CN114347887A - Method for converting a common vehicle into an autonomous vehicle, device adapted to said method and method for operating said device - Google Patents
Method for converting a common vehicle into an autonomous vehicle, device adapted to said method and method for operating said device Download PDFInfo
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- CN114347887A CN114347887A CN202210095557.2A CN202210095557A CN114347887A CN 114347887 A CN114347887 A CN 114347887A CN 202210095557 A CN202210095557 A CN 202210095557A CN 114347887 A CN114347887 A CN 114347887A
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Abstract
The application provides a method for transforming a common automobile into an automatic driving automobile, a device adapting the method and a working method of the device, wherein the method for transforming the common automobile into the automatic driving automobile comprises the following steps: in response to a positioning signal that the vehicle reaches a preset position, raising a second stop block to enable a tire of the vehicle to be locked to be located between the first stop block and the second stop block, wherein the preset position is an automobile fixing position of the automatic driving trailer; spit out the elastic strip, make the said elastic strip around the said tire to be locked and locked move, until the said elastic strip enters the entry that the receiving mechanism reserves; locking the elastic strip to lock the tire to be locked, and fixing the vehicle on an automatic driving trailer; the vehicle is carried by the autonomous trailer for travel. This application can be fast with manual driving vehicle conversion to the autopilot vehicle, and has fine commonality and reliability.
Description
Technical Field
The application relates to the technical field of vehicle locking equipment, in particular to a method for transforming a common vehicle into an automatic driving vehicle, an automatic driving trailer leasing method, a trailer, a vehicle automatic fixing device and a vehicle automatic fixing method.
Background
The development of the vehicle industry not only facilitates the travel of people, but also directly promotes the technical update and technical reconstruction of related industries, and promotes the modernization of departments such as coal, petroleum, electric power, geology and the like. However, the vehicle may malfunction during use. When a car owner encounters a small fault, the car can drive the car to a repair shop or a 4S shop for maintenance, and some large faults causing car breakdown can only wait for trailer rescue in situ.
In the prior art, a vehicle and a trailer are locked manually, the efficiency is low, the reliability of the manually locked vehicle is low, the vehicle and the trailer are separated possibly, people can be injured due to instant breakage of a binding belt, and even rear-end collision accidents of the vehicle and a rear vehicle are caused due to instant force change.
With the progress of science and technology, people put forward new requirements on the development of the automobile industry, and the automatic driving of automobiles also comes along. An automatic vehicle (Self-driving automatic vehicle), also called an unmanned vehicle, a computer-driven vehicle or a wheeled mobile robot, is an intelligent vehicle that realizes unmanned driving through a computer system. Automatic driving can promote road traffic intelligent level and traffic operating efficiency by a wide margin, and along with the continuous progress and the development of society, the automatic driving car demonstrates the trend that is close to the practicality gradually.
However, in the current society, the purchase and use of manually driven vehicles are still the main reasons, and if the manually driven vehicles and the automatically driven vehicles are simultaneously on the road and enter an automatic driving area, the traffic operation efficiency is influenced; if the manual driving automobile is replaced by the automatic driving automobile, the cost is high, and the environment is not protected.
Therefore, a method and apparatus for improving the efficiency and reliability of switching a general vehicle from a manual driving state to an automatic driving state, which is suitable for an automatic driving scenario, is needed.
Disclosure of Invention
In order to solve or at least partially solve the technical problem, the application provides a method for transforming a common automobile into an automatic driving automobile, which comprises the following steps:
raising the second stop block in response to a positioning signal that the vehicle reaches a preset position, so that a tire of the vehicle to be locked is positioned between the first stop block and the second stop block, wherein the preset position is a vehicle fixing position of the automatic driving trailer;
the elastic strip is discharged, so that the elastic strip moves around the tire to be locked until the elastic strip enters an inlet reserved in the storage mechanism;
locking the elastic strip to lock the tire to be locked, and fixing the vehicle on the automatic driving trailer;
the vehicle is carried by the autopilot trailer for travel.
The application also provides an automatic vehicle fixing method, which comprises the following steps:
in response to a positioning signal that the vehicle reaches a preset position, the second stop block is lifted, and a tire to be locked of the vehicle is located between the first stop block and the second stop block;
the elastic strip is discharged, so that the elastic strip moves around the tire to be locked until the elastic strip enters an inlet reserved in the storage mechanism;
the elastic strip is locked to lock the tire to be locked.
Preferably, before the step of raising the second stopper, the method further comprises:
obtaining tire size information of a vehicle;
and adjusting the position of the first block and/or the second block according to the tire size information.
Preferably, before the step of raising the second stopper, the method further comprises: acquiring the wheel track of front and rear wheels of the vehicle;
after the step of responding to the positioning signal that the vehicle reaches the preset position, the method further comprises the following steps:
in response to the positioning signal, the first stop is raised such that each of the four tires of the vehicle is positioned between the corresponding first and second stops.
Preferably, after the step of entering the elastic strip into the inlet, the method further comprises the following steps:
the receiving mechanism is used for tensioning the elastic strip.
