CN106760799B - A kind of intelligent sliding vehicle System and method for - Google Patents
A kind of intelligent sliding vehicle System and method for Download PDFInfo
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- CN106760799B CN106760799B CN201710040398.5A CN201710040398A CN106760799B CN 106760799 B CN106760799 B CN 106760799B CN 201710040398 A CN201710040398 A CN 201710040398A CN 106760799 B CN106760799 B CN 106760799B
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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
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
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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
- E04H6/42—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
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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
- E04H6/42—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
- E04H6/424—Positioning devices
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Abstract
The invention belongs to technical field of intelligent equipment, provide a kind of intelligent sliding vehicle System and method for.In the present invention, by using the intelligent sliding vehicle systems for including four independent shifting vehicle devices, so that when one of shifting vehicle device is that master control moves vehicle device, the master control moves vehicle device requests four shifting vehicle devices collaborations of control that target vehicle is moved to target parking stall according to vehicle is moved, realize intelligent sliding vehicle, and accurate dispensing when parking efficiency and parking is further improved, solve the problems, such as that the mode that existing artificial driving vehicle stops has parking low efficiency and is easy to influence other normal vehicle operations because not resting in suitable parking position or park.
Description
Technical field
The invention belongs to technical field of intelligent equipment more particularly to a kind of intelligent sliding vehicle System and method fors.
Background technique
As the improvement of people's living standards, more and more people start to possess one's own vehicle, so lead to vehicle
Quantity constantly increases.Inevitably, increasing with various types of vehicles quantity, when people are carried out by artificially driving vehicle
It is easy to bring inconvenience to urban transportation and parked vehicles when parking, for example, because the personal driving technology of driver is horizontal
Difference causes low, parking stall the waste of parking efficiency and vehicle when not being accommodated to suitable place to other vehicles
Normally travel or the problems such as influence caused by parking.
In conclusion there is parking low efficiency and be easy because not stopping in the mode that existing artificial driving vehicle stops
The problem of suitable parking position influences other normal vehicle operations or parks.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent sliding vehicle System and method fors, it is intended to solve existing artificial driving vehicle
There is parking low efficiency and be easy to influence other vehicles because not resting in suitable parking position normal in the mode stopped
The problem of travelling or parking.
The invention is realized in this way a kind of intelligent sliding vehicle system, including four independent shifting vehicle devices, to target carriage
When carrying out shifting vehicle, a shifting vehicle device and three shifting vehicle devices in four shiftings vehicle device are respectively that master control moves vehicle device
Vehicle device is moved with from control；
The master control moves the shifting vehicle that vehicle device is sent according to user and requests to move the transmission control of vehicle device from control to described in three
Instruction；The shifting vehicle request includes vehicle position information and parking space information corresponding to target vehicle；
The master control is moved and is moved to and the vehicle described in vehicle device and three from control shifting vehicle device according to the control instruction
The corresponding position of location information, and the target vehicle is identified, vehicle device is moved by recognition result from control described in three
It feeds back to the master control and moves vehicle device；
The master control moves vehicle device and generates lifting location information according to the recognition result, and by the lifting location information
Distribution moves vehicle device from control to described in three；
The master control is moved and is moved to accordingly described in vehicle device and three from control shifting vehicle device according to the lifting location information
Lifting position at, and determine the lifting supporting point of the target vehicle, it is anti-by definitive result from control to move vehicle device described in three
It is fed to the master control and moves vehicle device；
The master control moves vehicle device and lifts according to definitive result control three from control shifting vehicle device conjunction with which
The target vehicle, and movement routine is calculated according to the vehicle position information and the parking space information, and according to the movement
Coordinates measurement movement directive moves vehicle device from control to described in three；
The master control moves and moves vehicle device according to the mobile mesh of movement directive collaboration from control described in vehicle device and three
Vehicle is marked, and carries out detection of obstacles, the distance and bearing detection with target parking stall in moving process, is moved described in three from control
Vehicle device moves vehicle device to the master control and feeds back testing result, is believed so that the master control moves vehicle device according to the barrier of feedback
Breath, range information and azimuth information correct the movement routine, and when the target vehicle reaches the target parking stall,
Vehicle device, which is moved, from control described in three moves vehicle device feedback arrival information to the master control；
The master control shifting vehicle device is placed instruction according to arrival information generation vehicle and is filled to described in three from control shifting vehicle
It sets；
The master control, which moves to be placed from control shifting vehicle device according to the vehicle described in vehicle device and three, instructs collaboration to put down institute
Berth is returned to after stating target vehicle.
