CN109441177A - A kind of wisdom parking lot based on the AGV that parks - Google Patents
A kind of wisdom parking lot based on the AGV that parks Download PDFInfo
- Publication number
- CN109441177A CN109441177A CN201811456348.6A CN201811456348A CN109441177A CN 109441177 A CN109441177 A CN 109441177A CN 201811456348 A CN201811456348 A CN 201811456348A CN 109441177 A CN109441177 A CN 109441177A
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- agv
- parking lot
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/149—Traffic control systems for road vehicles indicating individual free spaces in parking areas coupled to means for restricting the access to the parking space, e.g. authorization, access barriers, indicative lights
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Computer Security & Cryptography (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of wisdom parking lot based on the AGV that parks, including main building, computer module, door lock are held up traffic module, AGVS and supporting module, human-computer interaction module, positioning AP module, entrance lifting module, charging module, carwash module, maintenance module, emergency fire-fighting module, green energy resource module.The wisdom parking lot shares five layers, and setting parking area, the charging zone AGV, AGV overhaul area, monitored space, carwashing area, escape hatch, intelligent fire area in floor.The wisdom parking lot two sides are equipped with lifting vertical ladder, and top layer covers solar power generation facility, emergency auxiliary ramp is equipped between each layer.The wisdom parking lot is all made of BIM technology in design, construction, O&M stage, forms BIM database.
Description
Technical field
The invention belongs to wisdom stopping technical fields, and in particular to a kind of wisdom parking lot based on the AGV that parks.
Background technique
In recent years, as the economic held stationary rapid growth in China, living standards of the people are continuously improved, car ownership is fast
Speed increases.However, the planning of corresponding shutdown system, research and development, construction, operation etc. seriously fall behind, causes China and stop
Parking stall proportion is low, the sharp problem of parking supply and demand contradiction." parking difficulty " has become Chinese city " common fault ".
Though the self-propelled sky parking of tradition can increase parking stall quantity to a certain extent, car owner drives to find vehicle
Position, operational efficiency is lower, and parking experience is poor, it is difficult to effectively solve the problems, such as " parking difficulty "；Though mechanical three-dimensional parking place is relatively walked certainly
Formula sky parking parking density is bigger, and operational efficiency is higher, but intelligent not high, can not adjust sound state traffic balance, nothing
Tide enters and leaves function, causes certain traffic congestion, is unable to satisfy the growth requirement of the following smart city.
Advanced space technology is applied to civilian parking lot by the present invention, agrees with national civil-military inosculation strategy, can be very
The problems that good solution conventional stereo parking lot faces.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of wisdom parking lot based on the AGV that parks, the wisdom parking lot
Including main building, computer module, door lock hold up traffic module, AGVS and supporting module, human-computer interaction module, positioning AP module,
Entrance goes up and down module, charging module, carwash module, maintenance module, emergency fire-fighting module and green energy resource module, the main body
Building is multilayered structure, and parking area, the charging zone AGV, AGV maintenance area, monitored space, carwashing area, escape hatch are respectively provided in every layer
With intelligent fire area, the charging module, maintenance module, carwash module respectively correspond setting in the charging zone AGV, AGV inspection
It repairs in area and carwashing area；
Further, the positioning AP module includes monitoring positioning and control positioning, and the monitoring Priority level for location is higher than control
Positioning, AGV path planning of parking is intervened in the monitoring positioning, but is not involved in AGV control of parking, and control positioning function is integrated in pool
On vehicle AGV, AGV operating status is controlled；
Further, the monitoring positioning uses distance measuring method TDOA, typical positioning accuracy 8-10cm based on arrival time window,
Directly calculation goes out the real-time coordinates (X, Y) of micro- label, and the position of the micro- label of monitoring room real-time query shows running track, delimits
Fence, alert zone, exclusion area, data are back to computer module data server by TCP/IP, give through data calculation
Real-time coordinates out；
Further, the door lock hold up traffic module for control wagon flow, take pictures identification and the license board information of identification is uploaded to
Database in computer module, door lock module of holding up traffic includes door lock, display screen, camera, searchlight and cement substrate,
Door lock module of holding up traffic is located on the outside of parking lot entrance, corresponds with entrance；
Further, the AGVS and supporting module include park AGV, vehicle bearing pallet or comb teeth frame, the AGV that parks be with
The general-purpose platform of elevating mechanism places vehicle bearing pallet or comb teeth frame on platform, is used to support two kinds of mainstreams of bracket type and comb-tooth-type
