A vehicle centering device according to an embodiment of the present invention is,

[0014] A pair of wheel supports having a plurality of rotatable idler rollers on their upper surfaces, on which the wheels of a vehicle are seated; a lifting unit installed below the pair of wheel supports, which pushes the pair of wheel supports upwards respectively so that the wheels of the vehicle move toward the center by riding on the plurality of idler rollers due to the eccentric self-weight of the vehicle; and a control unit that detects the entry of the vehicle and controls the operation of the lifting unit.

[0015] In one aspect of the present invention, each of the pair of wheel support members may include a fixed plate positioned in the center, moving plates positioned on both sides of the fixed plate, and a hinge connecting the fixed plate and the moving plates.

[0016] In one aspect of the present invention, the plurality of idler rollers are installed such that at least a portion of them are exposed on the upper surface of the moving plate, and the moving plate can push the wheel support upward while pivoting by the lifting part with the hinge as a rotation axis.

[0017] In one aspect of the present invention, a guide stopper may be formed at the outer end in the width direction of the moving plate to prevent the wheel from coming off.

[0018] In one aspect of the present invention, the lifting member may include a driving motor that generates a rotational driving force, a pivoting bar that pivots the moving plate, and a driving chain connecting the driving motor and the pivoting bar.

[0019] In one aspect of the present invention, when the control unit confirms through a position sensing sensor that the wheel of the vehicle is seated on the wheel support, the rotational force of the drive motor is transmitted to the pivot bar through the drive chain so that the pivot bar pivots, and the pivot bar can come into contact with the moving plate to pivot the moving plate.

[0020] In one aspect of the present invention, after the control unit operates the lifting unit, if it is confirmed through a position detection sensor that the vehicle has reached a central position within a set allowable error range, the control unit may rotate the pivot bar so that the wheel support unit becomes horizontal at an initial height.

[0022] Specific details of embodiments according to various aspects of the present invention are included in the following detailed description. Effects of the invention

[0024] According to the present invention, since a separate pusher device for pushing the side of the tire to align the vehicle is not required, damage to the tire and wheel constituting the wheel can be prevented at the source.

[0025] In addition, since the vehicle's own weight is utilized through a simple lifting structure using hinges and slewing bars, reliable alignment operation can be achieved without complex sensor feedback or individual actuator control.

[0026] Furthermore, by synchronizing the left and right lifting movements through a drive chain, it has the effect of reducing the number of drive sources, increasing the convenience of maintenance, and lowering the manufacturing cost of the equipment. Brief explanation of the drawing

[0028] FIG. 1 is a front view showing the initial state in which a vehicle enters a vehicle centering device according to an embodiment of the present invention with the vehicle shifted to the left. Figure 2 is a side view of Figure 1. FIGS. 3 to 5 are front views illustrating the operation process of a vehicle centering device according to an embodiment of the present invention. FIG. 6 is a drawing showing a computing device according to an embodiment of the present invention. Specific details for implementing the invention

[0029] The present invention is capable of various modifications and may have various embodiments, and specific embodiments are illustrated and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and it should be understood that it includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention.

[0030] The terms used in this invention are used merely to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this invention, terms such as "comprising" or "having" are intended to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0031] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Note that in the accompanying drawings, identical components are indicated by the same reference numerals whenever possible. Furthermore, detailed descriptions of known functions and configurations that may obscure the essence of the present invention will be omitted. For the same reason, some components in the accompanying drawings may be exaggerated, omitted, or schematically depicted.

[0033] FIG. 1 is a front view illustrating the initial state in which a vehicle enters a vehicle centering device according to an embodiment of the present invention with the vehicle offset to the left, and FIG. 2 is a side view of FIG. 1. FIG. 3 to 5 are front views illustrating the operation process of a vehicle centering device according to an embodiment of the present invention. More specifically, FIG. 3 shows the process of lifting starting and the vehicle moving, FIG. 4 shows the state after alignment is completed, and FIG. 5 shows the state of returning to the original position and preparing for robot entry after alignment.

