CN208233025U - A kind of adjustment device of vehicle attitude - Google Patents
A kind of adjustment device of vehicle attitude Download PDFInfo
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- CN208233025U CN208233025U CN201820750111.8U CN201820750111U CN208233025U CN 208233025 U CN208233025 U CN 208233025U CN 201820750111 U CN201820750111 U CN 201820750111U CN 208233025 U CN208233025 U CN 208233025U
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Abstract
The utility model relates to a kind of adjustment device of vehicle attitude, described device includes: acquiring unit, suitable for obtaining the weight or range information of the vehicle；Computing unit, suitable for location information of the vehicle relative to default object of reference is calculated according to the weight or range information；Determination unit determines the current posture of the vehicle suitable for the location information according to the vehicle relative to the object of reference；Comparison unit, suitable for comparing the vehicle current posture and preset posture；Adjustment unit correspondingly adjusts the current posture of the vehicle to the preset posture according to the comparing result.Using above-mentioned scheme, vehicle attitude can be efficiently and automatically adjusted, and saves space needed for adjustment process.
Description
Technical field
The utility model relates to parking apparatus field more particularly to a kind of adjustment devices of vehicle attitude.
Background technique
In the modern life, vehicle has been increasingly becoming a kind of essential vehicles.With the day of vehicle fleet size
The problem of benefit increases and the limited status in city space, parking difficulty is more and more severeer.Usual solution is in the plane
Reduce single parking stall area, or find parking space on solid space, for example parking systems is provided.But either
Which kind of above-mentioned solution requires first to be parked in pre-set narrow parking stall vehicle.At this point, no matter vehicle size,
It requires to reserve the area for being several times as much as vehicle size itself by parking stall, be turned to for parking vehicle, displacement.Moreover, experience is not
The driver of foot generally requires bigger reserved area.
As it can be seen that vehicle storage completes the work such as turn around, stop of vehicle by manual control vehicle, there are inefficiency
And need the problem of occupying larger space.Therefore, correspondingly, developing intellectual resource, high-efficient parking apparatus have become common recognition.
Utility model content
The utility model solves the problems, such as it is how efficiently and automatically to adjust vehicle attitude, and save institute during adjustment
The space needed.
To solve the above-mentioned problems, the purpose of this utility model is to provide a kind of adjustment device of vehicle attitude, institutes
Stating device includes:
Acquiring unit, suitable for obtaining the weight or range information of the vehicle；
Computing unit, suitable for the vehicle is calculated relative to default object of reference according to the weight or range information
Location information；
Determination unit determines that the vehicle is current suitable for the location information according to the vehicle relative to the object of reference
Posture；
Comparison unit, suitable for comparing the vehicle current posture and preset posture；
Adjustment unit correspondingly adjusts the current posture of the vehicle to the preset appearance according to the comparing result
State.
Optionally, described device further include:
Control unit, suitable for it is described correspondingly adjust the current posture of the vehicle to the preset posture after,
The center line that control carrier is moved to the carrier is overlapped with the center line of the vehicle；And the control carrier is completed
Carrying movement to the vehicle.
Optionally, the default object of reference is sensor, and location information packet of the vehicle relative to default object of reference
It includes: location information of the wheel of the vehicle relative to the sensor.
Optionally, the wheel of the sensor and the vehicle corresponds to each other.
Optionally, when the acquiring unit is suitable for obtaining the weight information of the vehicle, a wheel of the vehicle
Sensor described in one group corresponding, sensor described in one group is at least made of three sensors, and four vehicles of the vehicle
Corresponding four groups of sensors are taken turns, are arranged symmetrically in parking identified areas.
Optionally, the acquiring unit obtains described in corresponding one group respectively suitable for each wheel for the vehicle
The data that sensor detects, in which: the data that sensor described in described one group detects include at least three sensings
The data that device detects；The computing unit calculates correspondence suitable for the data that the sensor according to described one group detects
The contact central point in plate contact face that is constituted of wheel and one group of sensor believe relative to the position of default object of reference
Breath.
Optionally, when the acquiring unit is suitable for obtaining the range information of the vehicle, the near front wheel of the vehicle and
Left rear wheel corresponds to first sensor group, and the off-front wheel and off hind wheel of the vehicle correspond to second sensor group；Described first passes
Any group of sensor group in sensor group and second sensor group, is at least made of a sensor, and described first passes
Sensor group and second sensor are in parking identified areas external symmetry arrangement.