Structure is delivered, payload 3T designs speed per hour 5Km/h, embedded system built in AGV of parking, industry WIFI communication receipt module
And navigation module, the vehicle bearing pallet use four supporting leg flat support structures, have automobile guide mechanism；
Further, the AGVS and supporting module are used for path planning, independent navigation, intelligent barrier avoiding and automatic loading and unloading, park
Embedded system built in AGV and computer module communicate, and update map, feed back oneself state, position self-position, with 10m with
Interior other AGV communications, mutually notification task status, priority pass, the AGV that parks is planned by mathematical algorithm realizes assignment instructions
Optimal path of traversal；
Further, the charging module and computer module, AGV and supporting module networking control charging start and stop, charging current
With charging voltage parameter, battery filling time was full of rear auto power off within 6 hours；
Further, the entrance lifting module is specially that lifting vertical ladder, the green energy is arranged in wisdom parking lot two sides
Source module is specially to cover solar power generation facility in wisdom parking lot top layer；
Further, the emergency fire-fighting module is specially escape hatch, emergency auxiliary ramp and intelligent fire equipment, described to answer
Anxious auxiliary ramp is located at main building two sides, is assembled architecture, escape hatch is located at one layer of wisdom parking lot, for the feelings that have a power failure
Pilot steering vehicle sails out of parking lot under condition；
Further, the human-computer interaction module is located at wisdom parking lot entrance, including Transport Vehicle server, laser scanning
Equipment, voice prompting equipment and automobile attitude adjustment mechanism；
Beneficial effects of the present invention are as follows:
1, the present invention is based on intelligent parking AGV, has that parking density is big, the time of picking up the car is short, tidal type entrance, intelligence
Horizontal high advantage；
2, the present invention carries out operational management with wisdom parking management system, using each point of form monitoring and scheduling of data-triggered driving
System, securely and reliably；
3, the present invention utilizes BIM technology in design, construction, O&M stage, forms BIM database, using assembled architecture, just
In fast construction parking lot, rate of return on investment is high, and the construction period is short；
4, the present invention uses solar energy generation technology combination power quality equipment, has the advantages that green, energy-saving and environmental protection；
5, the present invention is to move forward to vehicles while passing mouth position, vehicle with car owner's interaction point compared to the maximum advantage in traditional parking lot
Master does not enter parking lot；
6, the present invention is to realize that designated position is picked up the car compared to the advantage in stereo garage formula parking lot, adapts to large capacity parking lot,
Operational efficiency is high, realizes that tide enters and leaves function on the basis of entrance separates, and avoids and stops caused by the superposition of entrance function
Traffic congestion outside parking lot.
Detailed description of the invention
Fig. 1 is a kind of wisdom parking lot illustraton of model based on the AGV that parks of the present invention；
Fig. 2 is AGVS and supporting module illustraton of model in a kind of wisdom parking lot based on the AGV that parks of the present invention；
Fig. 3 is that the AGV that parks in a kind of wisdom parking lot based on the AGV that parks of the present invention parks illustraton of model；
Fig. 4 is a kind of wisdom parking lot operational flow diagram based on the AGV that parks of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is explained in further detail.It should be appreciated that specific embodiment described herein is used only for explaining the present invention, and
It is not used in the restriction present invention.On the contrary, the present invention cover it is any be defined by the claims do on the essence and scope of the present invention
Substitution, modification, equivalent method and scheme.Further, in order to make the public have a better understanding the present invention, below to this
It is detailed to describe some specific detail sections in the datail description of invention.It is thin without these for a person skilled in the art
The present invention can also be understood completely in the description of section part.
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as a limitation of the invention.
Most preferred embodiment is enumerated below for of the invention:
As Figure 1-Figure 4, the present invention provides a kind of wisdom parking lot based on the AGV that parks, including main building 1, computer
Module 2, door lock hold up traffic module 3, AGVS and supporting module 4, human-computer interaction module 5, positioning AP module 6, entrance lifting module
7, charging module 8, carwash module 9, maintenance module 10, emergency fire-fighting module 11, green energy resource module 12.The wisdom parking lot
Five layers are shared, setting parking area, the charging zone AGV, AGV overhaul area, monitored space, carwashing area, escape hatch, intelligent fire in floor
Area.Wisdom parking lot two sides are equipped with lifting vertical ladder, and top layer covers solar power generation facility, emergency auxiliary is equipped between each layer
Ramp.The wisdom parking lot is all made of BIM technology in design, construction, O&M stage, forms BIM database.
