阅读说明：本技术 车厢参数检测方法、检测系统和自动装车机 (Carriage parameter detection method and system and automatic car loader ) 是由 贾正锋 王世海 杨海波 李明阳 王谦 徐光磊 周文华 于 2021-08-04 设计创作，主要内容包括：本发明提供了一种车厢参数检测方法、检测系统和自动装车机,车厢参数检测系统包括水平测距装置,车厢参数检测方法包括：在获取到预设指令时,将水平测距装置从车辆的车厢外的初始位置移动到车厢内的预设位置,控制水平测距装置工作,以获取车厢的第一次宽度数据；使水平测距装置沿水平方向旋转第一预设角度,然后控制水平测距装置获取车厢的第二次宽度数据；根据第一预设角度、第一宽度数据、第二宽度数据和车辆标准停靠时的车厢轮廓线计算出车辆停靠时的车厢偏转角度。该种方案,通过对车厢侧壁两次数据的测量可快速计算出车辆的偏转角度,使得自动装车机能够根据车辆偏转角度、货车的尺寸自动装车,提高了工作效率。(The invention provides a carriage parameter detection method, a carriage parameter detection system and an automatic car loader, wherein the carriage parameter detection system comprises a horizontal distance measurement device, and the carriage parameter detection method comprises the following steps: when a preset instruction is obtained, the horizontal distance measuring device is moved from an initial position outside a compartment of the vehicle to a preset position inside the compartment, and the horizontal distance measuring device is controlled to work so as to obtain first-time width data of the compartment; enabling the horizontal distance measuring device to rotate by a first preset angle along the horizontal direction, and then controlling the horizontal distance measuring device to obtain second-time width data of the carriage; and calculating the deflection angle of the carriage when the vehicle stops according to the first preset angle, the first width data, the second width data and the carriage contour line when the vehicle stops according to the standard. According to the scheme, the deflection angle of the vehicle can be rapidly calculated through measuring the data of the carriage side wall twice, so that the automatic loading machine can automatically load the vehicle according to the deflection angle of the vehicle and the size of the truck, and the working efficiency is improved.)

1. A carriage parameter detection method is used for a carriage parameter detection system of an automatic car loader, the carriage parameter detection system comprises a horizontal distance measurement device, and the carriage parameter detection method is characterized by comprising the following steps:

when a preset instruction is obtained, moving a horizontal distance measuring device from an initial position outside a compartment of a vehicle to a preset position inside the compartment, and controlling the horizontal distance measuring device to work so as to obtain first width data of the compartment;

enabling the horizontal distance measuring device to rotate by a first preset angle along the horizontal direction, and then controlling the horizontal distance measuring device to obtain second width data of the carriage;

and calculating the deflection angle of the carriage when the vehicle stops according to the first preset angle, the first width data, the second width data and the contour line of the carriage when the vehicle stops according to the standard.

2. The compartment parameter detection method according to claim 1, further comprising:

generating a starting detection instruction according to input information of a user or receiving a starting detection instruction sent by an automatic car loader, wherein the preset instruction is the starting detection instruction; or

And generating a vehicle in-place instruction after the vehicle parking is detected, wherein the preset instruction is the vehicle in-place instruction.

3. The compartment parameter detection method according to claim 1, wherein the step of moving the horizontal ranging device from an initial position outside a compartment of the vehicle to a preset position inside the compartment includes:

moving the horizontal ranging device from an initial position outside a compartment to a specified position above the compartment;

and enabling the horizontal distance measuring device to descend from the specified position to the preset position by a preset height.

4. A compartment parameter detection method as claimed in claim 3, wherein the compartment parameter detection system includes a rotary crossbar on which the horizontal ranging device is liftably mounted, and the step of moving the horizontal ranging device from an initial position outside a compartment of the vehicle to a preset position inside the compartment includes:

the rotating cross bar is parallel to the center line of the carriage in the front-back direction;

driving the rotating cross rod to rotate by a second preset angle along the horizontal direction so as to move the horizontal distance measuring device to the designated position;

and driving the horizontal distance measuring device to descend to a preset position by a preset height.

5. A vehicle cabin parameter detecting method according to claim 3, wherein said vehicle cabin parameter detecting system further comprises a vertical ranging device, and said vehicle cabin parameter detecting method further comprises:

in the descending process of the horizontal distance measuring device, whether the horizontal distance measuring device enters a carriage or not is judged according to data detected by the horizontal distance measuring device;

and when the horizontal distance measuring device enters a carriage, controlling the vertical distance measuring device to work, and calculating the depth of the carriage according to the data acquired by the vertical distance measuring device.

6. A car parameter detection system for an automatic car loader, the car parameter detection system comprising:

the horizontal distance measuring device is used for detecting the width of the carriage;

the moving assembly is connected with the horizontal distance measuring device and is used for moving the horizontal distance measuring device from an initial position outside a compartment of a vehicle to a preset position inside the compartment and driving the horizontal distance measuring device to rotate along the horizontal direction;

control device comprising a memory on which a computer program is stored and a processing unit which, when executing said computer program, implements a cabin parameter detection method according to any one of claims 1 to 5.

