| Title |
The Development of System for Estimating Wheelbase and Non-straight State of a Car in Front of Parking Lot |
| Authors |
엄수홍(Su-Hong Eom) ; 신진우(Jin-Woo Sin) ; 류중현(Jung-Hwun You) ; 이응혁(Eung-Huck Lee) |
| DOI |
https://doi.org/10.5573/ieie.2022.59.2.108 |
| Keywords |
Parking robot; Measurement system; Wheelbase of a car; Non-straight state; Linear rail system |
| Abstract |
In order to solve the shortage of parking lots in the city center, this paper proposes a technique which the robot of parking lot provides information on wheelbase and non-straight state of a car to robots in robot parking lots. The proposed robot has two fork structure that enters the lower part of the car and holds and lifts the wheel of the car like fork lift. Therefore, if a system has information on the wheelbase of the car, it is possible to quickly and accurately lift the wheel of the car. However, a car must be parked straight in the entrance of the parking lot for being parked. Thus, this paper proposed the system and method to estimate the non-straight state of a car based on the wheelbase of the car, the measurement system and the distance between the front and rear wheels. The proposed method is a digital vernier caliper based on the ultrasonic and photo sensors which estimates non-straight state and measures wheelbase of a car. As a result, it is estimated that the error of the wheelbase and the non-straight state is respectively within 10 mm and within 2 degrees. Therefore, it was confirmed that the proposed method can be used as how to determine whether forklift type of parking robot is suitable for lifting the vehicle parked in the parking lot. |