CN103291102B - Based on vehicle access control system and the method thereof in nothing driving passage parking lot - Google Patents
Based on vehicle access control system and the method thereof in nothing driving passage parking lot Download PDFInfo
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Abstract
The present invention relates to a kind of vehicle access control system based on nothing driving passage parking lot and method thereof, its technical characterstic is: this system comprises without driving passage parking lot and parking lot intelligent control system, described nothing driving passage parking lot comprises the effective parking stall for parking cars, for moving vehicle transfer empty parking space and be arranged on access, parking lot vehicle access between, described parking method according in parking lot from inner order outwards by storing cycle on effective parking stall, described method of picking up the car adopt arrange minimum rotary unit starting point is rotated together with transfer empty parking space move to the minimum rotary unit of the next one ring chain on.Reversing demand under the most complicated for parking lot, most extreme case adopts the method for predefined step to be stored in advance in dispatch server by the present invention, during onsite application, according to actual conditions, directly call result of calculation, and do not need to recalculate, eliminate the computing time of reversing pilot process, effectively improve vehicle access efficiency.
Description
Technical field
The invention belongs to parking lot control field, especially a kind of vehicle access control system based on nothing driving passage parking lot and method thereof.
Background technology
Along with the fast development of automobile industry, existing parking lot quantity wretched insufficiency, causes the problem of parking difficulty.In order to solve the problem of parking difficulty, parking lot is first it is envisioned that developed to high-altitude by people, make full use of existing space area to increase parking stall, although this mode largely solves the problem of ground space wretched insufficiency, but the thing followed is the cost of mechanical vehicle parking system costliness, dynamic then millions of, cause people too far behind to catch up.For this reason, people continue the solution finding other, to tap the latent power new resource: such as, someone proposes, the driving aisle spare beyond storage area, existing parking lot can be utilized to increase parking stall? according to investigations, current parking lot is all generally the conventional sense layout structure of surrounding with special driving passage, the driving designated lane of this conventional sense layout structure occupies parking lot 1/2nd or one-third of the area nearly, if this block area can be saved or reduces significantly, parking stall will be increased exponentially, solve the contradiction of parking stall deficiency.But thing followed new problem is: once cancel or significantly reduce parking lot driving passage, full when running into parking position, and when there is no a Special running passage, how will be stored in; Is innermost vehicle poured out? how to realize automation reversing? the unconventional parking lot how layout and adopt what backing method that these problems all will relate to without driving passage.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, there is provided a kind of reasonable in design, save space its efficiency high based on without the vehicle access control system in driving passage parking lot and method thereof, in order to solve the parking lot Transport Vehicle problem without driving passage parking lot.
The present invention solves its technical problem and takes following technical scheme to realize:
A kind of based on the vehicle access control system without driving passage parking lot, comprise without driving passage parking lot and parking lot intelligent control system, described nothing driving passage parking lot comprises the effective parking stall for parking cars, for moving vehicle transfer empty parking space and be arranged on access, parking lot vehicle access between, described parking lot intelligent control system comprises the user operation end be arranged between vehicle access, be arranged on the dispatch server of central control room, be arranged on mobile robot's dolly and the vehicle tray in parking lot, dispatch server is connected for receiving operational order with user operation end, dispatch server the be connected mobile controlling functions that realize mobile robot dolly little of mobile robot.
And described mobile robot's dolly is made up of car body, the universal movement mechanism being arranged on car body soffit and the lifting gear that is arranged on car body upper surface.
And described is the square structure that transverse and longitudinal arranges without driving passage parking lot, or is triangular structure.
And the position of described transfer empty parking space is change and is parking stall any in parking lot, and described transfer empty parking space is at least 1, and this transfer empty parking space is square or circular.
Based on a parking method for the vehicle access control system without driving passage parking lot, comprise the following steps:
Step 1: parking lot intelligent control system control mobile robot dolly according in parking lot from inner order outwards by storing cycle on effective parking stall;
Step 2: after taking vehicle away, parking lot intelligent control system control mobile robot dolly according in parking lot from inner order outwards by storing cycle on effective parking stall.
