CN102535915B - Automatic parking system based on mobile robot trolley - Google Patents
Automatic parking system based on mobile robot trolley Download PDFInfo
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- CN102535915B CN102535915B CN201210023657.0A CN201210023657A CN102535915B CN 102535915 B CN102535915 B CN 102535915B CN 201210023657 A CN201210023657 A CN 201210023657A CN 102535915 B CN102535915 B CN 102535915B
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Abstract
The invention relates to an automatic parking system based on a mobile robot trolley. The automatic parking system is mainly and technically characterized by comprising a parking lot, the mobile robot trolley and a parking lot intelligent control system, wherein a plurality of rows of parking spaces, a plurality of lines of parking spaces and mobile robot trolley rotating spaces are arranged on the ground of the parking lot, a non-rail type vehicle guide device is paved on the ground of the parking lot, a vehicle access chamber and a center control chamber are arranged in the parking lot, the parking lot intelligent control system is arranged in the center control chamber and is connected with the mobile robot trolley and the vehicle access chamber, and the mobile robot trolley supports vehicles to be accessed for realizing the vehicle access through being controlled by the parking lot intelligent control system. The automatic parking system has the advantages that the design is reasonable, and the flexible dispatching on the vehicles to be accessed and the flexible vehicle access can be carried out through the mobile robot trolley and the corresponding control system, so the functions of high-density storage, fast response and safe service are realized, and the automatic parking system has the characteristics that the building and maintenance cost is low, the access is convenient, the energy is saved, the environment is protected, and the like.
Description
Technical field
The invention belongs to shutdown system field, especially a kind of automatic parking system based on mobile robot's dolly.
Background technology
Along with the universal and development rapidly of automobile, city parking position supply wretched insufficiency, car park is developed to mechanization sky parking gradually.Existing parking lot mainly contains following structure:
1, patent documentation " Intilligent robot stereoscopic parking lot " (application number is 01138703.3) discloses a kind of rectangle sky parking based on intelligent robot, this parking lot replaces artificial access vehicle with robot access vehicle, solved to a certain extent the problem that traditional parking lot auxiliary floor area is greater than parking area, auxiliary floor area has been accounted for to 2/3 and reduce to and account for 1/3.The problem of its existence is: (1) this robot is a kind of sensu lato robot, can not independent separate out, robot ambulation must depend on overhead traveling crane guide rail and along hoist and associated motor, gear, chain transmission, pulley set, wire rope gearing, its complex structure; (2) although having solved, this robot automatically deposits, withdraws vehicle problem, but scheme implementation gets up, construction volume is very large: must set up relevant overhead traveling crane guide rail and lifting gear and transmission device, (3) robot is subject to the restriction of overhead traveling crane guide rail, can only solve the access issues near the single vehicle in guide rail both sides nearby, and for the vehicle away from guide rail, as the second row of guide rail both sides or three is arranged helpless.In a word, although its auxiliary space has been reduced to 1/3, reached saturation capacity, do not stretched again and optimization, room for improvement.
2, patent documentation " sky parking " (application number is 95105080.X) discloses a kind of sky parking, this parking lot is to be based upon in the elongated underground space that laterally there is no rich surplus, this parking lot has solved the problem of underground multistorey parking space high density, full-automatic access vehicle by mechanization means: along rectangle direction, lay travelling platform, handling article on the parking tier, loopy moving path, track on underground rail, track both sides, hoist, pallet etc.The problem of its existence is: this parking lot does not still depart from the mechanization kind of drive, not only great in constructing amount, as laid track, configuration hoist, transmission device etc., and, this hoist, track travel mode cause that cost is high, power consumption is obvious, maintenance capacity is large, and in system, certain link breaks down and will cause whole system paralysis; Moreover, seen this mechanization sky parking is generally the access to the single vehicle in track both sides on the market, rather than the access to many rows vehicle, and therefore, its auxiliary space area is reduced at most 1/3.