7. The cabin parameter detection system of claim 6, wherein the movement assembly comprises:

a rotation driving device;

the rotating assembly is connected with the rotating driving device and can rotate along the horizontal direction under the action of the rotating driving device;

the vertical rod can be installed on the rotating assembly in a lifting mode, the horizontal distance measuring device is installed on the vertical rod, or the vertical rod is fixedly installed on the rotating assembly, and the horizontal distance measuring device can be installed on the vertical rod in a lifting mode;

the lifting driving device is connected with the vertical rod or the horizontal distance measuring device and used for driving the vertical rod or the horizontal distance measuring device to lift;

the moving assembly further comprises a rotation driving device connected with the horizontal distance measuring device and used for driving the horizontal distance measuring device to rotate along the horizontal direction, or the horizontal distance measuring device can be driven by the rotation driving device to rotate along the horizontal direction by a first preset angle.

8. The cabin parameter detection system according to claim 7, further comprising:

the distance measuring bracket is arranged on the vertical rod in a lifting manner, and the horizontal distance measuring device and the autorotation driving device are arranged on the distance measuring bracket;

and the vertical distance measuring device is arranged on the distance measuring support and used for measuring the distance between the vertical distance measuring device and the inner bottom wall of the carriage.

9. The cabin parameter detection system according to claim 8,

the two horizontal distance measuring devices are horizontally arranged along the same direction and are opposite in direction, the vertical distance measuring device is one, and a detecting head of the vertical distance measuring device is vertically arranged downwards; and/or

The rotating assembly comprises a rotating cross bar; and/or

The carriage parameter detection system comprises a frame body used for supporting and installing the moving assembly.

10. An automatic car loader, characterized by comprising:

an automatic loading system;

the cabin parameter detection system of any one of claims 6 to 9, being capable of communicating with the automatic loading system for data transceiving.

Technical Field

The invention belongs to the technical field of automatic loading, and particularly relates to a carriage parameter detection method, a carriage parameter detection system and an automatic loading machine.

Background

In Chinese bagged material products, such as chemical fertilizer, rice, cement, flour and other production enterprises, after factory production and packaging are finished, loading is often carried out manually. In particular, in the cement industry, most cement plants stand in a carriage by a truck loader, and load cement conveyed from a high position by changing the direction of a cement bag and the loading position through manpower. The manual loading not only needs to consume great physical power, but also can seriously affect the physical health of workers due to a large amount of dust generated when the cement bag falls down, so that the enterprises are faced with the problem of more and more difficulty in recruitment due to the severe working environment.

Aiming at the difficulties, an automatic equipment manufacturer installs an automatic car loader at the tail end of a transmission line according to the original bagged cement production line of a cement plant. When loading, the automatic loading machine is moved to the designated position above the loading vehicle, and then loading is carried out according to the size of the wagon box of the wagon. Because the parking positions and the parking angles of the loaded vehicles in the effective area are different every time, a device capable of quickly measuring the size of a vehicle box and the deflection angle of the vehicle does not exist in the prior art, and whether the deflection angle of the vehicle box when the vehicle is parked can be quickly and accurately measured directly influences the loading efficiency and the loading uniformity of the automatic loader.

Therefore, how to design a detection system capable of rapidly and accurately measuring the deflection angle of the carriage when the vehicle stops becomes a problem to be solved urgently at present.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art.

Therefore, an object of the first aspect of the present invention is to provide a compartment parameter detection method.

A second aspect of the present invention is directed to a cabin parameter detection system.

A third aspect of the invention is directed to an automatic car loader.

In order to achieve the above object, the technical solution of the present invention provides a method for detecting parameters of a carriage, which is used for a carriage parameter detection system of an automatic car loader, wherein the carriage parameter detection system includes a horizontal ranging device, and the method for detecting parameters of the carriage includes: when a preset instruction is obtained, the horizontal distance measuring device is moved from an initial position outside a compartment of the vehicle to a preset position inside the compartment, and the horizontal distance measuring device is controlled to work to obtain first width data of the compartment; enabling the horizontal distance measuring device to rotate by a first preset angle along the horizontal direction, and then controlling the horizontal distance measuring device to obtain second width data of the carriage; and calculating the deflection angle of the carriage when the vehicle stops according to the first preset angle, the first width data, the second width data and the carriage contour line when the vehicle stops according to the standard.