The application also provides an automatic fixing device of vehicle, includes:
a first stopper and a second stopper;
the second moving mechanism is connected with the second stop block;
the conveying mechanism and the accommodating mechanism can be locked, and an outlet of the conveying mechanism is positioned on the side of either the first stop block or the second stop block; the entrance of the receiving mechanism is positioned at the other side;
the positioning sensor is in communication connection with the second moving mechanism, the conveying mechanism and the accommodating mechanism respectively, and sends a positioning signal when the vehicle reaches a preset position;
the second moving mechanism responds to the positioning signal to lift the second stop block, so that the tire to be locked of the vehicle is positioned between the first stop block and the second stop block;
the conveying mechanism responds to the positioning signal to spit out the elastic strip, so that the elastic strip moves around the tire to be locked until the elastic strip enters an inlet reserved in the storage mechanism;
the receiving mechanism and the conveying mechanism lock the elastic strip to lock the tire to be locked.
Preferably, the method further comprises the following steps:
the device comprises an acquisition device and a first moving mechanism, wherein the acquisition device is in communication connection with the first moving mechanism and/or a second moving mechanism and is used for acquiring the tire size information of a vehicle and sending a tire size signal;
the first moving mechanism can adjust the position of the first stop block according to the tire size signal;
the second moving mechanism can adjust the position of the second stopper according to the tire size signal.
Preferably, the method further comprises the following steps:
the first stop blocks and the second stop blocks are provided with four groups and are respectively arranged corresponding to four tires of the vehicle;
the acquisition device is also used for acquiring the wheel track of the front wheel and the rear wheel of the vehicle and sending a wheel track signal;
the first moving mechanism can adjust the position of the first stop block according to the wheel track signal;
the second moving mechanism can adjust the position of the second stopper according to the track signal.
The second moving mechanism responds to the positioning signal to lift the four groups of second stop blocks, and the first moving mechanism responds to the positioning signal to lift at least two groups of first stop blocks positioned in the same row, so that the four tires of the vehicle are positioned between the corresponding first stop blocks and the corresponding second stop blocks.
Preferably, two groups of first stoppers located in the same row among the four groups of first stoppers and second stoppers are fixedly arranged.
Preferably, the positioning sensor is mounted on a first stop block which is fixedly arranged; alternatively, the first and second electrodes may be,
the positioning sensor is arranged between any one group of the first stop blocks and any one group of the second stop blocks;
preferably, the second moving mechanism includes:
the hydraulic lifting device comprises a hydraulic platform and a lifting machine arranged on the hydraulic platform, wherein a first stop block and/or a second stop block are arranged on the lifting machine, the lifting machine is used for driving the first stop block and/or the second stop block to move in the height direction, and the hydraulic platform is used for driving the lifting machine and the first stop block and/or the second stop block to move in the horizontal direction.
Preferably, the first block and/or the second block are provided with openings, which constitute the outlet and/or the inlet.
Preferably, in each opening, the diameter of the opening corresponding to the inlet is gradually reduced from outside to inside so as to guide the elastic strip into the opening.
Preferably, the elastic strip tends to bend towards the tire under the action of the elastic force of the elastic strip, and a plurality of holes are arranged on the elastic strip at equal intervals along the length direction of the elastic strip.
Preferably, the storage mechanism includes: the disc brake is arranged on a shaft of the gear, and the interval of the teeth of the gear is consistent with that of the holes;
the inlet is opposite to the gear to be connected with the elastic strip, and the hole of the elastic strip is meshed with the gear teeth so as to drive the elastic strip to move through the gear.
The application can quickly lock the vehicle by locking the tire to be locked through the first stop block, the second stop block and the elastic strip. The positions of the first stop block and the second stop block can be adjusted according to actual needs so as to adapt to tires of different sizes, and the universality of the automatic vehicle fixing device is improved.
The application also provides a method for automatically driving the vehicle after locking, which comprises the following steps:
in response to a positioning signal that the vehicle reaches a preset position, raising a second stop block to enable a tire of the vehicle to be locked to be located between the first stop block and the second stop block, wherein the preset position is an automobile fixing position of the automatic driving trailer;
spit out the elastic strip, make the said elastic strip around the said tire to be locked and locked move, until the said elastic strip enters the entry that the receiving mechanism reserves;
locking the elastic strip to lock the tire to be locked, and fixing the vehicle on an automatic driving trailer;
the vehicle is carried by the autonomous trailer for travel.
By means of the vehicle automatic fixing method and device, the vehicle is fixed on the automatic driving trailer, and switching between a manual driving vehicle and an automatic driving vehicle can be achieved.
The application also provides a trailer, which comprises a trailer body and automatic vehicle fixing devices arranged on the trailer body, wherein the number of the automatic vehicle fixing devices is 2 or 4.
The application also provides an automatic driving trailer leasing method, which comprises the following steps:
acquiring a leasing address and a target address uploaded by a user;
automatically driving to a rental address, and locking the target vehicle on the automatic driving trailer by using the vehicle automatic fixing method; and automatically driving to the target address.
Drawings
In order to more clearly describe the embodiments of the present application, a brief description will be given below of the relevant drawings. It is to be understood that the drawings in the following description are only intended to illustrate some embodiments of the present application, and that a person skilled in the art may also derive from these drawings many other technical features and connections etc. not mentioned herein.