In sum, above two kinds of modes have illustrated the typical weakness of mechanization sky parking: (1) car stowage position is subject to track restrictions, must be easy to the place arriving near track both sides and hoist, this has just formed parking systems and has wanted to increase parking stall, upwards development, or to elongated development, thing followed problem is: auxiliary space also synchronously increases, for laying steel and the civil engineering amount of track, also synchronously increase, mechanical wear amount, electrisity consumption, maintenance capacity also synchronously increase.(2) no matter the operational outfit of existing three-dimensional mechanical vehicle parking system is lifting displacement or horizontal movement, be all a kind of work in series mode, all from start to finish that same equipment is in work, can not bring into play the advantage that a plurality of equipment is coordinated mutually, when several car owners access simultaneously vehicle, just there will be situation about waiting in line.(3) existing three-dimensional mechanical vehicle parking system, is subject to the restriction of its design, and the huge heaviness of its elevating mechanism, is not easy to dismounting and change at any time, once certain parts, except problem, will form the paralysis of whole system.(4) existing three-dimensional mechanical vehicle parking system construction and maintenance cost are higher, are difficult to meet actual needs.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide that a kind of simple in structure, access is convenient, construction and the cheap automatic parking system based on mobile robot's dolly of maintenance cost.
The present invention solves its technical problem and takes following technical scheme to realize:
A kind of automatic parking system based on mobile robot's dolly, comprise parking lot, mobile robot's dolly and parking lot intelligent control system, on ground, parking lot, be provided with multirow parking space, multiple row parking space and mobile robot's dolly revolution space, on ground, parking lot, be laid with the vehicle guidance device of non-rail mounted, in parking lot, be provided with vehicle access chamber and central control room, parking lot intelligent control system is installed in central control room and is connected with vehicle access chamber with mobile robot's dolly, mobile robot's dolly is under the control of parking lot intelligent control system, picking-up treats that access vehicle carries out vehicle access,
Described mobile robot's dolly consists of car body, the lifting gear that is arranged on the close-coupled universal movement mechanism of car body soffit and is arranged on car body upper surface; The quantity of the close-coupled universal movement mechanism that every mobile robot's dolly is equipped with is at least one; Mobile robot's dolly can hold up treats that access vehicle moves along vehicle guidance device optional position in parking lot, and the motion that mobile robot's dolly is done comprises the rectilinear motion of any direction, the curvilinear motion of any direction and original place radius rotatablely move;
Described close-coupled universal movement mechanism comprises support chassis, rotating shaft, two motors, two sets of transmission mechanism, two pairs of wheel bearings and two wheels, the lower end of rotating shaft is vertically packed on the center of support chassis, two motors, two sets of transmission mechanism, two pairs of wheel bearing symmetries are packed in the upper surface of support chassis, two motors are positioned at the rotating shaft both sides perpendicular to the plane of rotating shaft, two wheels lay respectively at perpendicular in the plane of rotating shaft with motor vertical other both sides of rotating shaft each other, and be arranged on respectively in the wheel groove that support chassis is provided with by two pairs of wheel bearings, one end of two motors is all provided with code-disc, the other end of two motors is connected with transmission mechanism separately respectively, two cover drive mechanisms link together with wheel separately respectively, rotating shaft upper end is sleeved in shaft bearing, and this shaft bearing is solidly installed by car body terminal pad and car body, in the top of rotating shaft, is fixedly mounted with a code-disc.
And described parking lot comprises between multilayer ，Mei Ceng parking lot and is provided with elevator.
And described vehicle guidance device adopts visual guidance mode, electromagnetism guide mode, optical navigation mode or inertial guide mode to guide mobile robot's dolly is guided.
And, described visual guidance mode is: on ground, parking lot, lay the colour band for visual guidance, orthogonal two lines that this colour band is each parking space central point also interconnect, and are provided with ground two-dimensional code mark point as parking stall measure point in colour band crosspoint; Described electromagnetism guide mode is: on the driving path of mobile robot's dolly, bury wire underground and load pilot frequency at wire, mobile robot, be equipped with frequency detection module, by the identification of pilot frequency is realized to the guiding to mobile robot; Described optical navigation mode is: japanning or paste colour band on the driving path of mobile apparatus dolly, by the video camera of mobile robot's dolly is adopted into colour bar pattern picture signals process and realize guiding; Described inertial guide mode: on the ground of the running region of mobile apparatus dolly, Quick Response Code mark is installed, on mobile robot's dolly, gyroscope is installed, movable parking field intelligence control system by the calculating of gyroscope deviation signal and by Quick Response Code code reader to the identification of ground Quick Response Code sign determine self position and course to realize guidance function.