The carriage parameter detection system comprises a horizontal distance measurement device which is a distance sensor and can acquire the distance from a distance measurement probe to an object to be measured. When the preset instruction is acquired, the horizontal ranging device moves from an initial position outside the compartment of the vehicle to a preset position inside the compartment, and then the horizontal ranging device is controlled to work to acquire and record first width data of the compartment (namely, the distance between the horizontal ranging device and the long arm of the compartment). It is emphasized here that determining the preset position of the horizontal distance measuring device also determines the angle between the direction of the sensing signal emitted by the horizontal distance measuring device and any side wall of the vehicle compartment. And then controlling the horizontal distance measuring device to rotate by a first preset angle along the horizontal direction, and then controlling the horizontal distance measuring device to acquire and record second width data (the measured distance between the horizontal distance measuring device and the long arm of the carriage) of the carriage. In this process, it is preferred, first predetermined angle is 5 to 10, so can avoid the rotation angle too big, lead to horizontal range unit can't obtain the measuring distance of horizontal range unit and carriage long arm the second time. And finally, calculating the deflection angle of the carriage when the vehicle stops according to the first preset angle, the first width data, the second width data and the contour line of the carriage when the vehicle stops according to the standard vehicle. The carriage parameter detection method provided by the application only needs to control the horizontal distance measuring device to rotate once in the carriage no matter how the deflection angle of the carriage is after the vehicle stops, and sequentially records the distance between the horizontal distance measuring device and the long arm of the carriage, which is acquired twice before and after the rotation, and then the deflection angle of the carriage can be calculated when the vehicle stops according to the preset position of the horizontal distance measuring device, the distance information acquired twice, the autorotation angle of the horizontal distance measuring device and the carriage contour line when the vehicle stops in a standard mode. The detection method does not need to establish a rectangular coordinate system in the prior art, does not need to adopt large-scale equipment such as a portal frame and the like, and is simple to operate. The detection method provided by the scheme can quickly obtain the deflection angle of the vehicle through twice data measurement, so that the automatic car loader can automatically load the car according to the deflection angle of the vehicle and the size of the truck, and the working efficiency is improved. In addition, in this scheme, of course, the preset position of the horizontal ranging device may also be controlled, so that the horizontal ranging device acquires the length data of the carriage twice (the measurement distance between the horizontal ranging device and the short arm of the carriage), and thus the deflection angle of the carriage may also be measured.

When the preset position is fixed, the position relation between the horizontal ranging device and the carriage is fixed, and at this time, a parameter related to the preset position can be determined in advance and then set as a fixed value. Therefore, the position influence of the horizontal distance measuring device in the carriage is not considered in the process of the deflection angle, so that the subsequent calculation difficulty can be reduced. Of course, the preset position may also be set as a dynamic position as needed, and when the preset position is the dynamic position, the calculation needs to be performed in combination with the position in the subsequent calculation process of the deflection angle.

In the above scheme, the method for detecting the carriage parameters further includes generating a start detection instruction according to input information of a user or receiving the start detection instruction sent by the automatic car loader, where the preset instruction is the start detection instruction.

In the technical scheme, before detection, a user can input information to generate a starting detection instruction or an automatic car loader sends the starting detection instruction, so that after the system receives the starting detection instruction, the horizontal ranging device can be controlled to move from an initial position outside a compartment of a vehicle to a preset position inside the compartment, and the detection step is completed.

In the scheme, the detection system generates a vehicle in-place instruction after detecting that the vehicle is parked, and the preset instruction is the vehicle in-place instruction.

In the technical scheme, after the detection system detects that the vehicle is parked, the vehicle in-place instruction is generated, and the system can receive the vehicle in-place instruction and complete the detection step. The scheme effectively combines the detection method with the vehicle parking information, and can immediately complete the detection step after the vehicle is parked stably, thereby improving the working efficiency.

In the above aspect, the step of moving the horizontal ranging device from an initial position outside the vehicle compartment to a preset position inside the vehicle compartment includes: moving the horizontal ranging device from an initial position outside the carriage to a specified position above the carriage; and enabling the horizontal distance measuring device to descend from the specified position to a preset position by a preset height.

In the technical scheme, after the system receives a preset instruction, the horizontal distance measuring device is controlled to move from an initial position outside a carriage to a specified position above the carriage; the designated position can be any position above the carriage, and in the process, the included angle formed by the direction of the sensing signal sent by the horizontal distance measuring device and one side wall of the carriage is only required to be determined. And then, the horizontal distance measuring device is lowered to a preset position from the specified position by a preset height, so that the measuring distance between the horizontal distance measuring device and the carriage short arm can be obtained twice, and the deflection angle of the vehicle can be further measured.

In the above aspect, the vehicle compartment parameter detecting system includes a rotating rail on which the horizontal ranging device is liftably mounted, and the step of moving the horizontal ranging device from an initial position outside the vehicle compartment to a preset position inside the vehicle compartment includes: the rotating cross bar is parallel to the center line of the carriage in the front-back direction; driving the rotating cross rod to rotate by a second preset angle along the horizontal direction so as to move the horizontal distance measuring device to a specified position; and driving the horizontal distance measuring device to descend to a preset position by a preset height.

In this technical scheme, carriage parameter detecting system includes rotatory horizontal pole, and horizontal range unit can install on rotatory horizontal pole with going up and down. The horizontal distance measuring device can be driven to move from the initial position outside the compartment of the vehicle to the designated position above the compartment by rotating the cross rod. And then is lowered to a preset position by controlling the horizontal ranging device. Further, when the measuring instruction is not received, the rotating cross rod is preferably parallel to the center line of the carriage in the front-back direction, and after the measuring instruction is received, the system drives the rotating cross rod to rotate by a second preset angle along the horizontal direction to reach a specified position above the carriage. Because in this process, before the measurement, the rotatory horizontal pole is parallel with the central line of the fore-and-aft direction of carriage, system drive rotatory horizontal pole along the horizontal direction rotatory second preset angle arrive the assigned position of carriage top then, can directly obtain the contained angle that sensing signal place direction and a carriage lateral wall become that horizontal range unit sent according to the second preset angle, so can improve detection efficiency. Furthermore, the second preset angle is about 90 degrees, so that after the rotating cross rod moves to a designated position above the carriage, an included angle formed by the direction of the sensing signal sent by the horizontal distance measuring device and one side wall of the carriage can be calculated to be a right angle, and the calculation is convenient when the deflection angle of the carriage is calculated through the quadratic cosine law.