And, the concrete grammar of described step 1 is: first, treat on the vehicle tray that bicycle parking is parked in vehicle access, then, mobile robot's dolly pierces below vehicle tray and jack-up vehicle tray and vehicle above thereof are up in the region of clear walks to arrive on effective parking stall of specifying, vehicle tray and vehicle thereof are placed on effective parking stall, and finally, mobile robot's dolly is withdrawn; The concrete grammar of described step 2 is: mobile robot's dolly pierces below vehicle tray to be moved and jack-up vehicle tray and vehicle above thereof are up in the region of clear walks to arrive on effective parking stall of specifying, vehicle tray and vehicle thereof are placed on effective parking stall, finally, mobile robot's dolly is withdrawn.
Based on a method of picking up the car for the vehicle access control system without driving passage parking lot, comprise the following steps:
Step 1, parking lot intelligent control system predefine a parking lot layout's structure without driving passage;
Step 2, parking lot intelligent control system move car mode according to parking lot layout's structure definition;
Parking lot layout's structure of step 1 associates with the car mode of moving of step 2 by step 3, parking lot intelligent control system, production Methods database;
Step 4, parking lot intelligent control system generate according to the relational data structure of step 3 task scheme of picking up the car;
Step 5, parking lot intelligent control system control mobile robot's dolly according to task scheme of picking up the car and perform task of picking up the car.
And described step 2 comprises following processing procedure:
(1) determine to be moved the starting point of vehicle and impact point and the walking path from starting point to impact point;
(2) minimum rotary unit is set along walking path order;
(3) insert a transfer empty parking space to the minimum rotary unit of current active;
Current active and with the minimum rotary unit of transfer empty parking space starting point rotated together with transfer empty parking space move to the minimum rotary unit of the next one ring chain on, circulation performs this step until wait to pick up the car and arrive an impact point.
And described minimum rotary unit is made up of, comprising at least one transfer parking stall 2 row 2 row 4 parking stalls.
And the working method of described minimum rotary unit is: 4 parking stalls form a ring chain, transmits vehicle by mobile robot's dolly transfer empty parking space wherein thus realize the rotary rolling advance of vehicle.
Advantage of the present invention and good effect are:
1, the present invention by arranging between effective parking space, transfer parking space, vehicle access to parking lot, mobile robot's dolly and parking lot intelligent control system, achieve the function of the vehicle access in the parking lot very narrow without Special running passage, space, contrast traditional parking lot layout's structure, owing to solving without the vehicle pass-through problem under Special running channel case, parking stall stores area ratio and originally added more than 1/3rd.
2, the present invention adopts the design philosophy of Chinese chess computer game, the method of predefined step is adopted to be stored in advance in dispatch server the reversing demand under the most complicated for parking lot, most extreme case, during onsite application, according to actual conditions, directly call result of calculation, and do not need to recalculate, eliminate the computing time of reversing pilot process, effectively improve vehicle access efficiency.