Optionally, the acquiring unit obtains corresponding one group of sensing suitable for each wheel for the vehicle respectively
The data that device detects；The near front wheel of the vehicle is calculated suitable for the data detected according in the computing unit
The contact central point in the plate contact face constituted with the first sensor group and second sensor group is to first sensing
The contact center in the plate contact face that the distance of device group, off-front wheel and the first sensor group and second sensor group are constituted
The plate contact that point is constituted to the distance of second sensor group, left rear wheel and the first sensor group and second sensor group
Face contacts central point to the distance of first sensor group, off hind wheel and the first sensor group and second sensor group institute structure
At plate contact face contact central point to the distance of second sensor group, the near front wheel and the first sensor group and second
The line of the contact central point and first sensor group in the plate contact face that sensor group is constituted, with first sensor group and the
The panel that angle, off-front wheel between two sensor group lines are constituted with the first sensor group and second sensor group connects
The line of the contact central point and second sensor group of contacting surface, with the folder between first sensor group and second sensor group line
The contact central point and first in the plate contact face that angle, left rear wheel and the first sensor group and second sensor group are constituted
Angle and off hind wheel and described first between the line of sensor group, with first sensor group and second sensor group line
The line of the contact central point and second sensor group in the plate contact face that sensor group and second sensor group are constituted, with the
Angle between one sensor group and second sensor group line.
Optionally, the vehicle edge is calculated suitable for the location information according to four wheels in the determination unit
The center line in vehicle commander direction.
Optionally, the comparing result includes:
The body center line of the vehicle default drift angle referring to center line corresponding with the preset posture, vehicle
The contact central point of two front wheels is wired to the default vertical range referring to central point, and the contact central point of two rear-wheel of vehicle is wired to
The default vertical range referring to central point.
As above, the adjustment device of vehicle attitude provided by the utility model, by determination unit by vehicle relative to reference
The location information of object determines the current posture of vehicle, then comparison unit comparison vehicle current posture and preset posture, and
And then adjustment unit, according to comparing result, the corresponding vehicle that adjusts is to preset posture, it is known that entire adjustment process does not need manually
Guidance, other mechanical guides and aligning device, therefore can efficiently and automatically adjust vehicle attitude.Also, due to above-mentioned
Adjusted Option can make vehicle complete automatic reversing in small space, so that sky needed for adjustment process can also be saved
Between, improve user experience.
Further, it is moved to by the center line that control unit controls carrier and is overlapped with the center line of the vehicle, and
And then the carrying movement that the carrier completes the vehicle is controlled, without other operations that user is stopped, therefore can be square
Just user, therefore user experience can be improved.
For the above content of the utility model can be clearer and more comprehensible, preferred embodiment and detailed in conjunction with attached drawing is cited below particularly
Explanation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the adjustment device of one of the utility model embodiment vehicle attitude；
Fig. 2~Fig. 3 is the structural schematic diagram of the adjustment device of another vehicle attitude in the utility model embodiment；
Fig. 4~Figure 11 is the application scenario diagram of the adjustment device of one of the utility model embodiment vehicle attitude；
Figure 12 is the flow diagram of the method for adjustment of one of the utility model embodiment vehicle attitude.
Specific embodiment
The embodiments of the present invention is illustrated by particular specific embodiment below, those skilled in the art can be by this theory
The bright revealed content of book understands other advantages and effect of the utility model easily.Although the description of the utility model will tie
It closes preferred embodiment to introduce together, but this feature for not representing this utility model is only limitted to the embodiment.On the contrary, knot
Closing the purpose that embodiment makees utility model introduction is to be possible to extend to cover the claim based on the utility model
Other selections or transformation out.In order to provide to the understanding of the depth of the utility model, be described below in will be comprising many specific
Details.The utility model can also be implemented without using these details.In addition, in order to avoid the weight of chaotic or fuzzy the utility model
Point, some details will be omitted in the de-scription.It should be noted that in the absence of conflict, in the utility model
Feature in embodiment and embodiment can be combined with each other.
As above, the Adjusted Option of existing vehicle attitude there are problems that efficiently and automatically adjusting vehicle attitude.
To solve the above problems, the adjustment device of vehicle attitude provided by the embodiment of the utility model, is led to by determination unit
It crosses vehicle and determines the current posture of vehicle relative to the location information of object of reference, then the current posture of comparison unit comparison vehicle
With preset posture, and adjustment unit is according to comparing result in turn, and the corresponding vehicle that adjusts is to preset posture, it is known that entire adjustment
Process does not need manually guidance, other mechanical guides and aligning device, therefore can efficiently and automatically adjust vehicle attitude.And
And since above-mentioned Adjusted Option can make vehicle complete automatic reversing in small space, so that adjustment can also be saved
User experience is improved in space needed for process.