In the above technical solution, the car parameter detecting system further includes a vertical distance measuring device, and the car parameter detecting method further includes: in the descending process of the horizontal distance measuring device, whether the horizontal distance measuring device enters the carriage or not is judged according to data detected by the horizontal distance measuring device; when the horizontal distance measuring device enters the carriage, the vertical distance measuring device is controlled to work, and the depth of the carriage is calculated according to the data acquired by the vertical distance measuring device.

In the technical scheme, the carriage parameter detection system further comprises a vertical distance measuring device used for detecting the depth of the carriage. Specifically, in the descending process of the horizontal ranging device, whether the horizontal ranging device enters the carriage or not is judged according to data detected by the horizontal ranging device; when the data measured by the horizontal distance measuring device suddenly changes at a certain moment, the horizontal distance measuring device is proved to just fall into the carriage, and the vertical distance measuring device is controlled to work at the moment, so that the depth of the carriage can be measured.

The method of the first aspect of the application can be realized by electronic equipment such as a single chip microcomputer and a PLC, and can also be realized by other microcontrollers.

The invention of the second aspect of the present application provides a vehicle compartment parameter detection system including: the horizontal distance measuring device is used for detecting the width of the carriage; the moving assembly is connected with the horizontal distance measuring device, is used for moving the horizontal distance measuring device from an initial position outside a compartment of the vehicle to a preset position inside the compartment, and is used for driving the horizontal distance measuring device to rotate along the horizontal direction; the control device comprises a storage and a processing unit, wherein the storage is stored with a computer program, and the processing unit realizes the compartment parameter detection method of any one of the first aspect of the application when executing the computer program.

The compartment parameter detection system comprises a horizontal distance measurement device, a distance measurement device and a control device, wherein the horizontal distance measurement device is used for detecting the width of a compartment; the horizontal distance measuring device can move from an initial position outside a compartment of the vehicle to a preset position inside the compartment, and after the horizontal distance measuring unit moves to the preset position inside the compartment, the horizontal distance measuring device acquires first width data of the compartment; after the horizontal distance measuring device obtains first width data of the carriage, the moving assembly drives the horizontal distance measuring device to rotate by a first preset angle along the horizontal direction, and then second width data of the carriage are obtained; the detection system further comprises a control device, the control device comprises a storage and a processing unit, the storage is stored with a computer program, and the processing unit realizes the compartment parameter detection method provided by any technical scheme of the first aspect of the application when executing the computer program. Since the detection system provided by the present application includes the control device capable of implementing the car parameter detection method provided by any one of the technical solutions of the first aspect of the present application, the detection system provided by the present application has all the beneficial effects of the car parameter detection method provided by any one of the technical solutions of the first aspect of the present application.

In the above technical solution, the moving assembly includes: a rotation driving device; the rotating assembly is connected with the rotating driving device and can rotate along the horizontal direction under the action of the rotating driving device; the horizontal distance measuring device is fixedly arranged on the rotating assembly, and the horizontal distance measuring device can be arranged on the vertical rod in a lifting manner; the lifting driving device is connected with the vertical rod or the horizontal distance measuring device and is used for driving the vertical rod or the horizontal distance measuring device to lift; wherein, the removal subassembly still includes rotation drive arrangement, is connected with horizontal range unit for drive horizontal range unit is rotatory along the horizontal direction, or horizontal range unit can be driven by rotary drive device, with rotatory first preset angle along the horizontal direction.

In this solution, the moving assembly includes: the rotary component is connected with the rotary driving device and can rotate in the horizontal direction under the action of the rotary driving device. The movable assembly further comprises a vertical rod and a lifting driving device, the vertical rod can be installed on the rotating assembly in a lifting mode, the horizontal distance measuring device is installed on the vertical rod at the moment, and therefore the vertical rod can be in lifting motion relative to the rotating assembly under the driving of the lifting driving device, and then the horizontal distance measuring device is sent into the carriage. Of course, vertical pole also can fixed mounting on rotating assembly, if vertical pole fixed mounting on rotating assembly, horizontal range unit can install on vertical pole with going up and down, and horizontal range unit can connect drive arrangement in addition this moment, drives horizontal range unit and is elevating movement for vertical pole, also can realize sending into horizontal range unit in the carriage. In this scheme, under the effect of rotary drive device and rotating assembly, horizontal range unit can rotate the top to the carriage, and under vertical pole and lift drive device's effect, horizontal range unit can be by the top in the carriage fall to the carriage, and then measure the size in carriage. The mobile assembly further comprises an autorotation driving device which is connected with the horizontal distance measuring device, the autorotation driving device can drive the horizontal distance measuring device to rotate along the horizontal direction, namely after the horizontal distance measuring device acquires first width data, the autorotation driving device drives the horizontal distance measuring device to rotate for a first preset angle, and then second width data is acquired. Of course, the horizontal distance measuring device may also be driven by the rotation driving device to rotate by the first preset angle in the horizontal direction.