Fig. 1 is a schematic structural diagram of an automatic vehicle fixing device according to a first embodiment of the present disclosure;
fig. 2 is a block diagram illustrating a structure of an automatic vehicle fixing device and a trailer according to first, fourth, and sixth embodiments of the present application;
fig. 3 is a schematic top view of an automatic vehicle fixing device according to first to third embodiments of the present application;
fig. 4 is a schematic structural view of an automatic vehicle fixing device according to first to third embodiments of the present application;
fig. 5 is a schematic structural view of a storage mechanism of an automatic vehicle fixing device according to a third embodiment of the present application;
fig. 6 is a schematic structural view of an automatic vehicle fixing device and a trailer according to a fourth embodiment of the present application;
fig. 7 is a schematic view illustrating a use state of an automatic vehicle fixing device and a trailer according to a fifth embodiment of the present application;
fig. 8 is a schematic structural view of an automatic vehicle fixing device and a trailer according to a fifth embodiment of the present application.
The reference numerals and names in the figures are as follows:
11. a first stopper; 12. a second stopper; 13. an opening;
21. a first moving mechanism; 22. a second moving mechanism; 221. a hydraulic platform; 222. an elevator;
3. a storage mechanism; 31. a motor; 32. a gear; 33. disc braking;
4. a conveying mechanism;
5. an elastic strip; 51. an aperture;
61. a positioning sensor; 62. an acquisition device;
7. a tire to be locked;
8. a trailer; 81. a tail plate; 82. a control module; 83. a vehicle body; 84. an automatic travel sensor.
Detailed Description
The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings in the embodiments of the present application.
The inventor of the application finds that the efficiency is lower when the vehicle is locked manually; in addition, when the vehicle is exposed to extreme weather such as typhoon and rainstorm, the firmness of locking the vehicle may not be ensured.
In view of this, the present application provides an automatic vehicle fixing device and an automatic vehicle fixing method, so as to lock and fix vehicles of different brands and different models quickly, and have good versatility and reliability.
Implementation mode one
The application provides a vehicle automatic fixing device, combine fig. 1, fig. 2 to show, include:
a first stopper 11 and a second stopper 12;
a second moving mechanism 22 connected to the second stopper 12;
the conveying mechanism 4 and the accommodating mechanism 3 can be locked, and an outlet of the conveying mechanism 4 is positioned on the side of either one of the first stop 11 or the second stop 12; the entrance of the housing mechanism 3 is located on the other side;
the positioning sensor 61 is in communication connection with the second moving mechanism 22, the conveying mechanism 4 and the accommodating mechanism 3 respectively, and the positioning sensor 61 sends out a positioning signal when the vehicle reaches a preset position;
the second moving mechanism 22 raises the second stopper 12 in response to the positioning signal, so that the tire 7 to be locked of the vehicle is positioned between the first stopper 11 and the second stopper 12;
the conveying mechanism 4 responds to the positioning signal to spit out the elastic strip 5, so that the elastic strip 5 moves around the tire 7 to be locked until the elastic strip 5 enters an inlet reserved in the accommodating mechanism 3;
the receiving mechanism 3 and the conveying mechanism 4 lock the elastic strip 5 to lock the tire 7 to be locked.
The first stop block 11 and the second stop block 12 can limit displacement of a vehicle, so that the tire 7 to be locked is located between the first stop block 11 and the second stop block 12, and the elastic strip 5 can move around the tire 7 to be locked and lock the tire, so that the vehicle can be locked quickly, and compared with manual locking, the efficiency is higher, and the reliability is better.
Wherein, the elastic strip 5 can be the coil steel that has certain curvature, and the elastic strip 5 that has certain curvature can advance along the outline of tire better, and then guarantees that elastic strip 5 can be around waiting to lock solid tire 7 motion to get into the entry that receiving mechanism 3 reserved. Compared with manual locking, personnel do not need to be beside in the automatic locking process, the possibility of accidents is reduced, and the safety is better. Of course, the elastic strip 5 may be made of metal such as aluminum.
Of course, the positioning sensor 61 can sense the position of the vehicle and convert the sensed position into a usable output signal, and may be a contact sensor or a proximity sensor, and when the vehicle reaches a preset position, the positioning sensor can send a positioning signal and send the positioning signal to the second moving mechanism 22, so that the second stopper 12 is lifted, and the tire 7 to be locked of the vehicle is fixed between the first stopper 11 and the second stopper 12. Preferably, the position sensor 61 may be installed at the first stopper to improve the response speed of the automatic vehicle fixing apparatus.
It will be appreciated that different brands of vehicles, different models of vehicles, may vary in tire size. Therefore, in the present embodiment, referring to fig. 2, the vehicle automatic fixing device may further include:
the acquiring device 62 is in communication connection with the first moving mechanism 21 and/or the second moving mechanism 22, and is used for acquiring the tire size information of the vehicle and sending a tire size signal;
the first moving mechanism 21 can adjust the position of the first stopper 11 according to the tire size signal;
the second moving mechanism 22 can adjust the position of the second stopper in accordance with the tire size signal.
The obtaining device 62 can obtain the tire size information of the vehicle, and the first moving mechanism 21 and/or the second moving mechanism 22 can adjust the position of the first block 11 and/or the second block 12 according to the tire size signal obtained by the obtaining device 62, so that the vehicle can be locked fast aiming at different vehicles, and the efficiency and the applicability of the vehicle automatic fixing device are improved.