To more fully understand those skilled in the art and realizing the utility model, Fig. 1 shows the utility model reality
The structural schematic diagram for applying the adjustment device of one of example vehicle attitude, as shown in Figure 1, the adjustment device may include: to obtain
Take unit 11, computing unit 12, determination unit 13, comparison unit 14 and adjustment unit 15, in which:
The acquiring unit 11, suitable for obtaining the weight or range information of the vehicle；
The computing unit 12, suitable for the vehicle is calculated relative to default ginseng according to the weight or range information
According to the location information of object；
The determination unit 13 determines the vehicle suitable for the location information according to the vehicle relative to the object of reference
Current posture；
The comparison unit 14, suitable for comparing the vehicle current posture and preset posture；
The adjustment unit 15 correspondingly adjusts the current posture of the vehicle to described pre- according to the comparing result
If posture.
In an embodiment of the utility model, the weight or range information of the vehicle can be detected by sensor, and
It specifically, can be weight class sensor or distance-like sensor, for example can be laser sensor.
In an embodiment of the utility model, the adjustment device can be a controller or MCU, art technology
Personnel according to actual needs, can also select other hardware devices to realize the function of the adjustment device.
In an embodiment of the utility model, the adjustment unit 15 can be controlled correspondingly according to the comparing result
Swing mechanism rotation, to adjust the current posture of the vehicle to the preset posture.Also, the swing mechanism can be
Circular guideway form, or pivoting support form, or the equipment of revolute function may be implemented in other.
In specific implementation, the adjustment device can also include: control unit (not shown), be suitable for it is described correspondingly
After adjusting the current posture of the vehicle to the preset posture, control carrier is moved to the center line of the carrier
It is overlapped with the center line of the vehicle, and controls the carrying that the carrier is completed to the vehicle in turn and act.
In specific implementation, the default object of reference is sensor, and position of the vehicle relative to default object of reference
Information includes: location information of the wheel of the vehicle relative to the sensor.
In specific implementation, the wheel of the sensor and the vehicle corresponds to each other.Correspondence herein may include number
Correspondence in amount and/or position.
In specific implementation, when the acquiring unit 11 is suitable for obtaining the weight information of the vehicle, the vehicle
Sensor described in one wheel is one group corresponding, sensor described in one group is at least made of three sensors, and the vehicle
The corresponding four groups of sensors of four wheels, parking identified areas in be arranged symmetrically.
In specific implementation, four sensors of a rectangular panel are constituted on a wheel corresponding position.
Those skilled in the art according to actual needs, can also select the sensor of other quantity.Also, when what is obtained is weight information
When, the acquiring unit 11, suitable for each wheel for the vehicle, obtain corresponding one group respectively described in sensor detection
The data arrived, in which: the data that sensor described in described one group detects include at least what three sensors detected
Data；The computing unit 12, suitable for the data that the sensor according to described one group detects, calculate corresponding wheel with
Location information of the contact central point in the plate contact face that one group of sensor is constituted relative to default object of reference.
In specific implementation, when the acquiring unit 11 is suitable for obtaining the range information of the vehicle, the vehicle
The near front wheel and left rear wheel correspond to first sensor group, and the off-front wheel and off hind wheel of the vehicle correspond to second sensor group.It is described
First sensor group and second sensor group in any group of sensor group, be at least made of a sensor, and institute
First sensor group and second sensor are stated in parking identified areas external symmetry arrangement.
In specific implementation, when acquisition be range information when, the acquiring unit 11, suitable for for the every of the vehicle
A wheel obtains the data that corresponding one group of sensor detects respectively；The computing unit 12, suitable for being detected according to
Data, the panel that the near front wheel of the vehicle is constituted with the first sensor group and second sensor group is calculated and connects
Contacting surface contacts central point to the distance of the first sensor group, off-front wheel and the first sensor group and second sensor
The constituted plate contact face of group contacts central point to the distance of second sensor group, left rear wheel and the first sensor group
And the contact central point in the plate contact face that is constituted of second sensor group to the distance of first sensor group, off hind wheel with it is described
The plate contact face that first sensor group and second sensor group are constituted contact central point to second sensor group distance,
The contact central point in the plate contact face that the near front wheel is constituted with the first sensor group and second sensor group and first passes
Angle, off-front wheel and first sensing between the line of sensor group, with first sensor group and second sensor group line
The line of the contact central point and second sensor group in the plate contact face that device group and second sensor group are constituted, passes with first
Angle, left rear wheel and the first sensor group and second sensor group institute structure between sensor group and second sensor group line
At plate contact face contact central point and first sensor group line, connect with first sensor group and second sensor group
The plate contact face that angle and off hind wheel between line are constituted with the first sensor group and second sensor group connects
The line for touching central point and second sensor group, with the angle between first sensor group and second sensor group line.