Another object of the present invention also resides in a kind of intelligent sliding vehicle method based on above-mentioned intelligent sliding vehicle system that provides, described
Intelligent sliding vehicle method includes:
The master control moves the shifting vehicle that vehicle device is sent according to user and requests to move the transmission control of vehicle device from control to described in three
Instruction；The shifting vehicle request includes vehicle position information and parking space information corresponding to target vehicle；
The master control is moved and is moved to and the vehicle described in vehicle device and three from control shifting vehicle device according to the control instruction
The corresponding position of location information, and the target vehicle is identified, vehicle device is moved by recognition result from control described in three
It feeds back to the master control and moves vehicle device；
The master control moves vehicle device and generates lifting location information according to the recognition result, and by the lifting location information
Distribution moves vehicle device from control to described in three；
The master control is moved and is moved to accordingly described in vehicle device and three from control shifting vehicle device according to the lifting location information
Lifting position at, and determine the lifting supporting point of the target vehicle, it is anti-by definitive result from control to move vehicle device described in three
It is fed to the master control and moves vehicle device；
The master control moves vehicle device and lifts according to definitive result control three from control shifting vehicle device conjunction with which
The target vehicle, and movement routine is calculated according to the vehicle position information and the parking space information, and according to the movement
Coordinates measurement movement directive moves vehicle device from control to described in three；
The master control moves and moves vehicle device according to the mobile mesh of movement directive collaboration from control described in vehicle device and three
Vehicle is marked, and carries out detection of obstacles, the distance and bearing detection with target parking stall in moving process, is moved described in three from control
Vehicle device moves vehicle device to the master control and feeds back testing result, is believed so that the master control moves vehicle device according to the barrier of feedback
Breath, range information and azimuth information correct the movement routine, and when the target vehicle reaches the target parking stall,
Vehicle device, which is moved, from control described in three moves vehicle device feedback arrival information to the master control；
The master control shifting vehicle device is placed instruction according to arrival information generation vehicle and is filled to described in three from control shifting vehicle
It sets；
The master control, which moves to be placed from control shifting vehicle device according to the vehicle described in vehicle device and three, instructs collaboration to put down institute
Berth is returned to after stating target vehicle.
In the present invention, by using including four independent intelligent sliding vehicle systems for moving vehicle device, so that ought wherein one
When a shifting vehicle device is that master control moves vehicle device, which moves vehicle device and controls four shifting vehicle device collaborations for mesh according to vehicle request is moved
Mark vehicle is moved to target parking stall, realizes intelligent sliding vehicle, and further improves accurate dispensing when parking efficiency and parking,
It solves the mode that existing artificial driving vehicle stops to there is parking low efficiency and be easy suitably to stop because not resting in
Truck position and the problem of influence other normal vehicle operations or park.
Detailed description of the invention
Fig. 1 is the modular structure schematic diagram of intelligent sliding vehicle system provided by one embodiment of the invention；
Fig. 2 is the modular structure schematic diagram of a shifting vehicle device in intelligent sliding vehicle system shown in FIG. 1；
Fig. 3 is the structural schematic diagram of target vehicle in intelligent sliding vehicle system provided by one embodiment of the invention；
Fig. 4 is the overlooking structure diagram of a shifting vehicle device in intelligent sliding vehicle system shown in FIG. 1；
Fig. 5 is the flow diagram of intelligent sliding vehicle method provided by one embodiment of the 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 further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Realization of the invention is described in detail below in conjunction with specific attached drawing:
Fig. 1 shows the modular structure of intelligent sliding vehicle system 1 provided by one embodiment of the invention, for ease of description,
Only parts related to embodiments of the present invention are shown, and details are as follows:
As shown in Figure 1, intelligent sliding vehicle system 1 provided by the embodiment of the present invention include four independent shifting vehicle devices 10,
11,12 and 13, and a device when carrying out shifting vehicle to target vehicle, in four shifting vehicle devices 10,11,12 and 13
It is respectively master control shifting vehicle device with three shifting vehicle devices and moves vehicle device from control；It should be noted that move vehicle in the present embodiment
Device 10 is master control shifting vehicle device and shifting vehicle device 11,12 and 13 is three and is illustrated for control shifting vehicle device, and
In other embodiments, moving vehicle device 11,12 and 13 can also be used as master control shifting vehicle device.
Wherein, master control move vehicle device 10 according to the shifting vehicle that user sends request to three from control shifting vehicle device 11,12 and
13 send control instruction；Moving vehicle request includes vehicle position information and parking space information corresponding to target vehicle.