Among them, the obtaining device 62 may be an optical sensor provided at the first stopper 11, and adjusts the wheelbase of the front and rear wheels of the vehicle (the positions of the first stopper 11 and the second stopper 12), the wheelbase of the left and right wheels of the vehicle (the positions of the first stopper 11 and the first stopper 11, the positions of the second stopper 12 and the second stopper 12), and the size of the tire by the measurement of the distance. Of course, the present application may also obtain the tire size signal containing the vehicle machine data or the data manually input by the user to adjust the position of the first stopper 11 and/or the second stopper 12 by connecting with the vehicle machine of the user, or even a mobile phone, and the specific choice of the signal does not limit the present application.
Referring to fig. 2 and 4, the second moving mechanism 22 may include: a hydraulic platform 221 and a lift 222 disposed on the hydraulic platform 221; the first stopper 11 and/or the second stopper 12 are disposed on the elevator 222, the elevator 222 is configured to drive the first stopper 11 and/or the second stopper 12 to move in the height direction, and the hydraulic platform 221 is configured to drive the elevator 222 and the first stopper 11 and/or the second stopper 12 to move in the horizontal direction. The hydraulic platform 221 and the lifter 222 arranged on the hydraulic platform 221 can quickly adjust the positions of the first stop 11 and the second stop 12, and the efficiency of locking the vehicle is improved.
In the present embodiment, referring to fig. 1 and 4, the automatic vehicle fixing device may be installed on a ground, such as a parking lot, an apron, or the like, and the ground may be a horizontal surface or an inclined surface. The vehicle automatic fixing device has the advantages that a vehicle owner operates a manually-driven vehicle to drive into a target position, the tire 7 to be locked can be quickly locked by the vehicle automatic fixing device, on one hand, the vehicle can be prevented from being stolen, on the other hand, extreme weather such as typhoon and heavy rain can be better handled, and compared with manual locking, the vehicle automatic fixing device is high in efficiency and strong in reliability.
The embodiment also provides an automatic vehicle fixing method, which comprises the following steps:
in response to a positioning signal that the vehicle reaches a preset position, the second stop 12 is lifted, so that the tire 7 to be locked of the vehicle is positioned between the first stop 11 and the second stop 12;
spit out the elastic strip 5, make the elastic strip 5 move around waiting to lock the tire 7, until the elastic strip 5 enters the entrance that the receiving mechanism 3 reserves;
the elastic strip 5 is locked to lock the tyre 7 to be locked.
The first stop block 11 and the second stop block 12 can limit the displacement of the vehicle, so that the tire 7 to be locked is positioned between the first stop block 11 and the second stop block 12. The elastic strip 5 is arranged to move around and lock the tyre 7 to be locked, so that the vehicle can be locked quickly, and the locking device has better reliability compared with manual locking.
Before the step of raising the second stopper 12, the method may further include:
obtaining tire size information of a vehicle;
the position of the first stopper 11 and/or the second stopper 12 is adjusted based on the tire size information. The present embodiment can adjust the position of the first stopper 11 and/or the second stopper 12 by acquiring the tire size information of the vehicle, and thus can better match different vehicles.
Before the step of raising the second stopper, the method may further include: acquiring the wheel track of front and rear wheels of the vehicle;
after the step of responding to the positioning signal that the vehicle reaches the preset position, the method may further include:
in response to the positioning signal, the first stopper 11 is raised so that the four tires of the vehicle are each located between the corresponding first and second stoppers 11 and 11.
According to the embodiment, the positions of the first stop block 11 and/or the second stop block 12 are adjusted by means of the acquired tire size signals, so that the vehicle can be quickly locked aiming at different vehicles, and the efficiency and the applicability of the automatic vehicle fixing device are improved.
After the step of entering the elastic strip 5 into the inlet, it may further comprise: the receiving mechanism 3 is used for tensioning the elastic strip 5. Conveying mechanism 4 drives the motion of elastic strip 5, and receiving mechanism 3 can provide the pressure of directional elastic strip 5 for elastic strip 5 can keep suitable tight degree that rises, thereby can lock the vehicle firmly on vehicle automatic fixing device, has improved vehicle automatic fixing device's reliability.
If the elastic strip 5 is too tight when being tensioned, the elastic strip may break, and the service life is affected; if the elastic strip 5 is slightly loose, the connection between the vehicle and the ground is not firm, and the locking effect is affected.
The embodiment of the application can quickly lock the vehicle and improve the efficiency by locking the tire 7 to be locked on the first stop block 11, the second stop block 12 and the elastic strip 5. The positions of the first stop block 11 and the second stop block 12 can be adjusted according to actual needs to adapt to tires of different sizes, and the universality of the automatic vehicle fixing device is improved.
Second embodiment
A second embodiment of the present application provides an automatic vehicle fixing device. The second embodiment is a further improvement of the first embodiment, and the main improvement is that, in the second embodiment of the present application, referring to fig. 4, the first stopper 11 and/or the second stopper 12 may be provided with an opening 13, and the opening 13 constitutes an outlet and/or an inlet. Compared with the case where the opening 13 is provided on one side of the first stopper 11 or the second stopper 12, the present embodiment provides the opening 13 on the first stopper 11 and/or the second stopper 12, and thus does not need to provide an opening structure for the pop-up elastic strip 5, which makes the size smaller.
