CN110159021A - A kind of robotic vehicle clamping and placing system and its pick and place method - Google Patents
A kind of robotic vehicle clamping and placing system and its pick and place method Download PDFInfo
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- CN110159021A CN110159021A CN201910436901.8A CN201910436901A CN110159021A CN 110159021 A CN110159021 A CN 110159021A CN 201910436901 A CN201910436901 A CN 201910436901A CN 110159021 A CN110159021 A CN 110159021A
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- 230000005540 biological transmission Effects 0.000 claims description 4
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
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Abstract
The invention discloses a kind of robotic vehicle clamping and placing system and its pick and place method, including scheduling system, background interface, robot and switching station, switching station includes scanning movement and cargo lift, display screen is installed on cargo lift exterior wall, weighing device is provided on the ground of scanning movement, scanning column is distributed in scanning movement surrounding；A kind of robotic vehicle clamping and placing system of the present invention and its pick-and-place method, robot is uniformly controlled by scheduling system, switching station, internal each section equipment is set to receive unity of command, so that robot, switching station and scheduling system three can complete corresponding matchings, it reduces and uses extras, enhance its flexibility, below ground is placed in by the way that column will be scanned, scanning column is waken up using weighing device to work, it extend out to ground or more upwards using Driven by Hydraulic Cylinder, in order to use scanning column to be scanned vehicle, it is accommodated in below ground when not in use, so that scanning column will not hinder vehicles while passing switching station.
Description
Technical field
The present invention relates to robotic vehicle pick-place techniques field, in particular to a kind of robotic vehicle clamping and placing system and its take
Put method.
Background technique
With social high speed development, automobile is more more and more universal, but the following parking problem has become major, middle city
Problem.In order to solve the problem of existing storage parking lot and car parking area parking difficulty low efficiency, intelligent parking robot
Using more and more common.Transport Vehicle intelligent robot needs to install many to the more demanding of switching station in switching station at present
Sensor, and its with scheduling system there are certain to conflict with robot itself with closing also.And installation sensor
Scanning column protrude more than ground, more scanning columns can surround certain space, and then increase parking difficulty, it has not been convenient to vehicle
Parking in switching station.For this purpose, the present invention proposes a kind of robotic vehicle clamping and placing system and its picks and places method, it to be used for robot
Optimum management during Transport Vehicle to each section control system, and optimize the installation of scanning column.
Summary of the invention
The main purpose of the present invention is to provide a kind of robotic vehicle clamping and placing system and its method is picked and placed, can effectively be solved
Certainly the problems in background technique.
To achieve the above object, the invention provides the following technical scheme: a kind of robotic vehicle clamping and placing system, including scheduling
System, background interface, robot and switching station, the switching station include scanning movement and cargo lift, the cargo lift exterior wall
On display screen is installed, weighing device is provided on the ground of the scanning movement, scanning column, institute is distributed in the scanning movement surrounding
It states and control module and laser radar is installed on scanning column, the laser radar is used to scan the profile point cloud chart of vehicle.
Preferably, the weighing device includes Weighing module, processing module and communication module, and the Weighing module is for adopting
Collect the weight value of vehicle, the processing module is for analyzing and determining whether the collected weight value of Weighing module is located at setting range
It is interior, and signal is sent to scanning column by communication module, the communication module uses but is not limited to communication cable or WIFI net
Network.
Preferably, the position of corresponding scanning column offers accommodating cavity in the scanning movement, and the accommodating cavity bottom passes through spiral shell
Bolt is fixedly installed with hydraulic cylinder, and the mode for being bolted or welding at the top of the hydraulic cylinder is fixedly connected with support plate, institute
Scanning column is stated to be bolted at the top of support plate.
Preferably, the support board ends are sleeved on guide rod, and the support board ends are offered mutually fits with guide rod
The through-hole matched, the guide rod lower end are fixed on accommodating cavity bottom, and the guide rod upper end is fixed on fixed block, the fixation
Block is fixed in accommodating cavity top inner wall.