In specific implementation, institute is calculated suitable for the location information according to four wheels in the determination unit 13
Vehicle is stated along the center line in vehicle commander direction.
In specific implementation, the comparing result include: the vehicle body center line and the preset posture
It is corresponding it is default referring to the drift angle of center line, the contact central point of vehicle two front wheels be wired to it is default referring to central point it is vertical away from
From the contact central point of two rear-wheel of vehicle is wired to the default vertical range referring to central point.
To more fully understand those skilled in the art and realizing the utility model, it is practical new that Fig. 2~Fig. 3 shows this
The structural schematic diagram of the adjustment device of another vehicle attitude in type embodiment, and correspondingly, Fig. 4~Figure 11 shows this
The application scenario diagram of the adjustment device of one of utility model embodiment vehicle attitude, below with reference to Fig. 2~Figure 11 to above-mentioned
Method and device is introduced.
Fig. 2 and Fig. 3 discloses vehicle from proximity state to the tune for the vehicle attitude being parked in the utility model embodiment
Process in engagement positions, Fig. 2 are main view, and Fig. 3 is top view.As shown in Figures 2 and 3, in the specific implementation of the utility model
In, the adjustment device of vehicle attitude may include following basic structure and mechanism: device structure frame, swing mechanism 106, position
Detection system and controller.It should be noted that controller herein is the one of hardware configuration for adjusting device, do not refer to
Adjust device itself.To avoid misreading, referred to as the first controller below.
Specifically, the effect of each structure and mechanism is as follows: device structure frame is led by vehicle-carrying plate, support construction and revolution
The composition such as rail, for 101 and the receiving load of parking cars.Swing mechanism 106 can carry out revolution movement, and swing mechanism includes
Turntable 103.
Position detecting system is input to the first controller, therefore position detection for acquiring weight or range information
System can have multiple types and different quantity.
For example, as shown in Fig. 3~Fig. 5, position detecting system can be by four groups of weight detectings being arranged in identified areas
The sensor of type forms, four wheels of corresponding vehicle 101, is the near front wheel 201, off-front wheel 202, left rear wheel 203, the right side respectively
Rear-wheel 204, to detect the position of each wheel.In addition, the quantity of the sensor in each sensor group can also be different.Continue
With reference to Fig. 4 and Fig. 5, position detecting system includes 4 sensor groups, and in Fig. 4, each sensor group includes 4 sensings
Device, and in Fig. 5, each sensor group includes 3 sensors.Also, each sensor group may be constructed a rectangle
Panel, as shown in Figures 4 and 5, the near front wheel 201 are located in rectangular panel 1a, and four sensors can be located at as shown in Figure 4
Four vertex of one rectangular panel 1a, three sensors can be uniformly distributed in rectangular panel 1a as shown in Figure 5.Off-front wheel
202 are located in rectangular panel 1b, and four sensors can be located at four vertex of a rectangular panel 1b as shown in Figure 4,
Three sensors can be uniformly distributed in rectangular panel 1b as shown in Figure 5.Left rear wheel 203 is located in rectangular panel 2a, four biographies
Sensor can be located at four vertex of a rectangular panel 2a as shown in Figure 4 respectively, and three sensors can as shown in Figure 5 uniformly
It is distributed in rectangular panel 2a.Off hind wheel 204 is located in rectangular panel 2b, and four sensors can be located at square as shown in Figure 4
Four vertex of shape panel 2b, three sensors can be uniformly distributed in rectangular panel 2b as shown in Figure 5.
Also for example, position detecting system can be by two sensor groups apart from detection type being arranged in outside identified areas
Composition, each sensor group includes at least one sensor.As shown in fig. 6, each sensor group includes a sensor, it is located at
The sensor of top corresponds to left front wheel 201 and left rear wheel 203, and underlying sensor corresponds to right front wheel
202 and rear right wheel 204.Also, it, can with further reference to Fig. 6 when the sensor apart from detection type is laser sensor
See schematic diagram when carrying out vehicle scan or position detection using laser sensor.
In specific implementation, after position detecting system detects the location information of wheel, the first controller is suitable for acquisition
Position detecting system feedback wheel 201- wheel 204 location information, determine the posture of vehicle 101, then with standard vehicle appearance,
Namely preset vehicle appearance compares, to judge angle excursion and the displacement of vehicle 101.First controller can also control back
Rotation mechanism 106 carries out revolution movement, to adjust 101 posture of vehicle, makes vehicle 101 to just.