And described lifting gear is connected and composed by elevating mechanism and two inner hydraulic cylinders thereof, is risen or is fallen by Driven by Hydraulic Cylinder elevating mechanism.
And, described vehicle access chamber is comprised of teller console, pallet, parking stall display screen, vehicles while passing mouth, mobile robot's import and export, laser sensor, image pick-up device, and teller console, parking stall display screen, laser sensor, image pick-up device are connected and realize map match and user's classification feature with vehicle access server in central control room respectively; Teller console is arranged on doorway, vehicle access chamber place and car owner is inputted to password carries out authentication; Pallet is treated access vehicle for parking in the middle of being positioned at vehicle access room floor; Before and after pallet, on the wall of access chamber, have vehicles while passing mouth and the import and export of mobile robot's dolly; On the surroundings wall of vehicle access chamber and between vehicle body and pallet, ground level is horizontally installed with 8 laser sensors, and the distance between every two laser sensors holds tightly four limits of pallet; Video camera is arranged on the centre position at top, vehicle access chamber, treats access vehicle and send vehicle access server to for taking pictures; Parking stall display screen is arranged on the access chamber wall on top, pallet dead ahead for showing map match information.
And, described parking lot intelligent control system is connected and composed by man-machine interface layer, service dispatch layer, execution level three layer construction, this man-machine interface layer comprises teller console and caretaker operating side, this service dispatch layer comprises client server, Control Server, vehicle access server, and this execution level comprises mobile robot's dolly, vehicle access chamber and elevator.
Advantage of the present invention and good effect are:
1, this automatic parking system adopts multiple lines and multiple rows structure, because the revolution space of mobile robot's dolly is very little, thereby make required auxiliary space area can reach minimum, simultaneously can or dwindle the area of dolly revolution space according to the quantity flexible expansion of mobile robot's dolly, adopt and do not rely on complicated construction, huge consumptive material, the method that overall space area increases, realized high density vehicle access function.
2, this automatic parking system can significantly dwindle vehicular discharge spacing, has increased the efficiency in parking lot.Traditional access vehicle mode, must between car and car, reserve the spacing of car owner's door opening, if each car reserves car door space half, between two cars, just need to reserve the space of 1 car door, Er Zhe parking lot adopts mobile robot's dolly delivery mode, without opening car door, vehicle is arranged while depositing and can be dwindled spacing as far as possible.
3, this automatic parking system can arrive any parking stall of this parking tier by the guiding of ground guiding device by mobile robot's dolly, and be not subject to the restriction of overhead traveling crane guide rail or ground guide, it is simple in structure, expense is cheap, easy construction is convenient to safeguard simultaneously, its construction works is only to lay on ground ground two-dimensional code mark point and colour band, this steel rail laying compared with three-dimensional mechanical vehicle parking system and to build car tower very little only not, configure many mobile robot's dollies simultaneously, when a robot car breaks down, can replace at any time fault dolly, realize quick fault recovery.
4, this automatic parking system has effectively been avoided the discharge of vehicle exhaust, has saved emission from vehicles expense expense, is conducive to energy-conserving and environment-protective.For example, the traditional type parking lot of Yi Ge200Ge parking stall is every year for emission from vehicles expense approximately 3,000,000, and this is during due to car owner's bicycle parking, need to drive a car from Stall and forward N floor to, when car owner picks up the car, need to drive a car from N building and forward Stall to; And use this parking lot, car owner only car need to be driven into vehicle access chamber, to be detected after car owner leave, vehicle is flame-out replaces artificial access vehicle by mobile robot, can significantly reduce motor vehicle exhaust emission.
5, this automatic parking system adopts intelligence control system, during car owner's bicycle parking, only car need to be reached to vehicle access chamber and complete in a short period of time vehicle detection and authentication, all work are below completed automatically by parking lot intelligent control system completely, thereby have saved significantly car owner's bicycle parking, pick up the car the time.
6, this automatic parking system adopts intelligence control system, can be reduced car owner and be queued up the bicycle parking time by phone reservations, in advance that parking stall is reserved out; While picking up the car, be also to rank according to the phone reservations time: that first makes a phone call first goes out car, after make a phone call after go out car.
7, the present invention is reasonable in design, by mobile robot's dolly and corresponding control system thereof, treat access vehicle and carry out flexible dispatching and vehicle access, thereby realize high density storage, quick response, security service function, there is the features such as construction and maintenance cost is cheap, access convenience, energy-conserving and environment-protective.