Preferably, the scheduling system includes: acquiring unit, for obtain the current location of robot, destination locations and
Reachable path；Planning unit, for according to the current location of robot, destination locations and reachable path planning robot
Path to be dispatched；Scheduling unit, for executing task according to path dispatch robot to be dispatched.
Based on a kind of above-mentioned robotic vehicle pick-and-place method of robotic vehicle clamping and placing system, including following method and step:
A, vehicle enters switching station, the weight value of the weighing device acquisition vehicle in switching station, and judges the weight of vehicle
Within the set range whether, when vehicle weight is located in setting range, weighing device sends the signal to scanning column to value, scanning
Column is raised up to appropriate height；
B, the scanning column measurement outer dimension of vehicle, wheelbase, parking yaw angle, according to the outer dimension of vehicle, wheelbase,
Parking yaw angle decision content vehicle parks posture, judges whether target vehicle reaches robot and take according to vehicle parking posture
Vehicle requirement；
C, scanning column feeds back vehicle parking attitude measurement result by display screen, and measurement feedback is given and is turned
Station is changed, conversion turns to generate a function instruction by the calculating and conversion inside its program, gives this instruction feedback to scheduling system
System；
D, information of vehicles and routing information are passed to robot by scheduling system, and robot feeds back its calculated result again
To scheduling system, simultaneous transmission real-time location coordinates information, the location information that scheduling system is fed back according to robot, to switching station
Issue instruction, the operation such as door opening request, to guarantee that robot can smoothly enter into switching station；
E, after entering switching station, the function that can be transmitted according to scheduling system is adjusted itself posture for robot,
And by the laser radar of institute's band on robot body, secondary-confirmation is carried out to vehicle location, it is ensured that safety；
F, robot clamping vehicle after, can the obstacle situation to surrounding carry out judge and voluntarily exit switching station, adjust simultaneously
Degree system is handled the location information that robot is fed back in real time, after it exits switching station completely, is issued and is closed to switching station
The instruction of door, so far, pick-up handling work terminates.
Preferably, the specific method of the weight value of weighing device acquisition vehicle includes: in the step a
1. Weighing module acquires the weight value of vehicle, processing module reads weight value from Weighing module；
2. processing module judges whether weight value is located between setting weight range X1-X2；
3. is when weight value is located between setting weight range X1-X2, communication module sends the signal to scanning column, sweeps
It retouches after column receives signal, is raised up to ground or more.
Compared with prior art, the invention has the following beneficial effects:
1), this kind of robotic vehicle clamping and placing system and its pick-and-place method, by utilizing robot by the vehicle in switching station
It picks and places on parking space, robot, switching station is uniformly controlled by scheduling system, internal each section equipment is allow to receive system
One order, avoids more equipment while sending/receiving different instruction and cause equipment internal logic mistake, and then improve system
Whole stability and safety, allows robot, switching station and the scheduling complete corresponding matching of system three, reduces and makes
With extras, enhance its flexibility；
2) it, is placed in below ground by the way that column will be scanned, scanning column is waken up using weighing device and works, utilize Driven by Hydraulic Cylinder
It is extend out to ground or more upwards, in order to use scanning column to be scanned vehicle, below ground is accommodated in when not in use, makes
Column, which must be scanned, will not hinder vehicles while passing switching station, greatly facilitate vehicles while passing switching station；
3), scan column be raised above during, due to support plate suit on the guide bar, thus support plate support sweep
It retouches in column uphill process, support board ends can rise along guide rod, and then play guiding role to the rising of scanning column, guarantee
Scan the steady rising of column.
Detailed description of the invention
Fig. 1 is that a kind of each equipment of robotic vehicle clamping and placing system of the present invention is exchanged with scheduling Inter-System Information
Relationship；
Fig. 2 is a kind of robotic vehicle clamping and placing system of the present invention and its scanning point cloud chart for picking and placing method；
Fig. 3 is a kind of robotic vehicle clamping and placing system of the present invention and its flow chart for picking and placing method；
Fig. 4 is a kind of robotic vehicle clamping and placing system of the present invention and its weighing flow chart for picking and placing method；
Fig. 5 is a kind of switching station schematic diagram of robotic vehicle clamping and placing system of the present invention；
Fig. 6 is that a kind of scanning column of robotic vehicle clamping and placing system of the present invention stretches out status diagram；
Fig. 7 is a kind of scanning column receiving state schematic diagram of robotic vehicle clamping and placing system of the present invention.