Master control moves vehicle device 10 and three are moved vehicle device 11,12 and 13 from control and are moved to and vehicle position according to control instruction
Confidence ceases corresponding position, and identifies to target vehicle, and three anti-by recognition result from control shifting vehicle device 11,12 and 13
It is fed to master control and moves vehicle device 10.
Master control moves vehicle device 10 and generates lifting location information according to recognition result, and lifting location information is distributed to three
Vehicle device 11,12 and 13 is moved from control.
Master control moves vehicle device 10 and three are moved vehicle device 11,12 and 13 from control and are moved to accordingly according to lifting location information
Lifting position at, and determine the lifting supporting point of target vehicle, three are moved vehicle device 11,12 and 13 for definitive result from control
It feeds back to master control and moves vehicle device 10.
Master control moves vehicle device 10 and is lifted according to definitive result control three from control shifting vehicle device 11,12 and 13 conjunction with which
Target vehicle, and movement routine is calculated according to vehicle position information and parking space information, and movement directive is generated according to movement routine
Vehicle device 11,12 and 13 is moved to three from control.
Master control moves vehicle device 10 and three are moved vehicle device 11,12 and 13 from control and cooperate with mobile target carriage according to movement directive
, and detection of obstacles, the distance and bearing detection with target parking stall are carried out in moving process, three are moved vehicle device from control
11,12 and 13 the feedback testing result of vehicle device 10 is moved to master control, is believed so that master control moves vehicle device 10 according to the barrier of feedback
Breath, range information and azimuth information correct movement routine, and when target vehicle reaches target parking stall, three are moved vehicle from control
Device 11,12 and 13 moves the feedback of vehicle device 10 to master control and reaches information.
Master control move vehicle device 10 according to reach information generate vehicle place instruction to three from control move vehicle device 11,12 and
13。
Master control moves vehicle device 10 and three are moved vehicle device 11,12 and 13 from control and put down mesh according to vehicle placement instruction collaboration
Berth is returned to after mark vehicle.
It is worth noting that, in embodiments of the present invention, four shifting vehicle devices 10,11,12 and 13 can be by excellent
It first numbers, is also possible to not by number, when four shifting vehicle devices 10,11,12 and 13 are by preferential number, the volume
Number process can be operated by Background control, can also be moved vehicle device by master control and operate, and the master control move vehicle device can also be by backstage directly
Definition is connect, is also possible to four shifting vehicle devices 10,11,12 and 13 and is determined by competition.
In embodiments of the present invention, any one in four shifting vehicle devices in the intelligent sliding vehicle system moves vehicle device all
It can be used as master control shifting vehicle device and control other three shifting vehicle devices, and when master control moves vehicle device generation master control failure, it can
The function that master control is realized by other three shifting vehicle device substitutions, breaks down in addition, if any one moves vehicle device, is ok
The failure is removed from marshalling and moves vehicle device, and a new fault-free shifting vehicle device is added and moves vehicle device to replace failure, without
It is not available as causing entirely to move vehicle system, so that intelligent sliding vehicle system of the invention is compared to existing intelligent sliding vehicle
System reliability is high, strong flexibility and easy-maintaining.
In addition, intelligent sliding vehicle system is formed using four shifting vehicle devices, compared to the existing shifting vehicle using an entirety
Plate carries out shifting Che Eryan to vehicle, and four shifting vehicle devices can be moved flexibly, avoids causing vehicle during moving vehicle with this
Damage, and substantially reduce move the vehicle time.
Further, each shifting vehicle device can be identified by image recognition technology the lifting position of target vehicle with
And lifting supporting point, and it is lifted vehicle in vehicle lifting supporting point, and each shifting vehicle device can individually support vehicle
One lifting supporting point, for existing intelligent sliding vehicle system, each lifting position of vehicle only needs one
Vehicle device is moved, without two shifting vehicle device collective effects, reduces the number for moving vehicle device, reduces costs；This
Outside, since lifting supporting point is located at by the vehicle body of shifting vehicle, compared to existing intelligent sliding vehicle system, without two
It moves vehicle device and collective effect is carried out to realize the purpose of lifting vehicle, to avoid causing to damage to vehicle tyre to wheel tire.
Further, Fig. 2 shows the modular structure of a shifting vehicle device in intelligence system system provided by one embodiment of the invention,
For ease of description, only parts related to embodiments of the present invention are shown, and details are as follows:
Firstly, it is necessary to explanation, in embodiments of the present invention the structure phase of four shifting vehicle devices 10,11,12 and 13
Together.