[0034] Referring to FIGS. 1 and 2, a vehicle centering device according to one embodiment of the present invention includes a wheel support member (100), a lifting member (200) for physically lifting the wheel support member (100), and a control member (300) for controlling the entire system. The present invention may be composed of two sets of devices spaced apart in the longitudinal direction of the vehicle to support the front wheel and the rear wheel of the vehicle, respectively. Since the device for the front wheel and the device for the rear wheel have the same structure, the following description will be based on a single unit.

[0035] The wheel support (100) and the lifting part (200) can be installed on the base frame (F).

[0036] The base frame (F) is firmly fixed to the floor with anchor bolts or the like, and supports the load of the entire device and the weight of the vehicle. A space is provided inside the base frame (F) where the drive motor and reduction gear of the lifting unit (200) can be installed.

[0037] The wheel support (100) is a part where the vehicle enters and the wheel (T) comes into direct contact, and a pair is provided for the left wheel and the right wheel. The wheel support (100) may include a fixed plate (110), a moving plate (120), and a hinge (130).

[0038] The fixed plate (110) is a member that is fixed on the base frame (F) or installed on the floor surface and is positioned in the central area between the left and right moving plates (120). The fixed plate (110) may be formed at a low height or have a structure with a hollow center to avoid interference with a transfer robot or lift arm entering the underside of the vehicle.

[0039] The moving plate (120) is positioned on both sides (outer in the vehicle width direction) of the fixed plate (110) and substantially serves to support the wheels (T) of the vehicle. The moving plate (120) is a moving member that moves up and down or changes angle according to the operation of the lifting part (200).

[0040] A plurality of idler rollers (121) are provided on the upper surface of the moving plate (120). The idler rollers (121) have a rotation axis arranged parallel to the length direction (entry direction) of the vehicle so that they can move in the width direction (left and right direction) of the vehicle.

[0041] Multiple idler rollers (121) are installed such that at least a portion of them is exposed on the upper surface of the moving plate (120). This is to minimize the coefficient of friction by allowing the wheel (T) to come into direct contact with the surface of the roller rather than the frame of the moving plate (120). The rollers may be made of metal or high-strength engineering plastic and include internal bearings to ensure smooth rotation.

[0042] Additionally, a guide stopper (122) may be formed at the outer end in the width direction of the moving plate (120) to prevent the wheel (T) from coming off. The guide stopper (122) may be formed in the shape of a side wall and serves as a safety device to prevent the vehicle from falling off the moving plate (120) due to excessive movement when the vehicle travels on the idler roller (121).

[0043] The hinge (130) is a rotating joint member connecting the fixed plate (110) and the moving plate (120). The moving plate (120) pivots using the hinge (130) as the pivot axis. That is, the inner end (towards the center of the vehicle) of the moving plate (120) is constrained in height or changes slightly by the hinge (130), while the outer end (outside the vehicle) is lifted significantly by the lifting part (200), enabling a 'V' shape or an inverse tilting motion. This hinge joint structure maintains a constant lifting trajectory of the wheel support part (100) to assist in stable lifting.

[0044] The lifting unit (200) is installed in the lower space of the wheel support unit (100) and provides power to physically push up the moving plate (120). The lifting unit (200) includes a drive motor (210), a pivot bar (230), and a drive chain (220).

[0045] The drive motor (210) is a power source that generates rotational driving force. The drive motor (210) may be an electric motor driven by electricity, and may be combined with a reduction gear to provide high torque. The drive motor (210) is fixedly installed in the center of the base frame (F). A single drive motor (210) may drive the left and right pivot bars (230) simultaneously.

[0046] The pivot bar (230) is a rod or cam-shaped member that receives power from the drive motor (210) and rotates (pivots) around a rotation axis. The pivot bar (230) is installed in a position where it can contact the lower surface of the moving plate (120). In the initial state (when a vehicle enters), the pivot bar (230) is oriented horizontally or downward so as not to interfere with the moving plate (120). During the lifting operation, as the pivot bar (230) rotates, its end pushes up the lower surface of the moving plate (120). The pivot bar (230) may be in the form of a crank arm combined with a link structure, or it may be in the form of an eccentric cam.