In figure: 1, scanning movement；2, cargo lift；3, display screen；4, column is scanned；5, weighing device；6, accommodating cavity；7, liquid
Cylinder pressure；8, support plate；9, fixed block；10, guide rod.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Embodiment 1
As illustrated in figs. 5-7, a kind of robotic vehicle clamping and placing system, including scheduling system, background interface, robot and conversion
Stand, scheduling system by wireless network connection background interface, scheduling system by wireless network connection switching station, robot and its
His equipment, background interface are used for the pick-and-place of background monitoring machine people, and switching station includes scanning movement 1 and cargo lift 2, cargo lift
Display screen 3 is installed on 2 exterior walls, weighing device 5 is provided on the ground of scanning movement 1, scanning column 4 is distributed in 1 surrounding of scanning movement,
Control module and laser radar are installed, laser radar is used to scan the profile point cloud chart of vehicle, and control module is used on scanning column 4
It works in control scanning column 4.
As shown in figure 5, weighing device 5 includes Weighing module, processing module and communication module, Weighing module is used for collecting vehicle
Weight value, processing module, and will for analyzing and determining whether the collected weight value of Weighing module is located in setting range
Signal is sent to scanning column 4 by communication module, and communication module uses but is not limited to communication cable or WIFI network.
As shown in fig. 6-7, the position of corresponding scanning column 4 offers accommodating cavity 6 in scanning movement 1, and 6 bottom of accommodating cavity passes through
Bolt is fixedly installed with hydraulic cylinder 7, and the mode for being bolted or welding at the top of hydraulic cylinder 7 is fixedly connected with support plate 8, sweeps
It retouches column 4 and is bolted on 8 top of support plate；
After scanning column 4 is received and hoisted the signal, hydraulic cylinder 7 works, and stretches out upwards, so that the scanning in support plate 8
Column 4 extend out to ground or more upwards therewith, in order to use scanning column 4 to be scanned vehicle.
As shown in fig. 6-7,8 both ends of support plate are sleeved on guide rod 10, and 8 both ends of support plate offer and 10 phase of guide rod
The through-hole of adaptation, 10 lower end of guide rod are fixed on 6 bottom of accommodating cavity, and 10 upper end of guide rod is fixed on fixed block 9, fixed block 9
It is fixed in 6 top inner wall of accommodating cavity；
During scanning column 4 is raised above, since support plate 8 is sleeved on guide rod 10, thus in 8 support of support plate
It scans in 4 uphill process of column, 8 both ends of support plate can rise along guide rod 10, and then play guiding to the rising of scanning column 4 and make
With the steady rising of guarantee scanning column 4.
Scheduling system includes: acquiring unit, for obtaining current location, destination locations and the reachable path of robot；
Planning unit, for the path to be dispatched according to the current location of robot, destination locations and reachable path planning robot；
Scheduling unit, for executing task according to path dispatch robot to be dispatched；Scheduling system is supreme command sender, is responsible for real
The each equipment of Shi Guanli, each equipment are the executor of order in such a system, receive the instruction of scheduling system sending, and feed back and work as
Master-slave relationship is not present between each equipment for the state of preceding equipment, will not mutual send instructions.