Accompanying drawing explanation
Fig. 1-1 is the first nothing driving passage parking lot layout structure of the present invention;
Fig. 1-2 is that the second of the present invention is without driving passage parking lot layout structure;
Fig. 2 is parking lot intelligent control system schematic diagram of the present invention;
Fig. 3-1 is minimum unit transverse and longitudinal moving method schematic diagram (the first layout structure);
Fig. 3-2 is chain type moving method schematic diagram (the first layout structure);
Fig. 3-3 is minimum unit mixing moving method schematic diagram (the first layout structure);
Fig. 4 is for insert 1 transfer empty parking space schematic diagram (the first layout structure) at the 1st rotary unit;
Fig. 5 is the 1st rotary unit original state schematic diagram (the first layout structure);
Fig. 6 is the 1st rotary unit done state schematic diagram (the first layout structure);
Fig. 7 is the 2nd rotary unit original state schematic diagram (the first layout structure);
Fig. 8 is the 2nd rotary unit done state schematic diagram (the first layout structure);
Fig. 9 is the 3rd rotary unit original state schematic diagram (the first layout structure);
Figure 10 is the 3rd rotary unit done state schematic diagram (the first layout structure);
Figure 11 is the 4th rotary unit original state schematic diagram (the first layout structure);
Figure 12 is the 4th rotary unit done state schematic diagram (the first layout structure);
Figure 13 is the schematic diagram of the second layout structure determination starting point and impact point;
Figure 14 is the schematic diagram (the second layout structure) No. 4 cars being moved to transfer empty parking space;
Figure 15 is the schematic diagram (the second layout structure) No. 3 cars being moved to No. 4 parking stalls;
Figure 16 is the schematic diagram (the second layout structure) No. 2 cars being moved to No. 3 parking stalls;
Figure 17 is the schematic diagram (the second layout structure) No. 4 cars being moved to No. 2 parking stalls;
Figure 18 is the schematic diagram (the second layout structure) that dolly original place is shifted out to anticlockwise;
Figure 19 is move mode of the present invention association subtask and traffic route schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the embodiment of the present invention is further described:
A kind of based on the vehicle access control system without driving passage parking lot, comprise without driving passage parking lot and parking lot intelligent control system, the described layout structure without driving passage parking lot as Figure 1-1, comprise the effective parking stall for parking cars, between transfer empty parking space and vehicle access, described is the square structure that transverse and longitudinal arranges without driving passage parking lot, or be triangular structure, described transfer empty parking space is at least 1, and this transfer empty parking space is square or circular.In the present embodiment, this parking lot is the square structure that 4 row 4 arrange totally 16 parking stalls, wherein 14 effective parking stalls can be used for parking cars, a parking stall is as the vehicle in and out port being arranged on parking lot between vehicle access, a transfer empty parking space is used for transmitting vehicle temporarily, and the position of this transfer empty parking space is not fixed.Described parking lot intelligent control system, as shown in Figure 2, comprise and be arranged on the user operation end between vehicle access, the dispatch server being arranged on central control room, the mobile robot's dolly being arranged on parking lot and vehicle tray, dispatch server is connected for receiving operational order with user operation end, dispatch server the be connected mobile controlling functions that realize mobile robot dolly little of mobile robot.Described mobile robot's dolly and vehicle tray adopt at first patent application (number of patent application 201210023657.0 respectively, patent name: a kind of automatic parking system based on mobile robot's dolly) mobile robot's dolly and pallet, this mobile robot's dolly is made up of car body, the universal movement mechanism being arranged on car body soffit and the lifting gear that is arranged on car body upper surface, described vehicle tray support ground by four pallet legs and four pallet legs a little more than the height of mobile robot's dolly.Mobile robot's dolly, when task is picked up the car in execution, performs in the following way: mobile robot's dolly pierces below vehicle tray and vehicle on jack-up vehicle tray and vehicle tray is walked on the region of clear.
Also have another layout structure without driving passage parking lot, as shown in Figure 1-2, this parking lot is triangle, and the vehicle of the inside must turn in a circle after empty parking space turns around and can move to outlet.
Based on the parking method without driving passage parking lot, comprise the following steps:
Step 1: parking lot intelligent control system control mobile robot dolly according in parking lot from inner order outwards by storing cycle on effective parking stall;
Concrete grammar is: first, treat on the vehicle tray that bicycle parking is parked in vehicle access, then, mobile robot's dolly pierces below vehicle tray and jack-up vehicle tray and vehicle above thereof are up in the region of clear walks to arrive on effective parking stall of specifying, vehicle tray and vehicle thereof are placed on effective parking stall, finally, mobile robot's dolly is withdrawn.
Step 2: after taking vehicle away, parking lot intelligent control system control mobile robot dolly according in parking lot from inner order outwards by storing cycle on effective parking stall.
Concrete grammar is: mobile robot's dolly pierces below vehicle tray to be moved and jack-up vehicle tray and vehicle above thereof are up in the region of clear walks to arrive on effective parking stall of specifying, vehicle tray and vehicle thereof are placed on effective parking stall, finally, mobile robot's dolly is withdrawn.
Based on the method for picking up the car without driving passage parking lot, comprise the following steps:
Step 1, parking lot intelligent control system predefine a parking lot layout's structure without driving passage.