The main building 1 is assembled architecture, is built using Large-span Precast building element plate, outer dimension
For 95m × 123m × 20m, five layers are divided into, every layer has active layer height not less than 4 meters, and parking area, the charging zone AGV, AGV are arranged in layer
Area, monitored space, carwashing area, escape hatch, intelligent fire area are overhauled, energy source well, equipment raise and elevator are reserved.The parking area
800 parking stalls are set altogether, are distributed in each layer.16 entrances are arranged in the main building 1 altogether, and each entrance is installed 1 and risen
Equipment drops,
The wisdom parking lot based on the AGV that parks carries out operational management by wisdom parking management system.The wisdom parking
Management system includes that data service subsystem, monitoring and scheduling subsystem, door lock subsystem, human-computer interaction subsystem, lifting point are
System, AGVS subsystem, wireless location subsystem, intelligent management subsystem, internet+subsystem, financial subsystem.The wisdom
Parking management system monitors door lock subsystem, human-computer interaction point by monitoring and scheduling subsystem in the form of data-triggered driving
System, lifting subsystem, the operating status of AGVS subsystem, it is ensured that each subsystem operates normally, and requires starting mutual according to user
Networking+system；Dispatch door lock subsystem, human-computer interaction subsystem, lifting subsystem, AGVS subsystem, wireless location subsystem,
Internet+system, financial subsystem realize plugging into, park and settling accounts for automobile.Each subsystem of wisdom parking management system
It is corresponded with each submodule in wisdom parking lot based on the AGV that parks.
Door lock subsystem in wisdom parking management system is corresponded in the present invention is that door lock is hired a car module 3, and the door lock is rented
Vehicle module 3 has control wagon flow, identification function of taking pictures, and the license board information of identification can be uploaded to the number in computer module 2
According to library, as the unique identification that vehicle circulates in wisdom parking lot, the door lock hold up traffic module 3 include door lock, display screen, take the photograph
It as head, searchlight, cement substrate, is based on the outside of the wisdom parking lot entrance for the AGV that parks, is corresponded with entrance,
Be automobile enter first of critical point in parking lot with leave parking lot it is last together with critical point, by wisdom parking management system
Door lock hold up traffic subsystem control.
The AGVS and supporting module 4 have the function of path planning, independent navigation, intelligent barrier avoiding, automatic loading and unloading, described
AGVS and supporting module 4 include park AGV, vehicle bearing pallet or comb teeth frame, are the hardware cores in wisdom parking lot.Wisdom parking lot
Setting is parked AGV50 altogether, and vehicle bearing pallet or 900 sets of comb teeth frame are distributed in each layer.The AGV that parks is with elevating mechanism
General-purpose platform, vehicle bearing pallet or comb teeth frame are placed on platform, structures can be delivered with two kinds of mainstreams of supporting bracket posture and comb-tooth-type,
Payload 3T designs speed per hour 5Km/h.The embedded system built in AGV of parking, industry WIFI communication receipt module, navigation
Module.The vehicle bearing pallet uses four supporting leg flat support structures, has automobile guide mechanism.
The embedded system built in AGV13 of parking needs to communicate with computer module 2, updates map, feed back itself
State positions self-position, can be with other AGV communications, mutually notification task status, priority pass (within 10m) nearby；Institute
It states the AGV13 that parks and plans the optimal path of traversal for realizing assignment instructions by mathematical algorithm.
The human-computer interaction module 5 has communication and data upload function, main to realize detection and guide car homophony vehicle
Position, voice prompting car owner confirm that vehicle-state and demand of parking, guidance car owner are paid the fees three Xiang Gongneng that pick up the car, the man-machine friendship
Mutual module 5 is based at the wisdom parking lot entrance for the AGV that parks, including Transport Vehicle server, Laser Scanning Equipment, voice
Prompt equipment, automobile attitude adjustment mechanism.
The positioning AP module 6 includes monitoring positioning and control positioning, and monitoring Priority level for location is higher than control positioning, necessary
When can intervene AGV13 path planning of parking, but be not involved in AGV13 control of parking.Control positioning function integrates and the AGV13 that parks
On, control AGV operating status.Monitoring positioning uses the distance measuring method (TDOA) based on arrival time window, typical positioning accuracy
10cm, can go out the real-time coordinates (X, Y) of micro- label with directly calculation, and monitoring room can be shown with the position of the micro- label of real-time query
Running track delimit fence, alert zone, exclusion area etc..Data are back to 2 data service of computer module by TCP/IP
Device provides real-time coordinates through data calculation.