Embodiment 2
As shown in Figs 1-4, a kind of robotic vehicle of robotic vehicle clamping and placing system based on embodiment 1 picks and places method,
Including following method and step:
A, vehicle enters switching station, and the weighing device 5 in switching station acquires the weight value of vehicle, and judges the weight of vehicle
Within the set range whether, when vehicle weight is located in setting range, weighing device 5 sends the signal to scanning column 4 to value,
Scanning column 4 is raised up to appropriate height；
B, scanning column 4 measures the outer dimension of vehicle, wheelbase, parking yaw angle, according to the outer dimension of vehicle, axis
Posture is parked away from, parking yaw angle decision content vehicle, according to vehicle parking posture judges whether target vehicle reaches machine
People, which picks up the car, to be required；
C, scanning column 4 feeds back vehicle parking attitude measurement result by display screen 3, and measurement feedback is given
Switching station, conversion turn to generate a function instruction by the calculating and conversion inside its program, give this instruction feedback to scheduling system
System；
D, information of vehicles and routing information are passed to robot by scheduling system, and robot feeds back its calculated result again
To scheduling system, simultaneous transmission real-time location coordinates information, the location information that scheduling system is fed back according to robot, to switching station
Issue instruction, the operation such as door opening request, to guarantee that robot can smoothly enter into switching station；
E, after entering switching station, the function that can be transmitted according to scheduling system is adjusted itself posture for robot,
And by the laser radar of institute's band on robot body, secondary-confirmation is carried out to vehicle location, it is ensured that safety；
F, robot clamping vehicle after, can the obstacle situation to surrounding carry out judge and voluntarily exit switching station, adjust simultaneously
Degree system is handled the location information that robot is fed back in real time, after it exits switching station completely, is issued and is closed to switching station
The instruction of door, so far, pick-up handling work terminates.
As shown in figure 4, the specific method of the weight value of the acquisition of weighing device 5 vehicle includes: in step a
1. Weighing module acquires the weight value of vehicle, processing module reads weight value from Weighing module；
2. processing module judges whether weight value is located between setting weight range X1-X2；
3., when weight value is located between setting weight range X1-X2, communication module sends the signal to scanning column 4, sweep
It retouches after column 4 receives signal, is raised up to ground or more.
It should be noted that the present invention is a kind of robotic vehicle clamping and placing system and its pick-and-place method, when in use, vehicle
When into switching station, the scanning column 4 for being dispersed in switching station surrounding can be automatically to the outer dimension of vehicle, wheelbase, parking yaw angle
Degree etc. measures, and on the one hand display screen 3 that measurement result passes through front is fed back, and informs that user adjusts vehicle attitude,
Reach robot pick-up to require；On the other hand, after correctly parking, scanning column 4 can feed back to the information scanned to be turned vehicle
Station is changed, switching station generates a function instruction by calculating and conversion inside its program, gives this instruction feedback to scheduling system
System.
After switching station has sent information of vehicles function, information of vehicles and routing information are passed to machine by scheduling system
Its calculated result is fed back to scheduling system, simultaneous transmission real-time location coordinates information by people, robot again.Scheduling system according to
The location information of robot feedback, issues to switching station and instructs, the operation such as door opening request, is turned with guaranteeing that robot can smoothly enter into
Change station.After entering switching station, the function that can be transmitted according to scheduling system is adjusted itself posture, and passes through for robot
The laser radar of institute's band on robot body carries out secondary-confirmation to vehicle location, it is ensured that safety.Scan image is as shown in Figure 2.
After robot clamps vehicle, can the obstacle situation to surrounding judge and voluntarily exit switching station, while dispatching system for machine
The location information of device people feedback is handled in real time, and after it exits switching station completely, the instruction closed the door is issued to switching station.Extremely
This, pick-up handling work terminates.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (7)
1. a kind of robotic vehicle clamping and placing system, including scheduling system, background interface, robot and switching station, which is characterized in that
The switching station includes scanning movement (1) and cargo lift (2), is equipped with display screen (3), institute on cargo lift (2) exterior wall
It states and is provided on the ground of scanning movement (1) weighing device (5), scanning column (4) is distributed in scanning movement (1) surrounding, described to sweep
It retouches and control module and laser radar is installed on column (4), the laser radar is used to scan the profile point cloud chart of vehicle.
2. a kind of robotic vehicle clamping and placing system according to claim 1, which is characterized in that weighing device (5) packet
Weighing module, processing module and communication module are included, the Weighing module is used to acquire the weight value of vehicle, and the processing module is used
Whether it is located in setting range in the analytical judgment collected weight value of Weighing module, and signal is sent to by communication module
It scans column (4), the communication module uses but is not limited to communication cable or WIFI network.