Parking lot layout's structure without driving passage comprises as Fig. 1-1, Fig. 1-2 are depicted as two kinds of layout structures without driving passages, and layout structure is according to the quantity of transfer parking stall in parking lot, position, shape definition.Wherein, the feature of the structure of parking lot layout shown in Fig. 1-1 is: multiple lines and multiple rows, and level is deep, outlet only have 1 and outlet in the lower right corner; The feature of the structure of parking lot layout shown in Fig. 1-2 is: parking lot is triangle, and the vehicle of the inside must turn in a circle after empty parking space turns around and can move to outlet.Never only these two kinds, the nothing driving passage of actual conditions.But, mentality of designing of the present invention can be adopted to solve the problem of picking up the car of vehicle with or without the parking lot of driving passage.
Step 2, parking lot intelligent control system move car mode according to parking lot layout's structure definition.Specifically comprise following process:
(1) determine to be moved the starting point of vehicle and impact point and the walking path from starting point to impact point;
(2) minimum rotary unit is set along walking path order;
Described minimum rotary unit is made up of 2 row 2 row 4 parking stalls, and wherein there is car 3 parking stalls, 1 parking stall is transfer empty parking space.The working method of minimum rotary unit is: 4 parking stalls form a ring chain, transmits vehicle thus realize the rotary rolling advance of vehicle by mobile robot's dolly transfer empty parking space wherein.Ring chain can turn clockwise, and also can be rotated counterclockwise;
(3) insert a transfer empty parking space to the minimum rotary unit of current active;
Current active and with the minimum rotary unit of transfer empty parking space starting point rotated together with transfer empty parking space move to the minimum rotary unit of the next one ring chain on, circulation performs this step until wait to pick up the car and arrive an impact point.
Move car mode to two kinds without the structure definition of driving passage parking lot layout to be below described respectively:
For the first shown in Fig. 1-1 without driving passage parking lot layout structure, if move out by innermost No. 1 car, can have 3 kinds of ways: shown in Fig. 3-1 is minimum unit transverse and longitudinal Mobile Method, this kind of method is the most succinct, be one preferred embodiment.Shown in Fig. 3-2 is chain method, chain has 10 cars, often moves 1 whole chain in parking stall and all follows movement, count 1 circle 10 times, and when moving on to No. 12 cars from No. 1 car, need altogether to move 5 parking stalls, whole chain needs to move 5 circles altogether, amounts to 50 times.Shown in Fig. 3-3 is minimum unit mixing Mobile Method, although mobile number of times is reduced to tens times, the process of transfer empty parking space is directly perceived not.
The present embodiment illustrates for the minimum unit transverse and longitudinal Mobile Method that Fig. 3-1 provides and moves car mode:
(1) determine to be moved the starting point of vehicle and impact point and the walking path from starting point to impact point;
As Figure 1-1, vehicle is moved to No. 12 parking stalls from No. 1 parking stall and by picking up the car between vehicle access, No. 1 car is starting point, No. 12 cars are impact point, i.e. its walking Lu Jingwei 1 → 2 → 3 → 4 → 8 → 12;
(2) several adjacent minimum rotary units are set along walking path order;
Set up 4 minimum rotary units along walking path, as shown in figure 3-1, from left to right set up 4 rotary units, be respectively the 1st rotary unit, the 2nd rotary unit, the 3rd rotary unit, the 4th rotary unit; 1st rotary unit comprises starting point 1, and last 1 rotary unit comprises impact point 12;
(3) insert a transfer empty parking space to the minimum rotary unit of current active;
As shown in Figure 4, a transfer empty parking space is inserted: middle 4 parking stalls form a transfer empty parking space rotary unit by with No. 6 cars of vehicle tray, No. 10 cars, No. 11 cars and transfer empty parking spaces to the minimum rotary unit of current active, after transfer empty parking space rotary unit is rotated counterclockwise 90 degree, transfer empty parking space is presented to the 1st rotary unit, now, No. 1 car, No. 2 cars, No. 5 cars, transfer empty parking space constitute the original state of the 1st rotary unit, as shown in Figure 5.