The charging module 8 and computer module 2, AGV and 4 networking control of supporting module charging start and stop, are filled at charging current
The parameters such as piezoelectric voltage, battery filling time were full of rear auto power off within 6 hours, and the charging module 8 is based on
Park AGV every layer of wisdom parking lot charging zone, multiple charging stations are arranged in charging zone.8 core of charging module is intelligence
Energy charger, the computer module 2 are this hairs positioned at the monitored space of main building 1 including server, input-output equipment
Bright control centre is data service subsystem in wisdom parking management system, monitoring and scheduling subsystem, intelligent management subsystem
Hardware carrier.
10 operational process of the maintenance module are as follows: the AGV13 that parks breaks down in the process of running, parks AGV13's
Read failure code is judged fault level by embedded system, starts corresponding troubleshooting mode, and the AGV13 that parks was overhauled
The operator intervention of corresponding qualification is needed to have in journey, after the completion, empties error code, can be networked and be parked, the maintenance module
10 are based on the maintenance area in every layer of the wisdom parking lot for the AGV that parks, and multiple maintenance stations are arranged in maintenance area.
The entrance lifting module 7 is based in the wisdom parking lot elevator for the AGV that parks, including automobile lifting is set
Standby, inner glass door, outside glass door.The entrance in each wisdom parking lot is respectively mounted an automobile lifting equipment.The vapour
Vehicle elevator standard load-carrying is 3000KG, speed 0.25-0.5m/s.Inner glass is only set simultaneously one layer of wisdom parking lot
Inner glass door is only arranged in door, outside glass door, two layers or more each layers.
The carwash module 9 is based on the carwashing area in every layer of the wisdom parking lot for the AGV that parks, and carwashing area setting is multiple to wash
Vehicle parking stall.9 core of carwash module is intelligent car washing installation
The emergency fire-fighting module 11 includes escape hatch, emergency auxiliary ramp, intelligent fire equipment.The emergency auxiliary ramp
It is assembled architecture positioned at 1 two sides of main building.The escape hatch is located at one layer of wisdom parking lot, under power-off condition
Pilot steering vehicle sails out of parking lot, and the emergency fire-fighting module 11 can start in the case where having a power failure, catching fire situation.When power failure, park
Mode operation drops in AGV13, using the dump energy of battery storage by car ferry to auxiliary ramp.
The green energy resource module 12 includes solar power generation facility, power quality equipment, distribution facility.The solar energy
Generating equipment is based on the wisdom parking lot top layer for the AGV that parks.The power quality equipment is located at wisdom parking lot energy source well.
The distribution facility is located at wisdom parking lot energy source well, and the green energy resource module 12 is the present invention using solar power generation facility
Electric energy is provided, using power quality product protection electrical equipment, saves electric energy.
Embodiment described above, only one kind of the present invention more preferably specific embodiment, those skilled in the art
The usual variations and alternatives carried out within the scope of technical solution of the present invention should be all included within the scope of the present invention.
Claims (10)
1. a kind of wisdom parking lot based on the AGV that parks, which is characterized in that the wisdom parking lot includes main building, calculates
Machine module, door lock hold up traffic module, AGVS and supporting module, human-computer interaction module, positioning AP module, entrance lifting module, fill
Electric module, carwash module, maintenance module, emergency fire-fighting module and green energy resource module, the main building are multilayered structure, often
Parking area, the charging zone AGV, AGV maintenance area, monitored space, carwashing area, escape hatch and intelligent fire area are respectively provided in floor, it is described
Charging module, maintenance module, carwash module respectively correspond setting in the charging zone AGV, the maintenance area AGV and carwashing area.
2. wisdom parking lot according to claim 1, which is characterized in that the positioning AP module include monitoring positioning and
Control positioning, the monitoring Priority level for location are higher than control positioning, and AGV path planning of parking is intervened in the monitoring positioning, but not
Participation is parked AGV control, and control positioning function, which is integrated in, parks on AGV, controls AGV operating status.
3. wisdom parking lot according to claim 2, which is characterized in that the monitoring positioning is using based on arrival time window
Distance measuring method TDOA, typical positioning accuracy 8-10cm, directly calculation goes out the real-time coordinates (X, Y) of micro- label, and monitoring room is real-time
The position of micro- label is inquired, shows running track, delimit fence, alert zone, exclusion area, data are back to by TCP/IP
Computer module data server provides real-time coordinates through data calculation.
4. wisdom parking lot according to claim 1, which is characterized in that the door lock hold up traffic module for control wagon flow,
It takes pictures and identification and the license board information of identification is uploaded to database in computer module, door lock module of holding up traffic includes door
Lock, display screen, camera, searchlight and cement substrate, door lock module of holding up traffic is located on the outside of parking lot entrance, with discrepancy
Mouth corresponds.