[0047] The drive chain (220) transmits power by connecting the rotation axis (or sprocket) of the drive motor (210) and the rotation axis (or sprocket) of the slewing bar (230). By adopting a chain method, accurate power transmission without slip is possible, and in particular, the left and right slewing bars (230) can be connected as a single chain loop or an interlocked chain system to mechanically force the left and right slewing bars (230) to rotate at the same angle and speed.

[0048] The control unit (300) is a microprocessor, PLC (Programmable Logic Controller), or electrical circuit unit that receives a signal from a position detection sensor (not shown) and controls the drive motor (210).

[0049] In relation to the operation process of the control unit (300), the operation process of the vehicle centering device according to one embodiment of the present invention is described together with the operation process.

[0050] As illustrated in FIG. 1, when a vehicle enters the parking facility, the control unit (300) detects whether the vehicle has entered and the stopping position through a position detection sensor installed near the wheel support (100). At this time, the vehicle may enter while deviating to the left from the centerline, and the wheel support (100) maintains its lowest position (horizontal state) so as not to obstruct the vehicle's entry.

[0051] Next, as illustrated in FIG. 3, when the vehicle is confirmed to be seated, the control unit (300) operates the drive motor (210). The rotational force of the drive motor (210) is transmitted to the pivot bar (230) through the drive chain (220). When the pivot bar (230) begins to rotate (pivot), the end of the pivot bar (230) strikes or pushes up the lower surface of the moving plate (120). Accordingly, the moving plate (120) pivots upward around the hinge (130) and is lifted.

[0052] At this time, the left and right turning bars (230) rise simultaneously and equally. However, because the vehicle is tilted to the left, the center of gravity of the vehicle is more concentrated on the left wheel support.

[0053] Kinematically, as the lifting progresses, the wheels (T) of the vehicle are suspended above the idler rollers (121). At this time, due to the eccentric position of the vehicle, the left wheel has relatively higher potential energy than the right wheel, or the angle of the inclined surface formed by the lifting generates a lateral component force on the wheels (T).

[0054] Accordingly, as shown in FIG. 4, the wheels (T) of the vehicle move toward the center by riding on a plurality of idler rollers (121) due to the eccentric self-weight of the vehicle. That is, without applying separate power, it naturally slides down from an unstable high position (eccentric position) to a stable low position (central position) by gravity.

[0055] When the vehicle moves along the roller and reaches the center, the left and right load balance is adjusted and the movement stops. When the position detection sensor detects that the vehicle has reached a central position within a set tolerance range, the control unit (300) determines that alignment is complete.

[0056] Subsequently, as illustrated in FIG. 5, the control unit (300) rotates the drive motor (210) further or reverses it to return the pivot bar (230) to its original position (lower position). When the pivot bar (230) is lowered, the moving plate (120) also descends around the hinge (130) due to its own weight, returning to a horizontal state at its initial height. When the wheel support (100) is completely lowered, the vehicle is safely seated in a state aligned with the center. Afterward, a transfer robot enters the lower space of the vehicle to perform the parking operation.

[0057] In the above embodiment, a drive chain was used, but a power transmission method using a timing belt or a gear box can also be applied. In addition, a method of tilting the moving plate using a hydraulic cylinder or a screw jack instead of a slewing bar may also be included within the scope of the present invention.

[0059] FIG. 6 is a drawing showing a computing device according to an embodiment of the present invention. The computing device (TN100) of FIG. 6 may be a hardware configuration of the control unit (300) described in this specification.

[0060] In the embodiment of FIG. 6, the computing device (TN100) may include at least one processor (TN110), a transceiver (TN120), and a memory (TN130). Additionally, the computing device (TN100) may further include a storage device (TN140), an input interface device (TN150), an output interface device (TN160), etc. The components included in the computing device (TN100) may be connected by a bus (TN170) to communicate with each other.