Wherein, each shifting vehicle device includes main control module 100, subordinate control module 101, communication module 102, vision mould
Block 103, power module 104, locating module 105, lifting module 106 and motion module 107.
Power module 104 is used for move the power supply of vehicle device, and the power module 104 is chargeable；In the present embodiment, it adopts
Use chargeable power module 104 as the power supply unit for moving vehicle device, so that moving vehicle device can in the case where not enough power supply
It charges to berth.
When the shifting vehicle device belonging to the main control module 100 is that master control moves vehicle device 10, mould is controlled centered on main control module 100
Block, for by communication module 102 receive move vehicle request and subordinate control module 101 feed back recognition result, definitive result,
Testing result and reach information, and generate control instruction and lifting location information, calculate movement routine, corrigendum movement routine with
And it generates movement directive and places instruction with vehicle and corresponding control is sent to subordinate control module 101 by communication module 102
Instruction, lifting location information, movement directive and vehicle place instruction；The shifting vehicle device belonging to the main control module 100 is non-master
When control moves vehicle device 11,12 and 13, main control module 100 is used for the state by 102 listening center control module of communication module；
Communication module 102 is used between user and four shifting vehicle devices 10,11,12 and 13 and four shifting vehicle dresses
It sets and establishes communication connection between 10,11,12 and 13；
Subordinate control module 101 is used to receive the control instruction of Central Control Module transmission, lifting location information, mobile life
It enables and vehicle places instruction, and instruction is placed according to control instruction, lifting location information, movement directive and vehicle and generates phase
The control message answered；
The control message that locating module 105 is used to be sent according to subordinate control module 101 to shifting vehicle device 10,11,12 with
And 13 position is positioned, and the location information for moving vehicle device 10,11,12 and 13 is fed back to subordinate control module 101；
The control message that vision module 103 is used to be sent according to subordinate control module 101 to target vehicle, target parking stall with
And the barrier moved in vehicle device moving process is identified, and recognition result is fed back to center control by communication module 102
Molding block, and recognition result is fed back into subordinate control module 101；
The control message lifting and put down target vehicle that lifting module 106 is used to be sent according to subordinate control module 101；
It is mobile that the control message control that motion module 107 is used to be sent according to subordinate control module 101 moves vehicle device.
Further, as a preferred embodiment of the present invention, vision module 103 carries out image knowledge to the target vehicle
Not, to obtain the recognition result, and the obstacle information is obtained by image recognition.
Further, as a preferred embodiment of the present invention, recognition result includes the vehicle identity information of target vehicle, vehicle
Frame information and wheel position information.
Further, as a preferred embodiment of the present invention, master control moves vehicle device 10 according to vehicle frame information and wheel
Location information generates lifting location information.
Further, as a preferred embodiment of the present invention, parking space information includes four location informations, four location informations
It is respectively used to show the position on four vertex of target parking stall.
It should be noted that in the present embodiment, since parking space information includes four location informations, and four positions
Information is respectively used to show the position on four vertex of target parking stall, therefore, when center main control module is according to parking space information and vehicle
When positional information calculation movement routine, four movement routines can be calculated according to four location informations and vehicle position information,
And it is sent to after distributing four movement routines in the subordinate control module 101 for moving vehicle device 10,11,12 and 13.
Further, as a preferred embodiment of the present invention, if figure motion module 107 includes power-driven gear, balance
Control device and telecontrol equipment.
Wherein, telecontrol equipment is connect with power-driven gear, power-driven gear and balance control device with subordinate control
The connection of molding block.
Specifically, the control information control lifting robot that balance control module is sent according to subordinate control module is put down
Weighing apparatus, the control information control telecontrol equipment that power-driven gear is sent according to subordinate control module are moved accordingly.
Further, as a preferred embodiment of the present invention, lifting module 106 can be by the lifting machine with jack function
Structure is realized.
Specifically, providing by taking intelligent sliding vehicle system shown in FIG. 1 and shifting vehicle device shown in Fig. 2 as an example the present invention below
The working principle of intelligent sliding vehicle system 1 illustrate, details are as follows:
Firstly, it is necessary to explanation, in the present embodiment, moving vehicle device 10 is that master control moves vehicle device, moves vehicle device 11,12
And 13 for from control move vehicle device.