Preferably, in each opening 13, the diameter of the opening 13 corresponding to the inlet may gradually decrease from outside to inside, so as to guide the elastic strip 5 into the opening 13, thereby achieving the guiding effect, so that the elastic strip 5 can be accurately ejected towards the tire position, and the automation degree is improved.
Third embodiment
The inventors of the present application have found that, when fixing the tyre 7 to be locked by means of the elastic strip 5, the degree to which the elastic strip 5 is tensioned by the housing mechanism 3 varies due to the different dimensions of the wheels. Therefore, the inventor of the present application performs an optimized design in the above embodiment, and increases the locking effect of the automatic vehicle fixing device by adding the transmission assembly.
In this embodiment, the elastic strip 5 may tend to bend toward the tire under the effect of its own elastic force, so as to ensure that the tire can be wrapped up after the elastic strip 5 is popped up.
In the embodiment of the present application, in order to further ensure that the elastic strip 5 forms a reliable lock after being ejected, a further fixing manner may be added to the elastic strip 5 and the receiving mechanism 3: as shown in fig. 4 and 5, a plurality of holes 51 may be formed on the elastic strip 5 at equal intervals along the length direction thereof;
the storage mechanism 3 may further include: a gear 32 driven by the motor 31, and a disc brake 33 provided on the shaft of the gear 32, the interval of the teeth of the gear 32 being identical to the interval of the holes 51;
the entrance faces the gear 32 to receive the elastic strip 5, and the hole 51 of the elastic strip 5 is meshed with the teeth of the gear 32 to move the elastic strip 5 through the gear 32.
The elastic strip 5 is pushed by the motor 31 to move forward along the arc of the tire, and the tire can be fastened because the elastic strip 5 tends to bend towards the direction of the tire under the action of the elastic force of the elastic strip 5. The elastic strip 5 is connected with the accommodating mechanism 3 through the gear 32, and the elastic strip 5 is tensioned by the disc brake 33 arranged on the shaft of the gear 32, so that the elastic strip is locked on the accommodating mechanism 3, and the reliability of the automatic vehicle fixing device is further improved.
Embodiment IV
The inventor of the application finds that the efficiency is lower when the vehicle and the trailer are locked manually, the reliability of the manually locked vehicle is lower, the situation that the vehicle and the trailer are separated possibly exists, people can be hurt due to instant breakage of the binding belt, and even rear-end collision accidents of the vehicle and a rear vehicle can be caused due to instant force change.
In view of this, the present application provides an automatic vehicle fixing device and a trailer, so as to lock and fix vehicles of different brands and different models quickly, and have good universality and reliability.
The trailer 8 of the present application may include a vehicle body 83 and vehicle automatic fixing devices provided on the vehicle body 83, wherein the number of the vehicle automatic fixing devices may be 2. That is, the front wheels of the vehicle may be locked to the trailer 8. Compared with manual locking, personnel do not need to be beside in the automatic locking process, the possibility of accidents is reduced, and the safety is better.
In an application scenario of the present embodiment, referring to fig. 6, the automatic vehicle fixing device may be installed on a trailer 8, and the trailer 8 may be applied to road faults, city violations, emergency rescue and other scenarios. The vehicle owner operates the vehicle to drive up the incline via the tailgate 81 on the trailer 8, and the first and/or second moving mechanisms 21, 22 are capable of adjusting the position of the first and/or second stops 11, 12 based on the tire size signal.
When the front wheel contacts the first stop block 11, the positioning sensor 61 can send out a positioning signal, and the tail plate 81 is retracted; the second moving mechanism 22 raises the second stopper 12 in response to the positioning signal so that the tire 7 to be locked of the vehicle is located between the first stopper 11 and the second stopper 12. In addition, as shown in fig. 6, the conveying mechanism 4 may spit the elastic strip 5 in response to the positioning signal, so that the elastic strip 5 moves around the tire 7 to be locked until the elastic strip 5 enters the entrance reserved by the receiving mechanism 3; the receiving means 3 and the delivery means 4 can lock the elastic strip 5 to lock the tyre 7 to be locked. After the vehicle is locked to the trailer 8, the trailer 8 can be activated by the control module 82 on the trailer 8.
The automatic vehicle fixing device is simple in structure and high in automation degree, so that the operation efficiency can be improved, and quick locking is realized.
It should be mentioned that, when the trailer 8 is in the unloaded state, the second stopper 12 is not lifted, so there is a gap on the surface of the trailer 8, which causes the vehicle to obviously bump when entering, and the driving experience is affected.
For this reason, in the present embodiment, the entrance reserved for the housing mechanism 3 may be provided with a shutter, and the shutter may be connected to the lifter 222 or the hydraulic platform 221. When the second stopper 12 is not lifted, the arranged stopper can eliminate the gap, so that the vehicle can more smoothly drive into the target position, and the oscillation is reduced. When the front wheel contacts the first stop, the positioning sensor 61 emits a positioning signal, and the second moving mechanism 22 is able to move the stop in response to the positioning signal and raise the second stop 12 so that the tyre 7 to be locked of the vehicle is located between the first stop 11 and said second stop 12.