Accompanying drawing explanation
Fig. 1 is inner part of parking lot structure top view of the present invention;
Fig. 2 is inner part of parking lot structure side view of the present invention;
Fig. 3 is parking lot intelligent control system physical structure figure of the present invention;
Fig. 4 is vehicle access chamber top view;
Fig. 5 is vehicle access chamber lateral view;
The map match information schematic diagram that Tu6Shi parking stall display screen shows;
Fig. 7 is that vehicle identification is processed schematic diagram;
Fig. 8 is the structural representation of the close-coupled universal movement mechanism of mobile robot's dolly;
Fig. 9 is the structural representation of mobile robot's dolly; Wherein, Fig. 9-1 is the whole upward view of mobile robot's dolly, and the A-A that Fig. 9-2 are Fig. 9-1 is to sectional view; 9-3 is that the B-B of Fig. 9-1 is to sectional view;
Figure 10 is the lifting gear schematic appearance of mobile robot's dolly, and wherein, Figure 10 a is opening, and Figure 10 b is closure state;
Figure 11 is the dispatch deal process schematic diagram of picking up the car, and wherein, Figure 11-1 to Figure 11-4 are respectively the schematic diagram of four steps of picking up the car;
Figure 12 is bicycle parking dispatch deal process schematic diagram, and wherein, Figure 12-1 to Figure 12-5 are respectively the schematic diagram of bicycle parking five steps;
In figure: 1: parking space, 2: elevator, 3: teller console, 4: vehicle access chamber, 5: central control room, 6: mobile robot's dolly, 7: ground two-dimensional code mark point, 8: laser sensor, 9: video camera, 10: pallet, 11: parking stall display screen, 12: treat access vehicle, 13: vehicles while passing mouth, 14: mobile robot imports and exports, 15: dolly revolution space, 16: for the colour band of visual guidance; 17: wheel bearing, 18: wheel, 19: travelling gear, 20: code-disc, 21: motor, 22: code-disc, 23: rotating shaft, 24: first stage decelerator, 25: two stage reducer, 26: support chassis, 27: shaft bearing, 28: shaft bearing, 29: car body, 30: car body terminal pad, 31: lifting gear.
The specific embodiment
Below in conjunction with accompanying drawing, the embodiment of the present invention is further described:
An automatic parking system based on mobile robot's dolly, ，You Sanceng parking lot, vehicle access chamber, elevator, central control room, some mobile robot's dollies and parking lot intelligent control system form as shown in Figures 1 and 2.N layer parking lot can be arranged on the ground, underground or partly ，Mei Ceng parking lot, first-class optional position be and in rectangle structure ，Mei Ceng parking lot, be provided with multirow parking space and the multiple row parking space being parallel to each other; Two elevator are installed for treating transporting between access vehicle Ge Ceng parking lot in Mei Ceng parking lot; In Mei Ceng parking lot, dispose several mobile robot's dollies and corresponding dolly revolution space, in the parking lot that approaches earth's surface one deck, be provided with two vehicle access chambers and a central control room, parking lot intelligent control system is installed in central control room.
The vehicle guidance device that is laid with non-rail mounted on ground, Mei Ceng parking lot is realized the guidance function to mobile robot's dolly.Vehicle guidance device can adopt the various ways such as visual guidance mode, electromagnetism guide mode, optical navigation mode, inertial guide mode, describes respectively below.Visual guidance mode: lay colour band for visual guidance on ground, parking lot as carriage walking track, colour band for visual guidance is orthogonal two lines of each parking space central point, and these lines are coupled together, in the colour band crosspoint for visual guidance, be provided with ground two-dimensional code mark point as parking stall measure point.Electromagnetism guide mode: electromagnetism guiding is to bury wire underground on the driving path of mobile apparatus dolly, and loads pilot frequency at wire, and mobile robot is equipped with frequency detection module, by the identification of pilot frequency is realized to the guiding to mobile robot.Optical navigation mode: japanning or stickup colour band on the driving path of mobile apparatus dolly, by the video camera of mobile robot's dolly is adopted into colour bar pattern picture signals carry out simple process and realize guiding, its flexibility is relatively good, and ground route arranges simple.Inertial guide mode: inertial navigation is, on mobile robot's dolly, gyroscope is installed, Quick Response Code mark is installed on the ground of running region, movable parking field intelligence control system is by the calculating of gyroscope deviation signal (angular speed) and by Quick Response Code code reader, the identification of ground Quick Response Code sign being determined self position and course, thereby realizes guidance function.