[0061] The processor (TN110) can execute a program command stored in at least one of the memory (TN130) and the storage device (TN140). The processor (TN110) may refer to a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which methods according to embodiments of the present invention are performed. The processor (TN110) may be configured to implement the procedures, functions, and methods described in relation to embodiments of the present invention. The processor (TN110) can control each component of the computing device (TN100).

[0062] Each of the memory (TN130) and the storage device (TN140) can store various information related to the operation of the processor (TN110). Each of the memory (TN130) and the storage device (TN140) may be composed of at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory (TN130) may be composed of at least one of read-only memory (ROM) and random access memory (RAM).

[0063] The transmitting and receiving device (TN120) can transmit or receive wired or wireless signals. The transmitting and receiving device (TN120) can be connected to a network to perform communication.

[0065] Meanwhile, the present invention may be implemented as a computer program. The present invention may be implemented as a computer program stored on a computer-readable recording medium in combination with hardware.

[0066] Methods according to embodiments of the present invention may be implemented in the form of a program readable through various computer means and recorded on a computer-readable recording medium. Here, the recording medium may include program instructions, data files, data structures, etc., either individually or in combination.

[0067] The program instructions recorded on the recording medium may be those specifically designed and configured for the present invention, or they may be those known and available to those skilled in the art of computer software.

[0068] For example, recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, and flash memory.

[0069] Examples of program instructions may include machine language, such as that generated by a compiler, as well as high-level language that can be executed by a computer using an interpreter, etc.

[0070] Such hardware devices may be configured to operate as one or more software modules to perform the operation of the present invention, and vice versa.

[0072] Although embodiments of the present invention have been described above, those skilled in the art may modify and change the present invention in various ways by adding, changing, deleting, or adding components, etc., without departing from the spirit of the present invention as described in the claims, and such modifications and changes are also to be included within the scope of the rights of the present invention. Explanation of the symbols

[0074] 100 : Wheel support 110 : Fixed plate 120 : Moving Plate 121 : Kids Roller 122 : Guide Stopper 130 : Hinge 200 : Lifting part 210: Drive motor 220: Drive chain 230 : Turning bar 300 : Control unit

Claims

Claim 1 A vehicle centering device comprising: a pair of wheel support members on which a vehicle's wheel is seated and which have a plurality of rotatable idler rollers provided on their upper surfaces; a lifting member installed below the pair of wheel support members and which pushes the pair of wheel support members upwards so that the vehicle's wheel moves to the center by riding on the plurality of idler rollers due to the vehicle's eccentric self-weight; and a control member that detects the entry of the vehicle and controls the operation of the lifting member; wherein each of the pair of wheel support members includes a fixed plate positioned in the center, moving plates positioned on both sides of the fixed plate, and a hinge connecting the fixed plate and the moving plates; and wherein the lifting member includes a driving motor that generates rotational driving force, a pivoting bar that pivots the moving plate, and a driving chain connecting the driving motor and the pivoting bar. Claim 2 delete Claim 3 A vehicle centering device according to claim 1, wherein at least a portion of the plurality of idler rollers is installed so as to be exposed on the upper surface of the moving plate, and the moving plate rotates by the lifting part with the hinge as a rotation axis while pushing the wheel support upward. Claim 4 A vehicle centering device according to claim 3, wherein a guide stopper is formed at the outer end in the width direction of the moving plate to prevent the wheel from coming off. Claim 5 delete Claim 6 A vehicle centering device according to claim 1, wherein when the control unit confirms through a position sensing sensor that the wheel of the vehicle is seated on the wheel support, the rotational force of the drive motor is transmitted to the pivot bar through the drive chain so that the pivot bar pivots, and the pivot bar contacts the moving plate to pivot the moving plate. Claim 7 A vehicle centering device according to claim 1, wherein the control unit, after operating the lifting unit, rotates the pivot bar so that the wheel support unit becomes horizontal at an initial height when it is confirmed through a position detection sensor that the vehicle has reached a central position within a set allowable error range.

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