Specifically, the working principle of this adjustment device are as follows: vehicle 101 is parked in parking identified areas 103, position detection
The location information that system can will test feeds back to the first controller, and the centre bit of each wheel is calculated by the first controller
It sets, the center of four wheel 201-204 forms one group of complete 101 posture information of vehicle, including wheel 201- wheel 204
Position, 101 position of center line of vehicle and 101 center line of vehicle and standard vehicle appearance center line angular deviation and displacement it is inclined
Then difference controls swing mechanism 106 by the first controller, rotates corresponding angle, make in 101 center line of vehicle and standard vehicle appearance
Heart line is parallel, realizes vehicle 101 to just.
Further, as shown in Figure 10 and 11, offset deviation can be fed back to master control system by the first controller, by master control
System control carrier 107 moves horizontally, and is overlapped 107 center line of carrier with 101 center line of vehicle.Carrier 107 acts
And complete carrying movement.Overall process can realize unmanned automatic operation.It, can also be by it should be noted that in specific implementation
The first controller or control unit in adjustment device are done directly control carrier 107 and complete the movement moved horizontally.
With reference to Fig. 2, after vehicle 101 initially opens this adjustment device, the position parked not to just, there is certain drift angle,
Carrier 107 can not carrying vehicle 101 at this time.It, will after this adjustment device is turned an angle by turntable 102 referring again to Fig. 3
Vehicle 101 is to just, 101 center line of vehicle and 107 centerline parallel of carrier.And then refer to Fig. 8,107 horizontal adjustment of carrier
Afterwards, 101 center line of vehicle is overlapped with 107 center line of carrier, and carrying can be implemented in carrier 107.
To sum up, the utility model embodiment provides a kind of adjustment device of vehicle attitude, can judge automatically vehicle vehicle
Vehicle is simultaneously returned back to correct orientation by swing mechanism by figure state, is not needed to be oriented to and push away just, is realized automatic alignment, is convenient for vehicle
Haulage equipment, which is picked up the car, to be carried.And the apparatus surface is pure-surface, is required driver driving technical ability, efficiency of stopping
It is high.The present apparatus can realize the positive and negative 180 ° of revolutions of vehicle, realize vehicle forward direction storage, positive outbound.
Figure 12 shows the flow diagram of one of the utility model embodiment adjustment device work, below with reference to figure
2- Figure 12 describes to the workflow of the adjustment device in detail, and the workflow includes the following steps:
Step S91: the weight or range information of the vehicle are obtained.
In specific implementation, after being parked in vehicle by driver to preset parking identified areas 103, vehicle attitude
Adjustment device can obtain or receive the weight information of the vehicle from the sensor being arranged in the parking identified areas,
The range information of the vehicle can also be obtained or received from the sensor being arranged in outside the parking identified areas.And it is described
Sensor can characterize the weight or range information of the vehicle in several ways.For example the sensor can pass through capacitor
Change to characterize the weight or range information of vehicle, the weight or range information of vehicle can also be characterized by curent change,
The weight or range information of vehicle can also be characterized by voltage change.
Step S92: position of the vehicle relative to default object of reference is calculated according to the weight or range information
Information.
In specific implementation, the default object of reference can be sensor.And correspondingly, the vehicle is relative to default
The location information of object of reference may include: location information of the wheel of the vehicle relative to the sensor.Certainly, this field
Technical staff according to actual needs, can also select the other component of vehicle relative to the location information of the sensor as institute
State location information of the vehicle relative to default object of reference.
In specific implementation, the wheel of the sensor and the vehicle can correspond to each other.In other words, some or certain
Several sensors are responsible for detecting the location information of some wheel of vehicle.
It should be noted that the adjustment device of vehicle attitude can be adopted there are many data according to the difference of sensor type
The mode of collection.For example, the adjustment device of vehicle attitude can carry out location information acquisition using the sensor of weight, and when acquisition
When the weight information of the vehicle, sensor described in one group of the wheel correspondence of the vehicle, sensor described in one group is at least
It is made of three sensors, and the corresponding four groups of sensors of four wheels of the vehicle, it is right in parking identified areas
Claim arrangement.Specifically, can be set in parking identified areas 103 there are four mutually independent detection unit, it is each
A detection unit corresponds to a wheel of vehicle.In other words, which specifically includes that one piece of panel, for example can be three
Angular or quadrangle or other polygons and multiple position-detection sensors.Position-detection sensor is located at the lower section of panel.
After signal is collected and is converted into data, every group of data can be analyzed, and according to mass center formula, calculate single wheel
With the contact surface center position of panel.
For example, label 301 characterizes the contact central point of the near front wheel and turntable contact surface with reference in Fig. 7, label 302 is characterized
The central point of off-front wheel and turntable contact surface, label 303 characterize the central point of left rear wheel and turntable contact surface, and label 304 characterizes
The central point of off hind wheel and turntable contact surface, the characterization of label 401 is default referring to central point, at this time then can be according to wheel 201-
204 corresponding four sensors weight informations detected determine contact central point 301-304 and corresponding sensing
The relative distance of device.