(4) starting point and the rolling of transfer empty parking space are moved out on the ring chain of next minimum rotary unit by the minimum rotary unit with transfer empty parking space;
After 1st rotary unit rotates, form the 1st rotary unit done state as shown in Figure 6: No. 1 car, No. 2 cars, transfer empty parking space, No. 5 cars move 4 parking stalls clockwise, starting point No. 1 car is moved to No. 2 parking stalls, transfer empty parking space is moved on the ring chain of next minimum rotary unit, next ring chain forms by with No. 1 car of vehicle tray, No. 3 cars, No. 11 cars, transfer empty parking spaces, now, 1st group rotates to be done state, simultaneously, 1st group rotates to be the original state that done state is also the 2nd group of rotary unit, as shown in Figure 7.
After 2nd rotary unit rotates, form the 2nd rotary unit done state as shown in Figure 8: No. 1 car, No. 3 cars, No. 11 cars, transfer empty parking space is mobile 4 parking stalls clockwise, starting point is moved to No. 3 parking stalls of original state, transfer empty parking space is moved on the ring chain of next minimum rotary unit, next ring chain is by No. 1 car with vehicle tray, No. 4 cars, No. 8 cars, transfer empty parking space forms, now, 2nd group of rotary unit is done state, simultaneously, the original state of its 2nd group of rotary unit to be done state be also the 3rd rotary unit, as shown in Figure 9.
After 3rd rotary unit rotates, form the 3rd rotary unit done state as shown in Figure 10: No. 1 car, No. 4 cars, No. 8 cars, transfer empty parking space is mobile 4 parking stalls clockwise, starting point is moved to No. 8 parking stalls of original state, transfer empty parking space is moved on the ring chain of next minimum rotary unit, next ring chain is by No. 1 car with vehicle tray, No. 12 cars, No. 10 cars, transfer empty parking space forms, now, 3rd group of rotary unit is done state, simultaneously, the original state of the 3rd rotary unit to be done state be also the 4th rotary unit, as shown in Figure 10.
After 4th rotary unit rotates, form the 4th rotary unit done state as shown in figure 12: No. 1 car, No. 12 cars, No. 10 cars, transfer empty parking spaces move 4 parking stalls clockwise, starting point No. 1 car is moved to No. 12 parking stalls of original state, No. 12 parking stalls are also impact point, No. 1 car will sail between the vehicle access of parking lot from No. 12 parking stalls, wait for that car owner picks up the car.
For the second shown in Fig. 1-2 without driving passage parking lot layout structure, if No. 3 cars will be shifted out, then:
(1) No. 2 cars, No. 3 cars, No. 4 cars, transfer empty parking spaces are formed a minimum rotary unit, determine starting point and impact point, starting point is No. 3 cars, and impact point imports and exports, as shown in figure 13;
(2) No. 4 cars are moved to transfer empty parking space, as shown in figure 14, No. 3 cars are moved to No. 4 parking stalls, as shown in figure 15, No. 2 cars are moved to No. 3 parking stalls, as shown in figure 16, No. 4 cars are moved to No. 2 parking stalls, as shown in figure 17, now, No. 4 parking stalls are empty, transfer empty parking space No. 3 car original places are rotated a certain angle left, keep consistent with the direction of vehicles while passing mouth, then roll parking lot away from, as shown in figure 18.
Parking lot layout's structure of step 1 associates with the car mode of moving of step 2 by step 3, parking lot intelligent control system, production Methods database;
Without the relational database of driving passage parking lot layout structure, the expression way for one-to-many: the corresponding multiple move mode of each parking lot layout's structure, the corresponding respective starting point of each move mode and impact point; With relational database, they are coupled together, and store, when needing, called by respective kind numbering and serial number.
Step 4, parking lot intelligent control system generate according to the relational data structure of step 3 task scheme of picking up the car;
As shown in figure 19, the task of picking up the car comprises several subtasks, and such as No. 1 car moves No. 12 parking stalls from No. 1 parking stall needs through 5 parking stalls: 2,3,4,8,12, has 4 subtasks: 1 → 2,1 → 3; 1 → 8,1 → 12, bus or train route line and return route are moved in above each subtask respectively corresponding several, all subtasks and move bus or train route line and reversing route forms task scheme.