In the above technical solution, the car parameter detecting system further includes: the horizontal distance measuring device and the autorotation driving device are arranged on the distance measuring bracket; and the vertical distance measuring device is arranged on the distance measuring support and used for measuring the distance between the vertical distance measuring device and the inner bottom wall of the carriage.

In this technical scheme, carriage parameter detecting system still includes: the range finding support is installed on vertical pole with going up and down, and horizontal range finding device and perpendicular range finding device set up respectively on the range finding support, can fix horizontal range finding device and perpendicular range finding device through the range finding support like this. Furthermore, rotation drive arrangement installs on the range finding support, can drive the rotation of range finding support, and then drive horizontal range unit and rotate.

In the technical scheme, the number of the horizontal distance measuring devices is two, the two horizontal distance measuring devices are horizontally arranged in the same direction, the orientation is opposite, the number of the vertical distance measuring devices is one, and a detecting head of each vertical distance measuring device is vertically arranged downwards.

In this technical scheme, horizontal range unit is two, and two horizontal range unit are along same direction horizontal setting, and the orientation is opposite. Therefore, after the horizontal ranging device moves to the preset position in the carriage, the horizontal ranging device can acquire the width data of the carriage at one time and record the width data. Perpendicular range unit is one, and perpendicular range unit's detecting head is vertical sets up down, the degree of depth in measurement carriage that so can be quick.

In the above technical solution, the rotating assembly includes a rotating cross bar.

In this technical scheme, rotating assembly includes the rotation horizontal pole, and the one end and the rotation driving device of rotation horizontal pole are connected, and the other end is connected with the vertical pole, and the rotation horizontal pole can rotate under the drive of rotation driving device, and then removes the assigned position with horizontal range unit on the vertical pole.

In the above technical solution, the carriage parameter detection system includes a frame body for supporting, mounting and moving the assembly.

In this technical scheme, carriage parameter detecting system includes the support body for support installation removal subassembly, can further ensure the stability of device.

The technical scheme of the third aspect of the present application provides an automatic car loader, including: an automatic loading system; the vehicle compartment parameter detection system provided by any one of the technical schemes of the second aspect of the application can be communicated with an automatic loading system to receive and transmit data.

According to this application, the auto loader that provides includes: the automatic loading system further comprises a compartment parameter detection system provided by any one of the technical schemes in the second aspect of the application, and the compartment parameter detection system can communicate with the automatic loading system to receive and transmit data. Because the automatic car loader provided by the application comprises the detection system provided by any technical scheme of the second aspect of the application, the automatic car loader provided by the application comprises all the beneficial effects of the detection system provided by any technical scheme of the second aspect of the application, and the description is omitted here.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The advantages of the above and/or additional aspects of the present invention will become apparent and readily appreciated from the following description of the embodiments taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic flow chart of a method for detecting parameters of a vehicle cabin provided by the present invention;

FIG. 2 is another schematic flow chart of a method for detecting parameters of a vehicle cabin provided by the present invention;

FIG. 3 is a schematic diagram of a car parameter detection system provided by the present invention;

FIG. 4 is a schematic view of the principle of measuring the deflection angle of the car;

FIG. 5 is a schematic diagram of measuring car length;

fig. 6 is a schematic view of the principle of measuring the width of the car.

Wherein, the correspondence between the reference numbers and the names of the components in fig. 3 is:

1 range finding support, 11 horizontal range finding device, 12 perpendicular range finding device, 21 rotatory horizontal pole, 22 nuts, 23 first driving motor, 24 gear boxes, 31 second driving motor, 32 lead screws, 33 frames, 41 third driving motor, 5 support bodies, 51 connecting rods.

Detailed Description

So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

A compartment parameter detection method provided in an embodiment according to a first aspect of the present invention is described below with reference to fig. 1 and 2.

Example one

As shown in fig. 1, the embodiment provides a car parameter detection method, which is used in a car parameter detection system of an automatic car loader, where the car parameter detection system includes a horizontal ranging device, and the car parameter detection method includes the following steps:

s102: when a preset instruction is obtained, the horizontal distance measuring device is moved from an initial position outside a compartment of the vehicle to a preset position inside the compartment, and the horizontal distance measuring device is controlled to work to obtain first width data of the compartment;

s104: enabling the horizontal distance measuring device to rotate by a first preset angle along the horizontal direction, and then controlling the horizontal distance measuring device to obtain second width data of the carriage;

s106: and calculating the deflection angle of the carriage when the vehicle stops according to the first preset angle, the first width data, the second width data and the carriage contour line when the vehicle stops according to the standard.