Of course, instead of the baffles, the gap may be set smaller, for example, the width of the gap may be smaller than the diameter of the tire. Wherein the size of the gap may also be adjusted according to different adaptations of the vehicle in response to the tire size signal.
When the vehicle needs to be separated from the trailer 8, an unlocking signal can be sent to the second moving mechanism 22, the conveying mechanism 4 and the accommodating mechanism 3 respectively; in response to the unlocking signal, the receiving mechanism 3 may release the elastic strip 5 by the motor 31 to return to the initial position; the tailgate 81 of the trailer 8 is lowered again; the second moving mechanism 22 lowers the second stopper 12 in response to the unlock signal and raises the tailgate 81, so that the vehicle smoothly slides down.
Fifth embodiment
The inventors of the present application have found that when the vehicle is in four-wheel drive, it is necessary to fix all four tires of the vehicle.
In view of this, a fifth embodiment of the present application provides an automatic vehicle fixing device. The fifth embodiment is different from the above embodiments mainly in that the vehicle automatic fixing apparatus locks 2 front wheels or 4 front and rear wheels of the vehicle in the above embodiments, but in the third embodiment of the present application, the vehicle automatic fixing apparatus can lock the front wheels or the rear wheels of the vehicle.
Specifically, the method comprises the following steps: as shown in fig. 7 and 8, the first stopper 11 and the second stopper may have four sets, and are disposed corresponding to four tires of the vehicle;
the acquiring device 62 is also used for acquiring the wheel track of the front wheel and the rear wheel of the vehicle and sending a wheel track signal;
the first moving mechanism 21 can adjust the position of the first stopper 11 according to the track signal;
the second moving mechanism 22 can adjust the position of the second stopper according to the track signal;
the second moving mechanism 22 raises the four sets of second stoppers in response to the positioning signal, and the first moving mechanism 21 raises at least two sets of first stoppers 11 positioned in the same row in response to the positioning signal so that the four tires of the vehicle are each positioned between the corresponding first stopper 11 and second stopper. Compared with the first and second embodiments, the automatic vehicle fixing device according to the second embodiment of the present application can be applied not only to two-wheel drive vehicles but also to four-wheel drive vehicles, and is more versatile. In addition, when the front wheel and the rear wheel of the vehicle are locked, the stability is better.
In the present embodiment, two sets of the first stoppers 11 positioned in the same row may be fixedly disposed among the four sets of the first stoppers 11 and the second stoppers. That is, the first stopper 11 for obstructing the same row as the front wheels of the vehicle is fixedly provided, and the first stopper 11 for obstructing the same row as the rear wheels of the vehicle is telescopically provided so that the vehicle can smoothly go forward and backward.
The positioning sensor 61 can be mounted on a fixedly arranged first stop 11, i.e. a touch sensor. Specifically, when the wheel contacts the first stopper, the alignment sensor 61 can send an alignment signal (i.e., a pressure signal) to the second moving mechanism 22, thereby causing the second stopper 12 to rise, and thus fixing the tire 7 to be locked of the vehicle between the first stopper 11 and the second stopper 12.
Alternatively, the positioning sensor 61 may be a proximity sensor installed between any one of the first stopper 11 and the second stopper, and the proximity sensor does not need to be in direct contact with the vehicle and may emit a positioning signal when the vehicle approaches the positioning sensor 61 by a set distance.
In an application scenario of the present embodiment, the automatic vehicle fixing device may be installed on the ground, such as a parking lot, an apron, etc., and four-wheel locking has better reliability than two-wheel locking.
In another application, referring to fig. 1, the automatic vehicle fixing device can be installed on a trailer 8, and a vehicle owner operates the vehicle to drive on a slope by means of a tail board 81 on the trailer 8, at this time, two sets of first stoppers 11 close to a driver seat of the trailer 8 are lifted, and two sets of first stoppers 11 and four sets of second stoppers far away from the driver seat of the trailer 8 are not lifted. The first moving mechanism 21 and/or the second moving mechanism 22 can adjust the position of the first stopper 11 and/or the second stopper 12 in accordance with the tire size signal to be suitable for a vehicle of a size.
In the present embodiment, the trailer 8 may include a vehicle body and vehicle automatic fixing devices provided on the vehicle body, wherein the number of the vehicle automatic fixing devices may be 4.
When the front wheels of the front vehicle contact two sets of first stoppers 11 close to the driver seat of the trailer 8, the positioning sensor 61 can send out a positioning signal, the second moving mechanism 22 raises four sets of second stoppers in response to the positioning signal, and the first moving mechanism 21 raises at least two sets of first stoppers 11 positioned in the same row in response to the positioning signal, so that the four tires of the front vehicle are all positioned between the corresponding first stoppers 11 and second stoppers. In addition, as shown in fig. 5, the conveying mechanism 4 may spit the elastic strip 5 in response to the positioning signal, so that the elastic strip 5 moves around the tire 7 to be locked until the elastic strip 5 enters the entrance reserved by the receiving mechanism 3; the receiving means 3 and the delivery means 4 can lock the elastic strip 5 to lock the tyre 7 to be locked. After locking the vehicle and the trailer 8, the tailgate 81 can be stored, and the trailer 8 is started through the control module 82 on the trailer 8.