For another example, the adjustment device of vehicle attitude can be acquired by the way of laser scanning.In detail, vehicle
The adjustment device of posture can be outside parking identified areas 103, each one or more laser scanners of setting in left and right.With reference to Fig. 8,
I.e. when obtaining the range information of the vehicle, the corresponding first sensor group of the near front wheel 201 and left rear wheel 203 of the vehicle
501, the corresponding second sensor group 502 of the off-front wheel 202 and off hind wheel 204 of the vehicle, the first sensor group 501 and
Any group of sensor group in second sensor group 502, is at least made of a sensor, and the first sensor group
501 and second sensor group 502 parking identified areas external symmetry arrangement.And then when vehicle parking is in parking identified areas
When, laser sensor issues laser signal, is scanned to parking mark region, and obtain the position letter of four wheels of vehicle
Breath, and then according to the position of four wheels, calculate vehicle body center and the wheel base of vehicle.
In detail, Fig. 9 can be referred to, label 501 characterizes the corresponding one group of laser sensor of vehicle body left side wheel, label
The corresponding one group of laser sensor of 502 characterization vehicle body right side wheels can obtain respectively then for each wheel of the vehicle
The data that corresponding one group of sensor detects；According to the data detected, be calculated the near front wheel of the vehicle with
The contact central point in the plate contact face that the first sensor group 501 and second sensor group 502 are constituted is to described first
The panel that distance L1, the off-front wheel of sensor group 501 are constituted with the first sensor group 501 and second sensor group 502
Distance L2, left rear wheel and the first sensor group 501 and second of the contact central point of contact surface to second sensor group 502
Distance L3, off hind wheel and institute of the contact central point in the plate contact face that sensor group 502 is constituted to first sensor group 501
The contact central point in the plate contact face that first sensor group 501 and second sensor group 502 are constituted is stated to second sensor
The plate contact face that distance L4, the near front wheel of group 502 are constituted with the first sensor group 501 and second sensor group 502
Contact central point and first sensor group 501 line, with first sensor group 501 and 502 line of second sensor group it
Between angle b1, the off-front wheel plate contact face that is constituted with the first sensor group 501 and second sensor group 502 connects
The line for touching central point and second sensor group 502, between 502 line of first sensor group 501 and second sensor group
In the contact in the plate contact face that angle b2, left rear wheel and the first sensor group 501 and second sensor group 502 are constituted
Angle between the line of the heart point and first sensor group 501, with 502 line of first sensor group 501 and second sensor group
Plate contact face central point that b3 and off hind wheel and the first sensor group 501 and second sensor group 502 are constituted and
Angle b4 between the line of second sensor group 502, with 502 line of first sensor group 501 and second sensor group.
Step S93: the location information according to the vehicle relative to the object of reference determines the current appearance of the vehicle
State.
In specific implementation, the location information according to the vehicle relative to the object of reference, determines the vehicle
Current posture may include: that the vehicle is calculated along vehicle commander direction according to the location information of four wheels
Heart line.For example refer to Fig. 7 or Fig. 8, then it is the center line M1 that the vehicle is calculated along vehicle commander direction.
In an embodiment of the utility model, when sensor is the sensor of weight, the adjustment device of vehicle attitude can
To calculate vehicle body center and the front and back wheel base of vehicle according to the position of four central points, and then determine in vehicle
Heart line is then line M1 with reference to Fig. 7.
In another embodiment of the utility model, when sensor is laser scanning class sensor, the adjustment of vehicle attitude
Device according to the position of four tires, can calculate vehicle body center and the wheel base of vehicle, and then determine vehicle
Center line is then line M1 with reference to Fig. 8.
Step S94: the current posture of the vehicle and preset posture are compared.
In specific implementation, the adjustment device of vehicle attitude can compare the current posture of the vehicle and preset appearance
State, that is, the current posture of vehicle and the posture to positive standard vehicle are compared, and then can determine comparing result.Also,
The comparing result may include the content of diversified forms, for example the comparing result may include: in the vehicle body of the vehicle
Heart line and the preset posture are corresponding default to be wired to referring to the drift angle of center line, the contact central point of vehicle two front wheels
The default vertical range referring to central point, the contact central point of two rear-wheel of vehicle be wired to default reference central point it is vertical away from
From.With reference to Fig. 7 or Fig. 8, the comparing result is the body center line M1 of the vehicle corresponding with the preset posture
It is default referring to the drift angle α of center line M2, the contact central point of vehicle two front wheels be wired to it is default referring to central point it is vertical away from
From X1, the contact central point of two rear-wheel of vehicle is wired to the default vertical range X2 referring to central point.Wherein, it presets referring to center
Line M2 is along vehicle commander direction, the symmetrical center line of two sensors.