The carriage parameter detection system comprises a horizontal distance measurement device which is a distance sensor and can acquire the distance from a distance measurement probe to an object to be measured. When the preset instruction is acquired, the horizontal ranging device moves from an initial position outside the compartment of the vehicle to a preset position inside the compartment, and then the horizontal ranging device is controlled to work to acquire and record first width data of the compartment (namely, the distance between the horizontal ranging device and the long arm of the compartment). It is emphasized here that determining the preset position of the horizontal distance measuring device also determines the angle between the direction of the sensing signal emitted by the horizontal distance measuring device and any side wall of the vehicle compartment. And then controlling the horizontal distance measuring device to rotate by a first preset angle along the horizontal direction, and then controlling the horizontal distance measuring device to acquire and record second width data (the measured distance between the horizontal distance measuring device and the long arm of the carriage) of the carriage. In this process, it is preferred, first predetermined angle is 5 to 10, so can avoid the rotation angle too big, lead to horizontal range unit can't obtain the measuring distance of horizontal range unit and carriage long arm the second time. And finally, calculating the deflection angle of the carriage when the vehicle stops according to the first preset angle, the first width data, the second width data and the contour line of the carriage when the vehicle stops according to the standard vehicle. The carriage parameter detection method provided by the application only needs to control the horizontal distance measuring device to rotate once in the carriage no matter how the deflection angle of the carriage is after the vehicle stops, and sequentially records the distance between the horizontal distance measuring device and the long arm of the carriage, which is acquired twice before and after the rotation, and then the deflection angle of the carriage can be calculated when the vehicle stops according to the preset position of the horizontal distance measuring device, the distance information acquired twice, the autorotation angle of the horizontal distance measuring device and the carriage contour line when the vehicle stops in a standard mode. The detection method does not need to establish a rectangular coordinate system in the prior art, does not need to adopt large-scale equipment such as a portal frame and the like, and is simple to operate. The detection method provided by the scheme can quickly obtain the deflection angle of the vehicle through twice data measurement, so that the automatic car loader can automatically load the car according to the deflection angle of the vehicle and the size of the truck, and the working efficiency is improved. In addition, in this scheme, of course, the preset position of the horizontal ranging device may also be controlled, so that the horizontal ranging device acquires the length data of the carriage twice (the measurement distance between the horizontal ranging device and the short arm of the carriage), and thus the deflection angle of the carriage may also be measured.

When the preset position is fixed, the position relation between the horizontal ranging device and the carriage is fixed, and at this time, a parameter related to the preset position can be determined in advance and then set as a fixed value. Therefore, the position influence of the horizontal distance measuring device in the carriage is not considered in the process of the deflection angle, so that the subsequent calculation difficulty can be reduced. Of course, the preset position may also be set as a dynamic position as needed, and when the preset position is the dynamic position, the calculation needs to be performed in combination with the position in the subsequent calculation process of the deflection angle.

In the above embodiment, the car parameter detection method further includes generating a start detection instruction according to input information of a user or receiving a start detection instruction sent by the automatic car loader, where the preset instruction is the start detection instruction.

In the technical scheme, before detection, a user can input information to generate a starting detection instruction or an automatic car loader sends the starting detection instruction, so that after the system receives the starting detection instruction, the horizontal ranging device can be controlled to move from an initial position outside a compartment of a vehicle to a preset position inside the compartment, and the detection step is completed. Further, a vehicle in-place command can be generated after the vehicle is stopped stably, so that the system can receive the vehicle in-place command and complete the detection step. The scheme effectively combines the detection method with the vehicle parking information, and can immediately complete the detection step after the vehicle is parked stably, thereby improving the working efficiency.

In the above embodiment, the step of moving the horizontal ranging device from the initial position outside the vehicle compartment to the preset position inside the vehicle compartment includes: moving the horizontal ranging device from an initial position outside the carriage to a specified position above the carriage; and enabling the horizontal distance measuring device to descend from the specified position to a preset position by a preset height.

In the technical scheme, after the system receives a preset instruction, the horizontal distance measuring device is controlled to move from an initial position outside a carriage to a specified position above the carriage; the designated position can be any position above the carriage, and in the process, the included angle formed by the direction of the sensing signal sent by the horizontal distance measuring device and one side wall of the carriage is only required to be determined. And then, the horizontal distance measuring device is lowered to a preset position from the specified position by a preset height, so that the measuring distance between the horizontal distance measuring device and the carriage short arm can be obtained twice, and the deflection angle of the vehicle can be further measured.

In the above embodiment, the compartment parameter detecting system includes a rotary rail on which the horizontal ranging device is liftably mounted, and the step of moving the horizontal ranging device from an initial position outside the compartment of the vehicle to a preset position inside the compartment includes: the rotating cross bar is parallel to the center line of the carriage in the front-back direction; driving the rotating cross rod to rotate by a second preset angle along the horizontal direction so as to move the horizontal distance measuring device to a specified position; and driving the horizontal distance measuring device to descend to a preset position by a preset height.

In this technical scheme, carriage parameter detecting system includes rotatory horizontal pole, and horizontal range unit can install on rotatory horizontal pole with going up and down. The horizontal distance measuring device can be driven to move from the initial position outside the compartment of the vehicle to the designated position above the compartment by rotating the cross rod. And then is lowered to a preset position by controlling the horizontal ranging device. Further, when the measuring instruction is not received, the rotating cross rod is preferably parallel to the center line of the carriage in the front-back direction, and after the measuring instruction is received, the system drives the rotating cross rod to rotate by a second preset angle along the horizontal direction to reach a specified position above the carriage. Because in this process, before the measurement, the rotatory horizontal pole is parallel with the central line of the fore-and-aft direction of carriage, system drive rotatory horizontal pole along the horizontal direction rotatory second preset angle arrive the assigned position of carriage top then, can directly obtain the contained angle that sensing signal place direction and a carriage lateral wall become that horizontal range unit sent according to the second preset angle, so can improve detection efficiency. Furthermore, the second preset angle is about 90 degrees, so that after the rotating cross rod moves to a designated position above the carriage, an included angle formed by the direction of the sensing signal sent by the horizontal distance measuring device and one side wall of the carriage can be calculated to be a right angle, and the calculation is convenient when the deflection angle of the carriage is calculated through the quadratic cosine law.