As shown in Figure 3, parking lot intelligent control system comprises man-machine interface layer, service dispatch layer, execution level.Man-machine interface layer comprises user operating side and caretaker operating side, its major function is to provide the interface of man-machine interaction, facilitate system manager and user to operate accordingly system, and enjoy accordingly and serve, user operating side is the teller console that is arranged on doorway, vehicle access chamber, and caretaker operating side is positioned at central control room.Service dispatch layer comprises that client server, Control Server, vehicle access server are positioned at central control room, service dispatch layer mainly plays a part to form a connecting link, the service request that man-machine interface layer is come is resolved, scheduled for executing layer is served as required, and service result is fed back to man-machine interface layer.Execution level comprises mobile robot's dolly, vehicle access chamber and elevator, its major function is to carry out concrete carrying action, by the cooperation of mobile robot, elevator and vehicle access chamber, vehicles drive is arrived to service dispatch layer designated destination, mobile robot and elevator dolly are positioned at parking lot, carry out communication with the Control Server that is positioned at central control room; The vehicle access chamber of execution level is positioned at parking surface floor, carries out communication with the vehicle access server that is positioned at central control room.
As shown in Figures 4 and 5, vehicle access chamber is comprised of teller console, pallet, parking stall display screen, vehicles while passing mouth, mobile robot's import and export, laser sensor, image pick-up device, and teller console, parking stall display screen, laser sensor, image pick-up device are connected and realize map match and user's classification feature with vehicle access server in central control room respectively.Teller console is arranged on place, doorway, vehicle access chamber, and this teller console is inputted password by vehicle access server to car owner and carried out authentication; Pallet is positioned in the middle of vehicle access room floor, is to treat access vehicle above pallet; Before and after pallet, on the wall of access chamber, have vehicles while passing mouth and the import and export of mobile robot's dolly; On the surroundings wall of vehicle access chamber and between vehicle body and pallet, ground level is horizontally installed with 8 laser sensors, be that every sidewalls is provided with 2 laser sensors, distance between every two laser sensors holds tightly four limits of pallet, for measuring vehicle size and send vehicle access server to; Video camera is arranged on the centre position at top, vehicle access chamber, treats access vehicle and send vehicle access server to for taking pictures; Parking stall display screen is arranged on the access chamber wall on top, pallet dead ahead, when car owner reaches vehicle on the pallet of access chamber, laser sensor and video camera can return to vehicle posture information vehicle access server, vehicle access server turns back to " map match prompting " information on the display screen of vehicle access Shi parking stall according to vehicle posture information, as shown in Figure 6, car owner can treat access vehicle according to the correction indication of parking stall display screen and carries out vehicle location adjustment.As shown in Figure 7, vehicle access server in central control room carries out vehicle identification by IMAQ, image pretreatment, feature extraction and size appearance data and sends to client server, dispatches mobile robot's dolly will treat that access vehicle stores classifiedly on appointment parking space by Control Server.
The course of work of vehicle access server is as follows: when car owner's bicycle parking, car is driven into behind vehicle access chamber, by parking stall display screen, vehicle is carried out to map match indication, car owner carries out effective adjustment of parking stall according to proofreading and correct indication, after map match, carry out car owner's authentication: car owner, to vehicle access chamber inlet place teller console, carries out authentication by input password; After being verified, vehicle access server, by type of vehicle, appearance and size are measured, sends corresponding control instruction according to measuring conclusion, calculates corresponding bicycle parking position, and calls mobile robot's dolly car stowage is arrived and specifies parking stall.When car owner picks up the car, on teller console, input pick up the car identification information and identity information, by service dispatch layer, user's request is added to the service queue of picking up the car, if this queue is empty, the service of picking up the car immediately.