3. a kind of robotic vehicle clamping and placing system according to claim 1, which is characterized in that right in the scanning movement (1)
The position that column (4) should be scanned offers accommodating cavity (6), and accommodating cavity (6) bottom, which is bolted, is equipped with hydraulic cylinder
(7), the mode for being bolted or welding at the top of the hydraulic cylinder (7) is fixedly connected with support plate (8), the scanning column
(4) it is bolted at the top of support plate (8).
4. a kind of robotic vehicle clamping and placing system according to claim 3, which is characterized in that support plate (8) both ends
It is sleeved on guide rod (10), support plate (8) both ends offer and guide rod (10) compatible through-hole, the guide rod
(10) lower end is fixed on accommodating cavity (6) bottom, and guide rod (10) upper end is fixed on fixed block (9), the fixed block (9)
It is fixed in accommodating cavity (6) top inner wall.
5. a kind of robotic vehicle clamping and placing system according to claim 1, which is characterized in that the scheduling system includes:
Acquiring unit, for obtaining current location, destination locations and the reachable path of robot；Planning unit, for according to machine
The current location of people, destination locations and reachable path planning robot path to be dispatched；Scheduling unit, for according to wait adjust
It spends path dispatch robot and executes task.
6. based on a kind of above-mentioned robotic vehicle pick-and-place method of robotic vehicle clamping and placing system, including following method and step:
A, vehicle enters switching station, the weight value of weighing device (5) the acquisition vehicle in switching station, and judges the weight value of vehicle
Within the set range whether, when vehicle weight is located in setting range, weighing device (5) sends the signal to scanning column (4),
Scanning column (4) is raised up to appropriate height；
B, scanning column (4) the measurement outer dimension of vehicle, wheelbase, parking yaw angle, according to the outer dimension of vehicle, wheelbase,
Parking yaw angle decision content vehicle parks posture, judges whether target vehicle reaches robot and take according to vehicle parking posture
Vehicle requirement；
C, scanning column (4) feeds back vehicle parking attitude measurement result by display screen (3), and measurement feedback is given
Switching station, conversion turn to generate a function instruction by the calculating and conversion inside its program, give this instruction feedback to scheduling system
System；
D, information of vehicles and routing information are passed to robot by scheduling system, its calculated result is fed back to tune by robot again
Degree system, simultaneous transmission real-time location coordinates information, the location information that scheduling system is fed back according to robot are issued to switching station
Instruction, the operation such as door opening request, to guarantee that robot can smoothly enter into switching station；
E, after entering switching station, the function that can be transmitted according to scheduling system is adjusted itself posture, and leads to for robot
The laser radar for crossing institute's band on robot body carries out secondary-confirmation to vehicle location, it is ensured that safety；
F, after robot clamping vehicle, can the obstacle situation to surrounding judge and voluntarily exit switching station, while dispatching and being
System is handled the location information that robot is fed back in real time, after it exits switching station completely, issues shutdown to switching station
Instruction, so far, pick-up handling work terminates.
7. a kind of robotic vehicle according to claim 6 picks and places method, which is characterized in that dress of weighing in the step a
The specific method of weight value for setting (5) acquisition vehicle includes:
1. Weighing module acquires the weight value of vehicle, processing module reads weight value from Weighing module；
2. processing module judges whether weight value is located between setting weight range X1-X2；
3., when weight value is located between setting weight range X1-X2, communication module sends the signal to scanning column (4), scanning
After column (4) receives signal, it is raised up to ground or more.
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| CN112015185A (en) * | 2020-09-09 | 2020-12-01 | 上海有个机器人有限公司 | Local scheduling method and device for robot and robot |
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| CN109403690A (en) * | 2018-09-20 | 2019-03-01 | 同济大学 | Automotive vehicle carries method, system and the application with transfer |
| CN109779342A (en) * | 2019-01-11 | 2019-05-21 | 上海振华重工(集团)股份有限公司 | A kind of vehicle Input System and method |
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Application publication date: 20190823 |