Step S95: according to the comparing result, the current posture of the vehicle is correspondingly adjusted to the preset appearance
State.
In specific implementation, the adjustment device of vehicle attitude can correspondingly adjust the vehicle according to the comparing result
Current posture is to the preset posture, for example to can control swing mechanism rotation corresponding for the adjustment device of vehicle attitude
Angle makes the center line of actual vehicle centerline parallel corresponding with preset posture.For example, current vehicle center line and default
Posture center line angular deviation be clockwise 30 °, i.e. the adjustable vehicle of the adjustment device of vehicle attitude
Counterclockwise rotation 30 °, and then the vehicle it is current posture it is then identical as the preset posture.
In specific implementation, it is described correspondingly adjust the current posture of the vehicle to the preset posture after,
The center line that the adjustment device or control unit of vehicle attitude can also control carrier is moved to the center line with the vehicle
It is overlapped, and controls the carrier in turn and complete the carrying movement of the vehicle, therefore parking efficiency can be improved, promote user
Experience.Specifically, the angle rotated according to swing mechanism, the adjustment device of vehicle attitude can recalculate actual vehicle
Four wheels position, and be compared, calculated among actual vehicle center line and standard middle line with standard wheel position
Distance and bias direction, and then control carrier from standard holding fix along vehicle width direction, it is corresponding to target direction operation
Distance is overlapped carrier center with actual vehicle center.Then, the adjustment device of vehicle attitude can be according to being calculated
Four wheel positions of actual vehicle, are compared with standard wheel position, and the front-wheel that calculates actual vehicle, rear-wheel are in vehicle commander
The offset distance and direction of direction and standard wheel position, and carrier is controlled along vehicle commander direction, corresponding distance is run, is reached
Position is carried, and then carrying movement is implemented by carrier.
Currently, needing driver voluntarily to complete the adjustment of vehicle attitude when parking storage, and voluntarily reversed end for end in outbound,
There are problems that inefficiency and needs to occupy larger space.
And in the adjustment device of vehicle attitude provided by the utility model, by determination unit by vehicle relative to object of reference
Location information determine the current posture of vehicle, then the comparison unit current posture of comparison vehicle and preset posture, go forward side by side
And adjustment unit is according to comparing result, corresponding adjustment vehicle to preset posture, it is known that entire adjustment process does not need manually to draw
It leads, other mechanical guides and aligning device, therefore can efficiently and automatically adjust vehicle attitude.Also, due to above-mentioned tune
Perfect square case can make vehicle complete automatic reversing in small space, so that sky needed for adjustment process can also be saved
Between, improve user experience.
In conclusion the principles of the present invention and its function is only illustrated in above-described embodiment provided by the utility model
Effect, rather than limits the present invention.Any person skilled in the art all can without prejudice to the utility model spirit and
Under the scope of, it carries out modifications and changes to above-described embodiment.Therefore, those of ordinary skill in the art is not taking off such as
All equivalent modifications or change completed under spirit revealed from the utility model and technical idea, should be practical new by this
The claim of type is covered.
Claims (10)
1. a kind of adjustment device of vehicle attitude characterized by comprising
Acquiring unit, suitable for obtaining the weight or range information of the vehicle；
Computing unit, suitable for position of the vehicle relative to default object of reference is calculated according to the weight or range information
Information；
Determination unit determines the current appearance of the vehicle suitable for the location information according to the vehicle relative to the object of reference
State；
Comparison unit, suitable for comparing the vehicle current posture and preset posture；
Adjustment unit correspondingly adjusts the current posture of the vehicle to the preset posture according to the comparing result.
2. the adjustment device of vehicle attitude as described in claim 1, which is characterized in that further include:
Control unit, suitable for it is described correspondingly adjust the current posture of the vehicle to the preset posture after, control
The center line that carrier is moved to the carrier is overlapped with the center line of the vehicle；And the control carrier is completed to institute
State the carrying movement of vehicle.
3. the adjustment device of vehicle attitude as described in claim 1, which is characterized in that the default object of reference is sensor,
And the vehicle includes: position of the wheel of the vehicle relative to the sensor relative to the location information of default object of reference
Information.
4. the adjustment device of vehicle attitude as claimed in claim 3, which is characterized in that the vehicle of the sensor and the vehicle
Wheel corresponds to each other.