As shown in Fig. 8 and Fig. 9, mobile robot's dolly consists of car body, the lifting gear that is arranged on the close-coupled universal movement mechanism of car body soffit and is arranged on car body upper surface.Described close-coupled universal movement mechanism is by support chassis, rotating shaft, two motors, two sets of transmission mechanism, two pairs of wheel bearings and two wheels, the lower end of rotating shaft is vertically packed on the center of support chassis, two motors, two sets of transmission mechanism, two pairs of wheel bearing symmetries are packed in the upper surface of support chassis, two motors are positioned at the rotating shaft both sides perpendicular to the plane of rotating shaft, two wheels lay respectively at perpendicular in the plane of rotating shaft with motor vertical other both sides of rotating shaft each other, two wheels are arranged in the wheel groove that support chassis is provided with by two pairs of wheel bearings respectively, one end of two motors is all provided with code-disc, the other end of two motors is connected with transmission mechanism separately respectively, two cover drive mechanisms link together with wheel separately respectively, two wheels rotate respectively under the driving of motor separately and transmission mechanism thereof.Every sets of transmission mechanism includes first stage decelerator, two stage reducer and travelling gear, first stage decelerator and two stage reducer are connected to the output of motor in turn, output and the travelling gear of two stage reducer mesh together, travelling gear and motor be vertical direction each other, travelling gear is installed together by pair of wheels bearing and wheel, motor is by double reduction and travelling gear interlock and further drive vehicle wheel rotation, now, wheel is passed to power wheel bearing and is driven support chassis to move together with rotating shaft by wheel bearing.The upper end of rotating shaft is sleeved in two groups of shaft bearings, and two groups of shaft bearings are solidly installed by car body terminal pad and car body, in the top of rotating shaft, are fixedly mounted with a code-disc.When support chassis is rotated, rotating shaft is rotated with support chassis, and when rotating shaft time rotational, rotating shaft is rotated in two groups of shaft bearings, and car body terminal pad is motionless; When rotating shaft is moved along a direction, because car body terminal pad is fixedly connected with car body, thereby realize driven by motor body movement.Described lifting gear is connected and composed by elevating mechanism and two inner hydraulic cylinders thereof, by hydraulic cylinder, elevating mechanism can be risen or falls, and makes elevating mechanism in opening and closing state, respectively as shown in Figure 10 a and Figure 10 b.When mobile robot's dolly moves to until access vehicle bottom, elevating mechanism has been opened and can will have been treated that access vehicle holds up and close-coupled universal movement mechanism by vehicle bottom will treat that access vehicle moves in Huo Cong parking lot, corresponding parking stall, parking lot and take out.After completing a scheduler task, can close lifting gear, now elevating mechanism is in closed condition.
Describe mobile robot's dolly pick up the car dispatch deal process and bicycle parking dispatch deal process below in detail:
1, the dispatch deal process of picking up the car:
If Figure 11-1 is to as shown in Figure 11-4, calls 2 mobile robot's dollies and complete the scheduling process of once picking up the car.Target is that C car is taken out, and wherein C parking stall is target parking stall.The 1st step, as Figure 11-1, is positioned at dolly B in the empty parking space as figure, and dolly A is positioned at outside, target parking stall; The 2nd step, as Figure 11-2, moves on to below target vehicle C by dolly A and holds up target vehicle C, and dolly B substitutes dolly A initial position position; The 3rd step, as Figure 11-3, is moved out to dolly revolution space by dolly B, and dolly A carrying target vehicle C moves on to the position of dolly B; The 4th step, as Figure 11-4, is moved out to dolly revolution space by dolly A, and dolly B gets back to original position.
2, bicycle parking dispatch deal process:
If Figure 12-1 is to as shown in Figure 12-5, calls 2 mobile robot's dollies and complete bicycle parking scheduling.Target is B dolly to be stored in to the position of C dolly.Call 2 mobile robots herein and complete 1 scheduling.If Figure 12-1 is to Figure 12-2, A mobile robot moves to C truck position, and after moving, former A mobile robot's parking stall is set to empty parking space; As Figure 12-3, C car is held up and moves to robot manipulation's revolution space by A mobile robot, B mobile robot holds up car move laterally to while becoming a vertical curve with empty parking space, for another example shown in Figure 12-4, continue car to move to C truck position, as Figure 12-5, empty parking space when C car is moved out to original state by A mobile robot.
Be more than while realizing in vehicle parking process ，Dang parking lot by two mobile robot's dollies that ranks are more, can complete by 3 or many mobile robot's dollies the access facility of vehicle.