After master control, which moves vehicle device 10, receives the shifting vehicle request that user sends by its internal communication module 102, the master
The center main control module that control moves inside vehicle device 10 generates control instruction according to vehicle solicited message is moved, and passes through communication module 102
Control instruction is sent to the subordinate control module 101 for moving vehicle device 10,11,12 and 13；Move vehicle device 10,11,12 and
13 subordinate control module 101 generates location control message control locating module 105 according to control instruction and works, and according to control
Instruction generates identification control message to vision module 103；Locating module 105 according to location control message obtain move vehicle device 10,
11,12 and 13 location information, and the location information for moving vehicle device 10,11,12 and 13 is passed through into subordinate control module 101
Center main control module is sent to communication module 102；Vision module 103 obtains Obstacle Position letter according to identification control message
Breath, and obstacle position information is sent to center main control module by communication module 102；Center main control module is according to barrier
The location information of location information, the vehicle position information of target vehicle and shifting vehicle device 10,11,12 and 13 generates corresponding
Routing information, and routing information is sent to each subordinate control module 101 for moving vehicle device 10,11,12 and 13；Move vehicle dress
The subordinate control module 101 for setting 10,11,12 and 13 controls the movement of motion module 107 according to routing information, will move vehicle device
10,11,12 and 13 it is moved to position corresponding with vehicle position information.
After shifting vehicle device 10,11,12 and 13 is moved to position corresponding with vehicle position information, shifting vehicle device 10,
11,12 and 13 subordinate control module 101 controls vision module 103 and identifies to target vehicle；Vision module 103 will be known
Other result is sent to center main control module by communication module 102, and center main control module is raw according to recognition result and parking space information
At lifting location information, and location information will be lifted and be sent to each subordinate control module for moving vehicle device 10,11,12 and 13
101；The subordinate control module 101 for moving vehicle device 10,11,12 and 13 is transported according to lifting location information control motion module 107
It is dynamic, so that moving vehicle device 10,11,12 and 13 is moved to position a1, a2, a3 and a4 corresponding with lifting location information
(please referring to Fig. 3), it is right again that the subordinate control module 101 of this time shift vehicle device 10,11,12 and 13 controls vision module 103
Target vehicle is identified, to determine the lifting supporting point of target vehicle, and definitive result is fed back to center main control module, in
Heart main control module controls the 101 console rising mould of subordinate control module moved in vehicle device 10,11,12 and 13 according to definitive result
Block 106 works, and lifts target vehicle with collaboration, and generate according to vehicle position information and parking space information and calculate movement routine,
And movement routine is sent to the subordinate control module 101 for moving vehicle device 10,11,12 and 13 by communication module 101, move vehicle
It is according to movement routine that target vehicle is mobile that the subordinate control module 101 of device 10,11,12 and 13 controls motion module 107
To target parking stall, while in moving process, subordinate control module 101 controls vision module 103 and carries out detection of obstacles and mesh
The distance and bearing detection of parking stall is marked, and will test result and feed back to Central Control Module, Central Control Module is according to feedback
Obstacle information, range information and azimuth information correct movement routine.
When target vehicle reaches target parking stall, the subordinate control module 101 of vehicle device 10,11,12 and 13 is moved in
Heart control module feedback reaches information, and controls vision module 103 and identify to target parking stall, and works as parking stall recognition result
When with target parking stall information matches, Xiang Zhongxin main control module sends match information, and center main control module is according to match information and arrives
Vehicle placement instruction is generated up to information, and vehicle is placed to instruct and is sent to the subordinate control for moving vehicle device 10,11,12 and 13
Module 101, the subordinate control module 101 for moving vehicle device 10,11,12 and 13 place instruction console rising mould block according to the vehicle
Target vehicle is put down in 106 collaborations, and is controlled motion module 107 after putting down target vehicle and moved so that move vehicle device 10,11,
12 and 13 return berths wait next task and charge.
Further, Fig. 4 shows the plan structure that vehicle device is moved provided by one embodiment of the invention, for the ease of saying
Bright, only parts related to embodiments of the present invention are shown, and details are as follows:
As shown in figure 4, moving vehicle device provided by the embodiment of the present invention includes moving vehicle main body 40, at least one position sensing
Device 41 (in figure for two), at least one camera 42 (in figure for two), at least one charging unit 43 are (in figure
For two), two wheels 44, jack 45, communication module (not shown) and control module (not shown).Its
In, the left and right side for moving vehicle main body 40 is respectively provided with a wheel 44, and camera 42 is located at the both sides folder for moving vehicle main body 40
At angle, position sensor 41 and charging unit 43 are arranged along both sides opposite in vehicle main body 40 are moved, and jack 45, which is located at, moves car owner
The center of body 40.