In the above embodiment, the car parameter detecting system further includes a vertical distance measuring device, and the car parameter detecting method further includes: in the descending process of the horizontal distance measuring device, whether the horizontal distance measuring device enters the carriage or not is judged according to data detected by the horizontal distance measuring device; when the horizontal distance measuring device enters the carriage, the vertical distance measuring device is controlled to work, and the depth of the carriage is calculated according to the data acquired by the vertical distance measuring device.

In the technical scheme, the carriage parameter detection system further comprises a vertical distance measuring device used for detecting the depth of the carriage. In the descending process of the horizontal distance measuring device, whether the horizontal distance measuring device enters the carriage or not is judged according to data detected by the horizontal distance measuring device; when the data measured by the horizontal distance measuring device suddenly changes at a certain moment, the horizontal distance measuring device is proved to just fall into the carriage, and the vertical distance measuring device is controlled to work at the moment, so that the depth of the carriage can be measured.

Example two

As shown in fig. 2, the embodiment provides a car parameter detection method, which is used in a car parameter detection system of an automatic car loader, where the car parameter detection system includes a horizontal ranging device, and the car parameter detection method includes the following steps:

s202: after a vehicle in-place command generated after the vehicle is parked is detected, the horizontal distance measuring device is moved to a specified position above the carriage from an initial position outside the carriage;

s204: enabling the horizontal distance measuring device to descend from the designated position to a preset position by a preset height;

s206: when the horizontal distance measuring device just enters the carriage, the vertical distance measuring device and the horizontal distance measuring device are respectively controlled to work, and depth data and first width data of the carriage are respectively obtained;

s208: enabling the horizontal distance measuring device to rotate by a first preset angle along the horizontal direction, and then controlling the horizontal distance measuring device to obtain second width data of the carriage;

s210: and calculating the deflection angle of the carriage and the depth of the carriage when the vehicle stops according to the first preset angle, the first width data, the second width data, the depth data of the carriage and the contour line of the carriage when the vehicle stops in a standard mode.

According to an embodiment of the second aspect of the invention, a compartment parameter detection system is provided.

A cabin parameter detection system provided according to an embodiment of the present invention is described below with reference to fig. 3 to 6.

As shown in fig. 3, the present embodiment provides that the car parameter detection system includes a horizontal ranging device for detecting the width of the car; and the moving assembly is connected with the horizontal distance measuring device and is used for moving the horizontal distance measuring device from an initial position outside the compartment of the vehicle to a preset position in the compartment and driving the horizontal distance measuring device to rotate along the horizontal direction.

Specifically, the rotation driving device is a first driving motor 23, the rotation assembly includes a rotation cross bar 21, and one end of the rotation cross bar 21 is cooperatively connected with the first driving motor 23 through a gear inside a gear box 24, so that the rotation cross bar 21 can rotate around the gear box 24 under the driving of the first driving motor 23. The gear case 24 is connected to the frame body 5 by a connecting rod 51. The lifting driving device is a second driving motor 31, the second driving motor 31 is connected with the frame 33 through a vertical rod, the vertical rod is a screw rod 32, a nut 22 is arranged at the other end of the rotating cross rod 21, and the nut 22 is sleeved on the outer side of the screw rod 32, so that the second driving motor 31, the screw rod 32 and the frame 33 can be driven by the second driving motor 31 to move up and down together along the nut 22. Further, the inside rotation driving device that is equipped with of frame 33, rotation driving device are third driving motor 41, and the output and the range finding support 1 of third driving motor 41 are connected, and the lower extreme and the horizontal range unit 11 of range finding support 1, perpendicular range unit 12 are connected, and horizontal range unit 11 is two, and two horizontal range units 11 set up along same direction level, and the orientation is opposite, and perpendicular range unit 12 is one, and the detecting head of perpendicular range unit 12 sets up vertically downwards. Thus, the horizontal distance measuring device 11 and the vertical distance measuring device 12 can move from the initial position outside the vehicle compartment to the designated position above the vehicle compartment under the driving of the first driving motor 23, and the horizontal distance measuring device 11 and the vertical distance measuring device 12 can descend from the designated position to the preset position by the preset height under the driving of the second driving motor 31, so that the size of the vehicle compartment can be measured.

The detection system further comprises a control device, the control device comprises a storage and a processing unit, the storage is stored with a computer program, and the processing unit implements the compartment parameter detection method provided by any one of the embodiments of the first aspect of the present application when executing the computer program.

Certainly, in the above embodiment, the vertical rod may also be fixedly installed on the rotating cross rod 21, at this time, the frame 33 is provided with a moving slider capable of sliding on the vertical rod, and the frame 33 is provided with a driving device (not shown in the figure), so that under the action of the driving device, the frame 33 can also perform a lifting motion along the vertical rod through the moving slider, and further drive the horizontal distance measuring device 11 and the vertical distance measuring device 12 to enter the carriage.

In one embodiment, the car parameter detecting system is shown in fig. 3, and the following description will further describe the detecting method for measuring the car size in this application by taking this structure as an example.