Step 5, parking lot intelligent control system control mobile robot's dolly according to task scheme of picking up the car and perform task of picking up the car.
Parking lot intelligent control system, as shown in Figure 2, parking lot intelligent control system is divided into human-machine interface layer, service dispatch layer, execution level, when user picks up the car, authentication is carried out in the user operation terminal of human-machine interface layer, parking lot intelligent control system obtains the starting point and the impact point that are moved vehicle according to the identification number of user, search move mode, then search corresponding feasible backing method by move mode according to starting point and impact point.
It is emphasized that; embodiment of the present invention is illustrative; instead of it is determinate; therefore the present invention is not limited to the embodiment described in detailed description of the invention; every other embodiments 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 (3)
1. the vehicle access control system based on nothing driving passage parking lot, comprise without driving passage parking lot and parking lot intelligent control system, it is characterized in that: described without driving passage parking lot comprise the effective parking stall for parking cars, minimum rotary unit and be arranged on access, parking lot vehicle access between; Described parking lot intelligent control system comprises and is arranged on the user operation end between vehicle access, the dispatch server being arranged on central control room, the mobile robot's dolly being arranged on parking lot and vehicle tray, dispatch server is connected for receiving operational order with user operation end, dispatch server the be connected mobile controlling functions that realize mobile robot dolly little of mobile robot;
Described minimum rotary unit is made up of, comprising at least one transfer empty parking space 2 row 2 row 4 parking stalls; The working method of described minimum rotary unit is: 4 parking stalls form a ring chain, transmits vehicle thus realize the rotary rolling advance of vehicle by mobile robot's dolly transfer empty parking space wherein;
The transfer empty parking space of described minimum rotary unit can be any parking stall in parking lot, and described any parking stall comprises the reserved empty parking space of minimum rotary unit original state, or the operating random empty parking space of minimum rotary unit, and this parking stall comprises square or circular;
Described nothing driving passage parking lot is the square structure of the transverse and longitudinal arrangement without driving passage, or is the triangular structure of nothing driving passage.
2. according to claim 1 based on the vehicle access control system without driving passage parking lot, it is characterized in that: described mobile robot's dolly is made up of car body, the universal movement mechanism being arranged on car body soffit and the lifting gear that is arranged on car body upper surface.
3., as claimed in claim 1 or 2 based on a method of picking up the car for the vehicle access control system without driving passage parking lot, it is characterized in that: comprise the following steps:
Step 1, parking lot intelligent control system predefine a parking lot layout's structure without driving passage;
Step 2, parking lot intelligent control system move car mode according to parking lot layout's structure definition;
Comprise following processing procedure:
(1) determine to be moved the starting point of vehicle and impact point and the walking path from starting point to impact point, described walking path comprises starting point and impact point not at the walking path of the two dimensional surface of same a line or same row;
(2) arrange along walking path order and be moved the minimum rotary unit of vehicle from starting point to impact point, the number that described setting is moved the minimum rotary unit of vehicle from starting point to impact point is greater than 1;
(3) insert a transfer empty parking space to the minimum rotary unit of current active;
Current active and starting point rotary rolling together with transfer empty parking space moves on the ring chain of the minimum rotary unit of the next one by minimum rotary unit with transfer empty parking space, circulation performs this step until wait to pick up the car and arrive an impact point;
The method of described rotary rolling is: current active and starting point rotary rolling together with transfer empty parking space moves on the side line of the ring chain of the minimum rotary unit of the next one by minimum rotary unit with transfer empty parking space; Described side line is the initiating terminal along the next minimum rotary unit of path direction;
Parking lot layout's structure of step 1 associates with the car mode of moving of step 2 by step 3, parking lot intelligent control system, production Methods database;
Step 4, parking lot intelligent control system generate according to the relational data structure of step 3 task scheme of picking up the car;
Step 5, parking lot intelligent control system control mobile robot's dolly according to task scheme of picking up the car and perform task of picking up the car.
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