Further, Fig. 2 and Fig. 4 be please also refer to, camera 43 is the vision module in shifting vehicle device shown in Fig. 2
103, position sensor 41 is the locating module 105 in shifting vehicle device shown in Fig. 2, and charging unit 43 is shifting vehicle shown in Fig. 2
Power module 104 in device, wheel 44 is the telecontrol equipment in the motion module 107 in shifting vehicle device shown in Fig. 2, very heavy
Top 45 is the lifting module 106 in shifting vehicle device shown in Fig. 2.
It should be noted that in embodiments of the present invention, since shifting vehicle device shown in Fig. 4 is substantially shown in Fig. 2
The entity structure of vehicle device is moved, therefore, the course of work shown in Fig. 4 for moving vehicle device and the process shown in Fig. 2 for moving vehicle device
It is identical, the associated description of Fig. 2 is specifically referred to, details are not described herein again.
Further, Fig. 5 shows the implementation process for the intelligent sliding vehicle method that one embodiment of the invention is proposed, for the ease of
Illustrate, only parts related to embodiments of the present invention are shown, and details are as follows:
As shown in figure 5, intelligent sliding vehicle method provided by the embodiment of the present invention is based on intelligent sliding vehicle system shown in FIG. 1
1 realization, specific:
In step s 50, the shifting vehicle that master control moves that vehicle device is sent according to user requests to move the transmission of vehicle device to three from control
Control instruction；Moving vehicle request includes vehicle position information and parking space information corresponding to target vehicle.
In step s 51, master control moves vehicle device and three are moved vehicle device from control and are moved to and vehicle position according to control instruction
Confidence ceases corresponding position, and identifies to target vehicle, and three are moved vehicle device from control and recognition result is fed back to master control shifting
Vehicle device.
In step S52, master control moves vehicle device and generates lifting location information according to recognition result, and will be lifted location information
Distribution moves vehicle device to three from control.
In step S53, master control moves vehicle device and three are moved vehicle device from control and are moved to accordingly according to lifting location information
Lifting position at, and determine the lifting supporting point of target vehicle, three are moved vehicle device from control and definitive result fed back to master control
Move vehicle device.
In step S54, master control moves vehicle device and is lifted according to definitive result control three from control shifting vehicle device conjunction with which
Target vehicle, and movement routine is calculated according to vehicle position information and parking space information, and movement directive is generated according to movement routine
Vehicle device is moved to three from control.
In step S55, master control moves vehicle device and three are moved vehicle device from control and cooperate with mobile target carriage according to movement directive
, and in moving process carry out detection of obstacles, detected with the distance and bearing of target parking stall, three from control move vehicle device to
Master control moves vehicle device and feeds back testing result, so that master control moves vehicle device according to the obstacle information, range information and side of feedback
Position information corrects movement routine, and when target vehicle reaches target parking stall, and three are moved vehicle device from control and move vehicle dress to master control
It sets feedback and reaches information.
In step S56, master control moves vehicle device and is filled according to arrival information generation vehicle placement instruction to three from control shifting vehicle
It sets.
In step S57, master control moves vehicle device and three are moved vehicle device from control and put down mesh according to vehicle placement instruction collaboration
Berth is returned to after mark vehicle.
It should be noted that in embodiments of the present invention, since intelligent sliding vehicle method is based on intelligent sliding vehicle shown in FIG. 1
What system 1 was realized, it can refer to Fig. 1 accordingly, with respect to the specific work process of intelligent sliding vehicle method provided by the embodiment of the present invention
Shown in intelligent sliding vehicle system and Fig. 2 to the course of work shown in Fig. 4 for moving vehicle device, details are not described herein again.