First, it is explained that, in the actual measurement process, since the horizontal distance measuring device and the vertical distance measuring device have a certain length, there is a certain error between the measured distance and the actual distance in the actual measurement process, and the error can be ignored. Of course, for more accurate measurement results, the following embodiments calculate the length of both the horizontal ranging device and the vertical ranging device themselves within the measurement range. Specifically, the distance between the detection surfaces of the two horizontal distance measuring devices is e, the distance between the detection surface of the vertical distance measuring device and the detection centers of the two horizontal distance measuring devices is f, and both e and f are constant values.

Based on the car parameter detection system shown in fig. 3, the method for measuring the size of the car comprises the following steps:

step 1: the first driving motor 23 rotates to drive the rotating cross rod 21 and the screw rod 32 to rotate horizontally by 90 degrees around the center of the connecting rod 51 in the forward direction, the horizontal distance measuring devices 11 and the vertical distance measuring devices 12 reach the upper part of the measured compartment, and the straight lines of the two horizontal distance measuring devices 11 are ensured to be vertical to the long arm of the compartment in the standard state.

Step 2: the second driving motor 31 drives the frame 33, the horizontal distance measuring device 11 and the third driving motor 41 to descend integrally so that the horizontal distance measuring device 11 and the vertical distance measuring device 12 move into the carriage, when the data of 2 horizontal distance measuring devices 11 suddenly change, the horizontal distance measuring device 11 and the vertical distance measuring device 12 are proved to completely reach the carriage, and the data h measured by the vertical distance measuring device 12 at the moment is recorded₁While recording the first width data W obtained by the right horizontal ranging device 11₁Recording the third width data W obtained by the left horizontal ranging device 11₂. Based on the data h measured by the vertical ranging device 12₁It can be seen that the depth H of the vehicle compartment is H₁+f。

And step 3: the third driving motor 41 drives the horizontal distance measuring device 11 to rotate clockwise around the center of the motor shaft by a first preset angle theta, and records second width data W obtained after the rotation angle of the right horizontal distance measuring device 11₃。

And 4, step 4: as shown in fig. 4, the first width data W obtained from the horizontal ranging device 11₁And second width data W₃And the lengths e of the two horizontal distance measuring devices 11, 2 times of calculating the deflection angle alpha of the truck by using the cosine law, and then obtaining data W through the deflection angle alpha and the horizontal distance measuring devices 11₁、W₂And calculating the width of the vehicle box. The specific algorithm is as follows:

calculation of the vehicle parking angle α:

1) angle theta and W_F、W_SThe length A of the side of the formed triangle, which is opposite to the angle theta by using the cosine theorem, is as follows:

wherein, W_SIndicating the second width data W₃The sum of e/2 of the lengths of the individual horizontal distance measuring devices 11, i.e. W_S＝W₃+e/2。W_FIndicating the first width data W₁The sum of e/2 of the lengths of the individual horizontal distance measuring devices 11, i.e. W_F＝W₁+ e/2. The above formula takes into account the length of the horizontal ranging device itself when calculating the angle θ.

2)W_FThe included angle beta with A can be calculated by the following cosine theorem relation:

3) calculating a parking angle alpha: when the vehicle is deflected clockwise, β < 90 °, α is 90 ° - β > 0. When the vehicle deflects anticlockwise, beta is larger than 90 deg, alpha is 90-beta and smaller than 0.

Calculating the length W of the vehicle box: w ═ W₁+W₂+e)cosα。

And 5: as shown in FIG. 5, the third driving motor 41 drives the horizontal distance measuring device 11 to rotate clockwise by 90 ° - θ around the center of the motor shaft to obtain a third set of data L₁、L₂(ii) a According to the third set of data L₁、L₂And the vehicle deflection angle a, and the current compartment length is obtained.

The length L of the vehicle box is as follows: l ═ L (L)₁+L₂+e)cosα。

Step 6: as shown in fig. 6, further by L₂And e, a parking angle alpha, and a vertical distance b from the center of the detection head to a front plate of the carriage and a vertical distance c from the center of the detection head to a side plate of the carriage.

Wherein, b ═ L₁+e/2)cosα，c＝(W₂+e/2)cosα。

And 7: the length, width, depth, parking angle and other parameters of the carriage are measured, the frame 33 is lifted to a preset position, the first driving motor 23 rotates anticlockwise for 90 degrees to drive the distance measuring support 1 to return to the original position, and one-time carriage measurement is completed.

In fig. 4 to 6, the dotted line boxes represent the contour lines of the cars when the vehicle is normally parked, and the solid line boxes represent the contour lines of the cars when the vehicle is actually parked.

An embodiment of a third aspect of the present invention provides an automatic car loader, including: an automatic loading system; the vehicle compartment parameter detection system provided by any technical scheme of the second aspect of the application can be communicated with an automatic loading system to receive and transmit data. Since the auto loader provided in this embodiment includes the detection system provided in any technical scheme of the second aspect of the present application, the auto loader provided in this application includes all the beneficial effects of the detection system provided in any technical scheme of the second aspect of the present application, and details are not described herein.

In the description of the present specification, the terms "connect", "mount", "fix", and the like are to be understood in a broad sense, for example, "connect" may be a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.