5. the adjustment device of vehicle attitude as claimed in claim 4, which is characterized in that when the acquiring unit is suitable for obtaining institute
When stating the weight information of vehicle, sensor described in a wheel of the vehicle is one group corresponding, sensor described in one group at least by
Three sensor compositions, and the corresponding four groups of sensors of four wheels of the vehicle, it is symmetrical in parking identified areas
Arrangement.
6. the adjustment device of vehicle attitude as claimed in claim 5, which is characterized in that the acquiring unit is suitable for for institute
The each wheel for stating vehicle, obtain corresponding one group respectively described in the data that detect of sensor, in which: described in described one group
The data that sensor detects include at least the data that three sensors detect；The computing unit is suitable for according to institute
The data that sensor described in stating one group detects calculate the plate contact that corresponding wheel and one group of sensor are constituted
Location information of the contact central point in face relative to default object of reference.
7. the adjustment device of vehicle attitude as claimed in claim 4, which is characterized in that when the acquiring unit is suitable for obtaining institute
When stating the range information of vehicle, the near front wheel and left rear wheel of the vehicle correspond to first sensor group, the off-front wheel of the vehicle
Second sensor group is corresponded to off hind wheel；Any group of sensor group in the first sensor group and second sensor group,
It is at least made of a sensor, and the first sensor group and second sensor are in parking identified areas external symmetry cloth
It sets.
8. the adjustment device of vehicle attitude as claimed in claim 7, which is characterized in that the acquiring unit is suitable for for institute
The each wheel for stating vehicle obtains the data that corresponding one group of sensor detects respectively；The computing unit is suitable for according to institute
The data detected are stated, the near front wheel and the first sensor group and second sensor group that the vehicle is calculated are constituted
Plate contact face contact central point to the distance of the first sensor group, off-front wheel and the first sensor group and the
Distance of the contact central point in the plate contact face that two sensor groups are constituted to second sensor group, left rear wheel and described first
After the contact central point in the plate contact face that sensor group and second sensor group are constituted to the distance of first sensor group, the right side
The contact central point in the plate contact face constituted with the first sensor group and second sensor group is taken turns to second sensor
The contact central point in the plate contact face that distance, the near front wheel and the first sensor group and the second sensor group of group are constituted
Angle, off-front wheel between the line of first sensor group, with first sensor group and second sensor group line with it is described
The line of the contact central point and second sensor group in the plate contact face that first sensor group and second sensor group are constituted,
Angle, left rear wheel and the first sensor group and the second sensing between first sensor group and second sensor group line
The line of the contact central point and first sensor group in the plate contact face that device group is constituted, passes with first sensor group and second
The panel that angle and off hind wheel between sensor group line are constituted with the first sensor group and second sensor group connects
Angle between the line of contacting surface central point and second sensor group, with first sensor group and second sensor group line.
9. the adjustment device of the vehicle attitude as described in claim 6 or 8 is any, which is characterized in that the determination unit is fitted
In the location information according to four wheels, the vehicle is calculated along the center line in vehicle commander direction.
10. the adjustment device of vehicle attitude as claimed in claim 9, which is characterized in that the comparing result includes:
The body center line of the vehicle default drift angle referring to center line corresponding with the preset posture, before vehicle two
The contact central point of wheel is wired to the default vertical range referring to central point, and the contact central point of two rear-wheel of vehicle is wired to default
Referring to the vertical range of central point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820750111.8U CN208233025U (en) | 2018-05-18 | 2018-05-18 | A kind of adjustment device of vehicle attitude |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820750111.8U CN208233025U (en) | 2018-05-18 | 2018-05-18 | A kind of adjustment device of vehicle attitude |
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|---|---|
| CN208233025U true CN208233025U (en) | 2018-12-14 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820750111.8U Active CN208233025U (en) | 2018-05-18 | 2018-05-18 | A kind of adjustment device of vehicle attitude |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108437955A (en) * | 2018-05-18 | 2018-08-24 | 上海振华重工(集团)股份有限公司 | A kind of method of adjustment and device of vehicle attitude |
| CN110329806A (en) * | 2019-07-10 | 2019-10-15 | 山东科技大学 | A kind of lorry entrucking pose adjustment device and its method of adjustment |
-
2018
- 2018-05-18 CN CN201820750111.8U patent/CN208233025U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108437955A (en) * | 2018-05-18 | 2018-08-24 | 上海振华重工(集团)股份有限公司 | A kind of method of adjustment and device of vehicle attitude |
| CN108437955B (en) * | 2018-05-18 | 2023-09-26 | 上海振华重工(集团)股份有限公司 | Vehicle attitude adjusting method and device |
| CN110329806A (en) * | 2019-07-10 | 2019-10-15 | 山东科技大学 | A kind of lorry entrucking pose adjustment device and its method of adjustment |
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