In the present invention, by using including four independent intelligent sliding vehicle systems for moving vehicle device, so that ought wherein one
When a shifting vehicle device is that master control moves vehicle device, which moves vehicle device and controls four shifting vehicle device collaborations for mesh according to vehicle request is moved
Mark vehicle is moved to target parking stall, realizes intelligent sliding vehicle, and further improves accurate dispensing when parking efficiency and parking,
It solves the mode that existing artificial driving vehicle stops to there is parking low efficiency and be easy suitably to stop because not resting in
Truck position and the problem of influence other normal vehicle operations or park.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (9)
1. a kind of intelligent sliding vehicle system, which is characterized in that the intelligent sliding vehicle system includes four independent shifting vehicle devices, right
When target vehicle carries out shifting vehicle, a shifting vehicle device and three shifting vehicle devices in four shiftings vehicle device are respectively that master control moves
Vehicle device and from control move vehicle device；
The master control moves the shifting vehicle that vehicle device is sent according to user and requests to move vehicle device transmission control instruction from control to described in three；
The shifting vehicle request includes vehicle position information and parking space information corresponding to target vehicle；
The master control is moved and is moved to and the vehicle position described in vehicle device and three from control shifting vehicle device according to the control instruction
Confidence ceases corresponding position, and identifies to the target vehicle, moves vehicle device from control described in three and feeds back recognition result
Vehicle device is moved to the master control；
The master control moves vehicle device and generates lifting location information according to the recognition result, and the lifting location information is distributed
Vehicle device is moved from control to described in three；
The master control moves and is moved to corresponding lift from control shifting vehicle device according to the lifting location information described in vehicle device and three
Place is set in raise-position, and determines the lifting supporting point of the target vehicle, is moved vehicle device from control described in three and is fed back to definitive result
The master control moves vehicle device；
The master control move vehicle device according to the definitive result control three described in move described in vehicle device conjunction with which lifts from control
Target vehicle, and movement routine is calculated according to the vehicle position information and the parking space information, and according to the movement routine
It generates movement directive and moves vehicle device from control to described in three；
The master control moves and moves vehicle device according to the mobile target carriage of movement directive collaboration from control described in vehicle device and three
, and detection of obstacles, the distance and bearing detection with target parking stall are carried out in moving process, vehicle dress is moved from control described in three
Set to the master control and move vehicle device feedback testing result, so as to the master control move vehicle device according to the obstacle information of feedback, away from
The movement routine is corrected from information and azimuth information, and when the target vehicle reaches the target parking stall, three
It is described to move vehicle device to master control shifting vehicle device feedback arrival information from control；
The master control moves vehicle device and moves vehicle device from control to described in three according to arrival information generation vehicle placement instruction；
The master control, which moves to be placed from control shifting vehicle device according to the vehicle described in vehicle device and three, instructs collaboration to put down the mesh
Berth is returned to after mark vehicle.
2. intelligent sliding vehicle system according to claim 1, which is characterized in that the structure of four shiftings vehicle device is identical,
And each shifting vehicle device includes main control module, subordinate control module, communication module, vision module, power module, positioning mould
Block, lifting module and motion module；
The power module is used to power for the shifting vehicle device；
When the shifting vehicle device belonging to the main control module is that master control moves vehicle device, the main control module is center control module,
For receiving the recognition result, the institute of the shifting vehicle request and subordinate control module feedback by the communication module
State definitive result, the testing result and the arrival information, and generate the control instruction and the lifting location information,
It calculates the movement routine, the corrigendum movement routine and generates the movement directive and place instruction with the vehicle and pass through
The communication module sends corresponding control instruction, the lifting location information, the mobile life to the subordinate control module
It enables and the vehicle places instruction；When the shifting vehicle device belonging to the main control module is that non-master control moves vehicle device, the master
Control module is used to monitor the state of the Central Control Module by the communication module；
The communication module is used between the user and four shiftings vehicle device and between four shiftings vehicle device
Establish communication connection；
The subordinate control module be used to receive the control instruction that the Central Control Module sends, the lifting location information,
The movement directive and the vehicle place instruction, and according to control instruction, the lifting location information, the movement directive
And the vehicle places instruction and generates corresponding control message；
The control message that the locating module is used to be sent according to the subordinate control module to the position of the shifting vehicle device into
Row positioning, and the location information for moving vehicle device is fed back to the subordinate control module；
The control message that the vision module is used to be sent according to the subordinate control module is to the target vehicle, the target
Parking stall and it is described move vehicle device moving process in barrier identified, and by recognition result by the communication module it is anti-
It is fed to the Central Control Module, and the recognition result is fed back into the subordinate control module；
The control message lifting and put down the target vehicle that the lifting module is used to be sent according to the subordinate control module；
It is mobile that the control message that the motion module is used to be sent according to the subordinate control module controls the shifting vehicle device.
3. intelligent sliding vehicle system according to claim 2, which is characterized in that the vision module to the target vehicle into
Row image recognition to obtain the recognition result, and obtains the obstacle information by image recognition.
4. intelligent sliding vehicle system according to claim 2 or 3, which is characterized in that the recognition result includes the target
Vehicle identity information, vehicle frame information and the wheel position information of vehicle.
5. intelligent sliding vehicle system according to claim 4, which is characterized in that the master control moves vehicle device according to the vehicle
Frame information and the wheel position information generate the lifting location information.
6. intelligent sliding vehicle system according to claim 1, which is characterized in that the parking space information includes four position letters
Breath, four location informations are respectively used to show the position on four vertex of the target parking stall.
7. intelligent sliding vehicle system according to claim 6, which is characterized in that the parking space information includes two-dimensional barcode information
And/or bar code information.