When the vehicle needs to be separated from the trailer 8, an unlocking signal can be sent to the second moving mechanism 22, the conveying mechanism 4 and the accommodating mechanism 3 respectively; in response to the unlocking signal, the receiving mechanism 3 may release the elastic strip 5 by the motor 31 to return to the initial position; the tailgate 81 of the trailer 8 is lowered again; the second moving mechanism 22 lowers the first stopper 11 and the second stopper 12 in response to the unlock signal and raises the tailgate 81 so that the vehicle smoothly slides down.
Sixth embodiment
The inventors of the present application have found that the existing manually driven vehicles often do not have the condition of automatic driving, and when the automatic driven vehicles are widely used, the existing manually driven vehicles sometimes need to be switched to the automatic driven road for running.
In view of this, the present application provides an automatic driving method for vehicles, so as to quickly convert manually driven vehicles of different brands and different models into automatic driven vehicles, and improve road operation efficiency.
The method for transforming the common automobile into the automatic driving automobile comprises the following steps:
in response to a positioning signal that the vehicle reaches a preset position, raising the second stop so that the tire 7 to be locked of the vehicle is positioned between the first stop 11 and the second stop, wherein the preset position is a vehicle fixing position of the automatic driving trailer 8;
spit out the elastic strip 5, make the elastic strip 5 move around waiting to lock the tire 7, until the elastic strip 5 enters the entrance that the receiving mechanism 3 reserves;
locking the elastic strip 5 to lock the tyre 7 to be locked, fixing the vehicle on the automatic driving trailer 8;
the vehicle is driven by the autonomous trailer 8.
The automatic driving trailer 8 is a trailer 8 having an automatic driving function. After binding the vehicle to the trailer 8, the autonomous driving mode can be activated: the parameters of the surrounding environment of the vehicle are collected by an automatic driving sensor 84 (a camera or a radar) on the trailer 8 and are uploaded to the automatic driving control module 82 in time, and the control of the vehicle is realized through a software algorithm.
The present application makes it possible to fix a vehicle on an autonomous trailer 8 by means of the elastic strip 5 to lock the tire 7 to be locked. When the car owner drives the vehicle and feels fatigue, the automatic driving vehicle can be quickly converted from the manual driving vehicle.
The application also provides a method for renting the automatic driving trailer 8, which comprises the following steps:
acquiring a leasing address and a target address uploaded by a user;
automatically driving to a rental address, and locking the target vehicle on the automatic driving trailer 8 by using a vehicle automatic fixing method;
and automatically driving to the target address.
The embodiment automatically drives to the leasing address according to the acquired leasing address; by using the automatic fixing method of the vehicle, the target vehicle is locked on the automatic driving trailer 8 and automatically drives to the target address according to the target address, so that automatic driving can be realized. Need not artifical driving trailer 8 to lease address, trailer 8 can go to the target address automatically, has improved intelligent level.
Seventh embodiment
The inventor of the present application finds that the vehicle automatic fixing method and the vehicle automatic fixing device of the present application can be applied to the trailer 8 with an automatic driving function. Therefore, the embodiment of the present application further provides a method for locked automatic driving of a vehicle, which includes the following steps:
in response to a positioning signal that the vehicle reaches a preset position, raising a second stop so that the tire 7 to be locked of the vehicle is located between a first stop 11 and the second stop, wherein the preset position is a vehicle fixing position of the automatic driving trailer 8;
spit out the elastic strip 5, make the said elastic strip 5 move around the said tire 7 to be locked, until the said elastic strip 5 enters the entrance that the receiving mechanism 3 reserves;
locking the elastic strip 5 to lock the tyre 7 to be locked, fixing the vehicle on an autonomous trailer 8;
the vehicle is driven by the autonomous trailer 8.
The automatic driving trailer 8 is a trailer 8 having an automatic driving function. When the manually driven vehicle feels fatigue or enters some special places needing automatic driving, the vehicle is fixed on the automatic driving trailer 8 by the automatic vehicle fixing method and the automatic vehicle fixing device, so that the switching between the manually driven vehicle and the automatic driving vehicle can be realized.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (17)
1. A method for transforming a common automobile into an automatic driving automobile is characterized by comprising the following steps:
in response to a positioning signal that the vehicle reaches a preset position, raising a second stop block to enable a tire of the vehicle to be locked to be located between the first stop block and the second stop block, wherein the preset position is an automobile fixing position of the automatic driving trailer;
spit out the elastic strip, make the said elastic strip around the said tire to be locked and locked move, until the said elastic strip enters the entry that the receiving mechanism reserves;
locking the elastic strip to lock the tire to be locked, and fixing the vehicle on an automatic driving trailer;
the vehicle is carried by the autonomous trailer for travel.
2. An automatic vehicle fixing method is characterized by comprising the following steps:
in response to a positioning signal that the vehicle reaches a preset position, a second stop block is lifted, and a tire to be locked of the vehicle is located between the first stop block and the second stop block;
spit out the elastic strip, make the said elastic strip around the said tire to be locked and locked move, until the said elastic strip enters the entry that the receiving mechanism reserves;
and locking the elastic strip to lock the tire to be locked.
3. The method of claim 2, further comprising, prior to the step of raising the second stop:
acquiring tire size information of the vehicle;
adjusting the position of the first stopper and/or the second stopper according to the tire size information.