Control operating principle of the present invention is:
1, the scheduling of vehicle access.As shown in Figure 3, when user sends bicycle parking or picks up the car request, the scheduling of vehicle access starts.Vehicle access controller can, according to the state of current vehicle access chamber, distribute corresponding vehicle access chamber to carry out this service.If bicycle parking, can be by for providing the vehicle access chamber of service to tell to user, user and then go to corresponding vehicle access chamber to carry out bicycle parking.If pick up the car, user knows and will from this vehicle access chamber, wait the vehicle of oneself.
2, the scheduling of bicycle parking position.As Fig. 4, Fig. 5, when the detection system work that bicycle parking user is stopped at car in vehicle access chamber and in vehicle access chamber complete, vehicle access server, according to the idle condition information of parking stall and user's bicycle parking classification in the weight of this car and dimension information, garage, calculates the parking stall that this car should be deposited.
3, mobile robot's scheduling.Mobile robot's scheduling is divided into bicycle parking scheduling and the scheduling of picking up the car.Important principle is to serve the most fast and safest service.After system obtains positional information that the vehicle in vehicle access chamber should deposit, client server can, by information of vehicles, comprise size and weight and answer deposit position information to send to Control Server.Control Server and then execution mobile robot's scheduling strategy.Difference according to circumstances, likely needs to dispatch many mobile apparatus person cooperative works.When client server sends to controller to pick up the car order, Control Server can be carried out mobile robot's the scheduling of picking up the car.What mobile robot's scheduling adopted is A star algorithm, and this algorithm, by according to the state of current parking stall, hunts out from the current path to impact point of mobile robot.
4, map match.As shown in Figure 6, map match is to facilitate user fast car to be parked on the pallet of vehicle access chamber and arrange.Vehicle access server, by being arranged in laser sensor and the video camera in vehicle access chamber, detecting in real time the position of vehicle and passes through parking stall display screen by the picture disply of the virtual and pallet of car out, intuitively points out to user.
5, vehicle classification.As shown in Figure 7, after vehicle stop, vehicle access server is started working, be used for vehicle to carry out dimension survey, vehicle access server adopts advanced visual processes algorithm, identifies automatically the dimension information of car, and reports to the client server of car server scheduling layer.
6, mobile robot's motion control.Moveable robot movement state is subject to the commander of parking lot intelligent control system at any time, parking lot intelligent control system is passed to dolly by target carriage bit address at any time, so-called target carriage bit address is exactly the destination address of the Quick Response Code mark composition of parking tier terrestrial network form magnetic force lead-in wire and lead-in wire intersection, dolly obtains after destination address, by according to the state of current parking stall, hunt out from the current path to impact point of mobile robot's dolly, and according to the difference of the destination path calculating, determine and need to dispatch the collaborative work of many mobile robot's dollies, determine and continue to keep straight on, or lateral displacement Huo Zuo original place, original place rotatablely moves.
It is emphasized that; embodiment of the present invention is illustrative; rather than determinate; therefore the present invention is not limited to the embodiment described in the specific embodiment; every other embodiments that drawn by those skilled in the art's technical scheme according to the present invention, belong to the scope of protection of the invention equally.
Claims (7)
1. the automatic parking system based on mobile robot's dolly, it is characterized in that: comprise parking lot, mobile robot's dolly and parking lot intelligent control system, on ground, parking lot, be provided with multirow parking space, multiple row parking space and mobile robot's dolly revolution space, on ground, parking lot, be laid with the vehicle guidance device of non-rail mounted, in parking lot, be provided with vehicle access chamber and central control room, parking lot intelligent control system is installed in central control room and is connected with vehicle access chamber with mobile robot's dolly, mobile robot's dolly is under the control of parking lot intelligent control system, picking-up treats that access vehicle carries out vehicle access,
Described mobile robot's dolly consists of car body, the lifting gear that is arranged on the close-coupled universal movement mechanism of car body soffit and is arranged on car body upper surface; The quantity of the close-coupled universal movement mechanism that every mobile robot's dolly is equipped with is at least one; Mobile robot's dolly can hold up treats that access vehicle moves along vehicle guidance device optional position in parking lot, and the motion that mobile robot's dolly is done comprises the rectilinear motion of any direction, the curvilinear motion of any direction and original place radius rotatablely move;
Described close-coupled universal movement mechanism comprises support chassis, rotating shaft, two motors, two sets of transmission mechanism, two pairs of wheel bearings and two wheels, the lower end of rotating shaft is vertically packed on the center of support chassis, two motors, two sets of transmission mechanism, two pairs of wheel bearing symmetries are packed in the upper surface of support chassis, two motors are positioned at the rotating shaft both sides perpendicular to the plane of rotating shaft, two wheels lay respectively at perpendicular in the plane of rotating shaft with motor vertical other both sides of rotating shaft each other, and be arranged on respectively in the wheel groove that support chassis is provided with by two pairs of wheel bearings, one end of two motors is all provided with code-disc, the other end of two motors is connected with transmission mechanism separately respectively, two cover drive mechanisms link together with wheel separately respectively, rotating shaft upper end is sleeved in shaft bearing, and this shaft bearing is solidly installed by car body terminal pad and car body, in the top of rotating shaft, is fixedly mounted with a code-disc.