8. intelligent sliding vehicle system according to claim 2, which is characterized in that the motion module includes being driven by electricity dress
It sets, balance control device and telecontrol equipment；
The telecontrol equipment is connect with the power-driven gear, the power-driven gear and the balance control device with
The subordinate control module connection；
The balance for the control information control lifting robot that the balance control device is sent according to the subordinate control module, institute
The control information control telecontrol equipment that power-driven gear is sent according to the subordinate control module is stated to be transported accordingly
It is dynamic.
9. a kind of intelligent sliding vehicle method, which is characterized in that the intelligent sliding vehicle method includes:
Master control moves the shifting vehicle that vehicle device is sent according to user and requests to move vehicle device transmission control instruction to three from control；The shifting vehicle
Request includes vehicle position information and parking space information corresponding to target vehicle；
Master control moves vehicle device and three are moved vehicle device from control and are moved to position corresponding with vehicle position information according to control instruction,
And the target vehicle is identified, three are moved vehicle device from control and recognition result are fed back to master control shifting vehicle device；
Master control move vehicle device according to recognition result generate lifting location information, and by the lifting location information distribute to three from
Control moves vehicle device；
Master control moves vehicle device and three are moved vehicle device from control and are moved to from corresponding lifting position according to the lifting location information,
And determine the lifting supporting point of the target vehicle, three are moved vehicle device from control and definitive result are fed back to master control shifting vehicle device；
Master control moves vehicle device and lifts the target vehicle from control shifting vehicle device conjunction with which according to definitive result control three,
And movement routine is calculated according to the vehicle position information and the parking space information, and mobile life is generated according to the movement routine
It enables and moves vehicle device to three from control；
Master control moves vehicle device and three are moved vehicle device according to the mobile target vehicle of movement directive collaboration from control, and is moving
Detection of obstacles, the distance and bearing detection with target parking stall are carried out during dynamic, three are moved vehicle device from control and move vehicle to master control
Device feeds back testing result, so that master control moves vehicle device according to the obstacle information, range information and azimuth information of feedback more
The just described movement routine, and when the target vehicle reaches the target parking stall, three are moved vehicle device from control and moved to master control
Vehicle device feedback reaches information；
Master control moves vehicle device and moves vehicle device to three from control according to arrival information generation vehicle placement instruction；
Master control, which moves vehicle device and three and moves vehicle device from control, places according to the vehicle after instruction collaboration puts down the target vehicle
Return to berth.
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| CN107539738A (en) * | 2017-09-30 | 2018-01-05 | 卢毅然 | A kind of split cooperating type vehicle transfer equipment |
| CN108166825B (en) * | 2017-12-20 | 2019-07-09 | 三峡大学 | A kind of auxiliary parking system and parking method |
| CN108298468B (en) * | 2018-01-23 | 2019-09-13 | 张子涵 | A kind of control method for the auxiliary robot that stops |
| CN110329228A (en) * | 2019-05-27 | 2019-10-15 | 中科安达（北京）科技有限公司 | The method of seamless intelligent car-backing automatic emergency brake system R-AEBS |
| CN111114508A (en) * | 2020-02-12 | 2020-05-08 | 应急管理部上海消防研究所 | Intelligent road vehicle-moving obstacle-removing robot for fire rescue and vehicle-moving obstacle-removing method |
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| US3435965A (en) * | 1965-09-08 | 1969-04-01 | Willi Scharf | Transport trolley for parking garages |
| IT1310793B1 (en) * | 1999-12-02 | 2002-02-22 | Pineta Srl | TROLLEY FOR HANDLING VEHICLES IN A PARKING LOT |
| CN101403258B (en) * | 2008-02-03 | 2010-04-21 | 中国国际海运集装箱(集团)股份有限公司 | Vehicle conveying device |
| CN102031888A (en) * | 2010-12-15 | 2011-04-27 | 李流军 | Combined automobile handling device |
| CN102561763B (en) * | 2012-03-07 | 2014-06-18 | 胡梦铁 | Intelligent garage transfer robot |
| CN103754789B (en) * | 2014-02-26 | 2016-07-06 | 中德永联科技有限公司 | A kind of movable lifting machine lifting slide unit high level of synchronization wireless control system |
| CN105187496B (en) * | 2015-08-06 | 2018-07-24 | 厦门姚明信息科技有限公司 | Intelligent sliding vehicle notification method and platform |
| CN105839964B (en) * | 2016-05-18 | 2017-12-15 | 鞍山紫竹工程设备制造有限公司 | The automobile carrier and car carrying method of a kind of intelligent three-dimensional garage |
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