4. The method of claim 3, further comprising, prior to the step of raising the second stop: acquiring the wheel track of front and rear wheels of the vehicle;
after the step of responding to the positioning signal that the vehicle reaches the preset position, the method further comprises:
in response to the positioning signal, raising the first stop such that each of the four tires of the vehicle is positioned between the corresponding first stop and the second stop.
5. The method of claim 2, further comprising, after the step of entering the elastic strip into the inlet:
the storage mechanism is used for tensioning the elastic strip.
6. An automatic vehicle fixing device, comprising:
a first stopper and a second stopper;
the second moving mechanism is connected with the second stop block;
the conveying mechanism and the receiving mechanism can be locked, and an outlet of the conveying mechanism is positioned on the side of either the first stop block or the second stop block; the entrance of the receiving mechanism is positioned at the other side;
the positioning sensor is in communication connection with the second moving mechanism, the conveying mechanism and the accommodating mechanism respectively, and sends out a positioning signal when the vehicle reaches a preset position;
the second moving mechanism responds to the positioning signal to lift the second stop block, so that the tire to be locked of the vehicle is positioned between the first stop block and the second stop block;
the conveying mechanism responds to the positioning signal to spit out the elastic strip, so that the elastic strip moves around the tire to be locked until the elastic strip enters an inlet reserved in the storage mechanism;
the storage mechanism and the conveying mechanism lock the elastic strip to lock the tire to be locked.
7. The automatic vehicle securing device according to claim 6, characterized by further comprising:
the acquisition device is in communication connection with the first moving mechanism and/or the second moving mechanism and is used for acquiring tire size information of the vehicle and sending a tire size signal;
the first moving mechanism can adjust the position of the first stop block according to the tire size signal;
the second moving mechanism can adjust the position of the second stopper according to the tire size signal.
8. The automatic vehicle securing device according to claim 7, characterized by further comprising:
four groups of first stop blocks and four groups of second stop blocks are arranged corresponding to the four tires of the vehicle respectively;
the acquisition device is also used for acquiring the wheel track of the front wheel and the rear wheel of the vehicle and sending a wheel track signal;
the first moving mechanism can adjust the position of the first stop block according to the wheel track signal;
the second moving mechanism can adjust the position of the second stop block according to the wheel track signal;
the second moving mechanism responds to the positioning signal to lift four groups of second stop blocks, and the first moving mechanism responds to the positioning signal to lift at least two groups of first stop blocks positioned in the same row, so that four tires of the vehicle are positioned between the corresponding first stop blocks and the corresponding second stop blocks.
9. The automatic vehicle securing device according to claim 8, wherein two first stoppers located in the same row among the four sets of the first stoppers and the second stoppers are fixedly disposed.
10. The automatic vehicle securing device according to claim 9, characterized in that the positioning sensor is mounted on the fixedly disposed first stopper; alternatively, the first and second electrodes may be,
the positioning sensor is arranged between any one group of the first stop blocks and any one group of the second stop blocks.
11. The automatic vehicle fixing device according to claim 6, wherein the second moving mechanism includes:
the hydraulic lifting device comprises a hydraulic platform and a lifting machine arranged on the hydraulic platform, wherein the first stop block and/or the second stop block are/is arranged on the lifting machine, the lifting machine is used for driving the first stop block and/or the second stop block to move in the height direction, and the hydraulic platform is used for driving the lifting machine and the first stop block and/or the second stop block to move in the horizontal direction.
12. The automatic vehicle securing device according to claim 6, characterized in that an opening is provided on the first stopper and/or the second stopper, the opening constituting the outlet and/or the inlet.
13. The vehicle automatic fixing device according to claim 12, wherein in each of the openings, the diameter of the opening corresponding to the inlet is gradually reduced from outside to inside, so as to guide the elastic strip into the opening.
14. The automatic vehicle fixing device of claim 6, wherein the elastic strip tends to bend toward the tire under its own elastic force, and a plurality of holes are provided on the elastic strip at equal intervals along its length.
15. The vehicle automatic fixing device according to claim 14, wherein the storage mechanism includes: the gear is driven by a motor, and the disc brake is arranged on a shaft of the gear, and the interval of the teeth of the gear is consistent with that of the holes;
the inlet is opposite to the gear to be connected into the elastic strip, and the hole of the elastic strip is meshed with the teeth of the gear so as to drive the elastic strip to move through the gear.
16. A trailer comprising a vehicle body and the vehicle automatic fixing device of any one of claims 6 to 15 provided on the vehicle body, wherein the number of the vehicle automatic fixing devices is 2 or 4.
17. An automated trailer leasing method, comprising:
acquiring a leasing address and a target address uploaded by a user;
automatically driving to the rental address, and locking a target vehicle on the automatic driving trailer by using the vehicle automatic fixing method of any one of claims 2 to 5;
and automatically driving to the target address.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210095557.2A CN114347887B (en) | 2022-01-26 | 2022-01-26 | Method for converting a generic vehicle into an autonomous vehicle, device for adapting said method and method for operating a device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210095557.2A CN114347887B (en) | 2022-01-26 | 2022-01-26 | Method for converting a generic vehicle into an autonomous vehicle, device for adapting said method and method for operating a device |
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| CN114347887A true CN114347887A (en) | 2022-04-15 |
| CN114347887B CN114347887B (en) | 2023-07-04 |
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