2. a kind of automatic parking system based on mobile robot's dolly according to claim 1, is characterized in that: described parking lot comprises between multilayer ，Mei Ceng parking lot and is provided with elevator.
3. a kind of automatic parking system based on mobile robot's dolly according to claim 1 and 2, is characterized in that: described vehicle guidance device adopts visual guidance mode, electromagnetism guide mode, optical navigation mode or inertial guide mode to guide mobile robot's dolly is guided.
4. a kind of automatic parking system based on mobile robot's dolly according to claim 3, it is characterized in that: described visual guidance mode is: on ground, parking lot, lay the colour band for visual guidance, orthogonal two lines that this colour band is each parking space central point also interconnect, and are provided with ground two-dimensional code mark point as parking stall measure point in colour band crosspoint; Described electromagnetism guide mode is: on the driving path of mobile robot's dolly, bury wire underground and load pilot frequency at wire, mobile robot, be equipped with frequency detection module, by the identification of pilot frequency is realized to the guiding to mobile robot; Described optical navigation mode is: japanning or paste colour band on the driving path of mobile apparatus dolly, by the video camera of mobile robot's dolly is adopted into colour bar pattern picture signals process and realize guiding; Described inertial guide mode: on the ground of the running region of mobile apparatus dolly, Quick Response Code mark is installed, on mobile robot's dolly, gyroscope is installed, movable parking field intelligence control system by the calculating of gyroscope deviation signal and by Quick Response Code code reader to the identification of ground Quick Response Code sign determine self position and course to realize guidance function.
5. a kind of automatic parking system based on mobile robot's dolly according to claim 1, is characterized in that: described lifting gear is connected and composed by elevating mechanism and two inner hydraulic cylinders thereof, by Driven by Hydraulic Cylinder elevating mechanism, is risen or is fallen.
6. a kind of automatic parking system based on mobile robot's dolly according to claim 1 and 2, it is characterized in that: described vehicle access chamber is comprised of teller console, pallet, parking stall display screen, vehicles while passing mouth, mobile robot's import and export, laser sensor, image pick-up device, teller console, parking stall display screen, laser sensor, image pick-up device are connected and realize map match and user's classification feature with vehicle access server in central control room respectively; Teller console is arranged on doorway, vehicle access chamber place and car owner is inputted to password carries out authentication; Pallet is treated access vehicle for parking in the middle of being positioned at vehicle access room floor; Before and after pallet, on the wall of access chamber, have vehicles while passing mouth and the import and export of mobile robot's dolly; On the surroundings wall of vehicle access chamber and between vehicle body and pallet, ground level is horizontally installed with 8 laser sensors, and the distance between every two laser sensors holds tightly four limits of pallet; Video camera is arranged on the centre position at top, vehicle access chamber, treats access vehicle and send vehicle access server to for taking pictures; Parking stall display screen is arranged on the access chamber wall on top, pallet dead ahead for showing map match information.
7. a kind of automatic parking system based on mobile robot's dolly according to claim 1 and 2, it is characterized in that: described parking lot intelligent control system is connected and composed by man-machine interface layer, service dispatch layer, execution level three layer construction, this man-machine interface layer comprises teller console and caretaker operating side, this service dispatch layer comprises client server, Control Server, vehicle access server, and this execution level comprises mobile robot's dolly, vehicle access chamber and elevator.
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