Structural Design And Path Planning Study Of Telescopic Comb Handler

In recent years,difficult parking and insufficient supply of parking facilities have become major livelihood problems.The lack of convenient urban parking space has a direct impact on the construction of urban parking resources.In order to alleviate the parking pressure of the city,the gradually diversified,informationbased and intelligent three-dimensional parking garage has attracted much attention.As the key equipment of intelligent three-dimensional garage,automobile carrier is being widely studied and improved.Therefore,on the basis of meeting the functions of automobile carrier,this paper develops a telescopic comb carrier with independent operation and stable control.The main research contents are as follows:(1)According to the specification parameters of the existing car,the overall size of the telescopic comb carrier is preliminarily set.In view of the poor operation flexibility of the existing vehicle carrier,a six wheel gear train driving scheme with diagonal double steering wheels and universal damping wheels is selected.Combined with the working principle and functional requirements of the telescopic comb carrier,the lifting mechanism and centering mechanism scheme are determined,the corresponding three-dimensional model is drawn by Solid Works,and the key structure design is completed.(2)The binocular vision positioning scheme is selected,and the positioning of the telescopic comb carrier is completed by relying on the steps of front-end processing and back-end optimization.The calibration of binocular camera is completed through MATLAB toolbox,the concrete arguments are reached,and the camera is rectified later.According to the coordinate transformation rules,the coordinate transformation relationship from the camera pose to the carrier center pose is established,and the software system framework of carrier positioning is built based on ROS platform.(3)According to the relationship between the rolling constraint and sliding constraint of the steering wheel to the chassis and the relationship between the motion parameters of the carrier center and the steering wheel,the forward and inverse kinematics model is established.The kinematics simulation module is built by Simulink.Through the input of the carrier center speed and angular speed,the expected operation trajectory is obtained,which shows that the kinematics model is established correctly.Based on the kinematic model,a model predictive trajectory tracking controller is designed.The trajectory tracking test indicates that the controller has favourable tracking property and realizes the goal of trajectory tracking of the carrier.(4)Aiming at the global path planning problem of telescopic comb carrier,an adaptive improved ant colony algorithm is proposed.Because the basic ant colony algorithm has the disadvantages of slow convergence speed,the algorithm sets a rectangular optimal region of non-uniform initial pheromone concentration;The path node selection adopts the pseudo-random transfer strategy,and adaptively adjusts the random or determines the selection proportion according to the change of iteration times;Pheromone volatile factor alters dynamically with quadratic function to enhance the exploration property;The optimal path is planned again to reduce the number of corners.Then the improved algorithm is imitated and compared with other algorithms in the same grid environment.The consequences indicate that the algorithm can fleetly and effectually escape obstacles and detect a smooth best path in a simple or tanglesome environment,and preferably resolve the path planning issue of the carrier.