5. wisdom parking lot according to claim 1, which is characterized in that the AGVS and supporting module include park AGV,
Vehicle bearing pallet or comb teeth frame, the AGV that parks are the general-purpose platform with elevating mechanism, place vehicle bearing pallet or comb teeth on platform
Frame, is used to support two kinds of mainstream delivery structures of bracket type and comb-tooth-type, and payload 3T designs speed per hour 5Km/h, parks in AGV
Embedded system, industry WIFI communication receipt module and navigation module are set, the vehicle bearing pallet uses four supporting leg flat supports
Structure has automobile guide mechanism.
6. wisdom parking lot according to claim 5, which is characterized in that the AGVS and supporting module are advised for path
It draws, independent navigation, intelligent barrier avoiding and automatic loading and unloading, embedded system built in AGV of parking and computer module communicate, update ground
Figure feeds back oneself state, and other AGV are communicated within positioning self-position, with 10m, mutually notification task status, priority pass,
The AGV13 that parks by mathematical algorithm plans optimal path.
7. wisdom parking lot according to claim 1, which is characterized in that the charging module and computer module, AGV and
Supporting module networking control charging start and stop, charging current and charging voltage parameter, battery are 6 hours full of required time, are full of
Auto power off afterwards.
8. wisdom parking lot according to claim 1, which is characterized in that the entrance lifting module is specially in wisdom
Parking lot two sides setting lifting vertical ladder, the green energy resource module are specially to set in wisdom parking lot top layer covering solar power generation
It applies.
9. wisdom parking lot according to claim 1, which is characterized in that the emergency fire-fighting module is specially to meet an urgent need out
Mouth, emergency auxiliary ramp and intelligent fire equipment, the emergency auxiliary ramp are located at main building two sides, are assembled architecture,
Escape hatch is located at one layer of wisdom parking lot, sails out of parking lot for pilot steering vehicle under power-off condition.
10. wisdom parking lot according to claim 5, which is characterized in that the human-computer interaction module is located at wisdom parking
At the entrance of field, including Transport Vehicle server, Laser Scanning Equipment, voice prompting equipment and automobile attitude adjustment mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811456348.6A CN109441177A (en) | 2018-11-30 | 2018-11-30 | A kind of wisdom parking lot based on the AGV that parks |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811456348.6A CN109441177A (en) | 2018-11-30 | 2018-11-30 | A kind of wisdom parking lot based on the AGV that parks |
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| CN201811456348.6A Pending CN109441177A (en) | 2018-11-30 | 2018-11-30 | A kind of wisdom parking lot based on the AGV that parks |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112177411A (en) * | 2020-09-30 | 2021-01-05 | 杭州海康机器人技术有限公司 | Vehicle transportation method, vehicle transportation device, parking management apparatus, and computer storage medium |
| CN112302387A (en) * | 2020-10-16 | 2021-02-02 | 上海铁旅投资咨询有限公司 | Multifunctional integrated service method based on parking lot |
| CN114511935A (en) * | 2021-12-30 | 2022-05-17 | 浙江创泰科技有限公司 | ETC electronic fence-based parking charging method and system |
| CN115547097A (en) * | 2022-11-24 | 2022-12-30 | 江苏润邦智能车库股份有限公司 | Intelligent parking and storing method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112177411A (en) * | 2020-09-30 | 2021-01-05 | 杭州海康机器人技术有限公司 | Vehicle transportation method, vehicle transportation device, parking management apparatus, and computer storage medium |
| CN112177411B (en) * | 2020-09-30 | 2021-06-11 | 杭州海康机器人技术有限公司 | Vehicle transportation method, vehicle transportation device, parking management apparatus, and computer storage medium |
| CN112302387A (en) * | 2020-10-16 | 2021-02-02 | 上海铁旅投资咨询有限公司 | Multifunctional integrated service method based on parking lot |
| CN114511935A (en) * | 2021-12-30 | 2022-05-17 | 浙江创泰科技有限公司 | ETC electronic fence-based parking charging method and system |
| CN114511935B (en) * | 2021-12-30 | 2024-04-09 | 浙江创泰科技有限公司 | ETC electronic fence-based parking charging method and system |
| CN115547097A (en) * | 2022-11-24 | 2022-12-30 | 江苏润邦智能车库股份有限公司 | Intelligent parking and storing method and system |
| CN115547097B (en) * | 2022-11-24 | 2023-03-10 | 江苏润邦智能车库股份有限公司 | Intelligent parking and storing method and system |
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