CN109296236A - A kind of intelligent parking system of single carrier loader platform - Google Patents
A kind of intelligent parking system of single carrier loader platform Download PDFInfo
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- CN109296236A CN109296236A CN201811254687.6A CN201811254687A CN109296236A CN 109296236 A CN109296236 A CN 109296236A CN 201811254687 A CN201811254687 A CN 201811254687A CN 109296236 A CN109296236 A CN 109296236A
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- 238000000034 method Methods 0.000 claims description 4
- 101000606504 Drosophila melanogaster Tyrosine-protein kinase-like otk Proteins 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 2
- 230000000630 rising effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
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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
- E04H6/02—Small garages, e.g. for one or two cars
- E04H6/06—Small garages, e.g. for one or two cars with means for shifting or lifting vehicles
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device
- G06K17/0025—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a kind of intelligent parking systems of single carrier loader platform, belong to stopping technical field, comprising: identification module, carrier loader platform and parking stall；The parking stall is the fixation parking stall of user, and the corresponding user in each parking stall all has an identification code, the parking space information which has the user to correspond to parking stall；The identification module is used to acquire the identification code of user's offer, and the parking space information extracted in the identification code is sent to carrier loader platform；The carrier loader platform includes: platform body, signal receiver, single-chip microcontroller and hub motor；For the platform body for carrying wait the vehicle that stops/pick up the car, lower surface is equipped with more than two wheels, and the inside of platform body is equipped with signal receiver, single-chip microcontroller and hub motor, and hub motor drives the walking of carrier loader platform for driving the vehicle wheel rotation；The present invention saves space so that vehicle arrangement is compact by automatic transporting vehicle.
Description
Technical field
The invention belongs to stopping technical fields, and in particular to a kind of intelligent parking system of single carrier loader platform.
Background technique
With the development of the social economy, more and more motor vehicles enter citizen family, private car quantity is increased rapidly.So
And residential area parking stall is unable to satisfy the growing demand of private car at all, is difficult to plan in limited cell space
Enough parking spaces out, most automobiles can only be parked in by the road under residential building.So, there are many car owners to save
Thing disorderly stops automobile to leave about, and not only unsightly, is also easy to cause that automobile scratches Deng disputes.
Summary of the invention
In view of this, can be arbitrarily arranged at ground the present invention provides a kind of intelligent parking system of single carrier loader platform
Face, roof or underground garage or other users are inconvenient to the place entered, substantially increase space utilization rate, and by automatic
Carrying vehicle saves space so that vehicle arrangement is compact.
The present invention is achieved through the following technical solutions:
A kind of intelligent parking system of single carrier loader platform, comprising: identification module, carrier loader platform and parking stall；
The parking stall is the fixation parking stall of user, and the corresponding user in each parking stall all has an identification code, should
The parking space information that identification code recording has the user to correspond to parking stall；Wherein, the parking space information be the user correspond to parking stall and
Mobile route between carrier loader platform starting point；
The identification module is used to acquire the identification code of user's offer, and extracts the transmission of the parking space information in the identification code
To carrier loader platform；
The carrier loader platform includes: platform body, signal receiver, single-chip microcontroller and hub motor；
The platform body is for carrying wait the vehicle that stops/pick up the car, and lower surface is equipped with more than two wheels, platform body
Inside is equipped with signal receiver, single-chip microcontroller and hub motor, wherein more than two hub motors respectively with the vehicle of platform body
Wheel connects one to one, and hub motor drives the walking of carrier loader platform for driving the vehicle wheel rotation；
The signal receiver of the carrier loader platform is used to the parking space information received being sent to single-chip microcontroller；
The single-chip microcontroller calculates the rotation information of each hub motor according to received parking space information, and controls two
The above hub motor drives corresponding vehicle wheel rotation according to respective rotation information respectively, to drive carrier loader platform according to the shifting
Dynamic route walking is taken out described on corresponding parking stall or from corresponding parking stall wait stop/pick up the car wait stop/pick up the car vehicle parking
Vehicle；The rotation information includes steering, revolving speed and the rotation time of hub motor.
It further, further include trajectory line, the trajectory line is the tag line of setting on the ground, for guiding carrier vehicle flat
Platform is walked according to trajectory line, the corresponding trajectory line in each parking stall, and the mobile route recorded of the parking space information on parking stall with
The corresponding trajectory line in the parking stall is identical；When carrier loader platform is walked in place according to trajectory line corresponding with parking stall, it will be carried
Be placed on the parking stall wait the vehicle that stops/pick up the car；
The lower surface of the platform body is equipped with more than two infrared sensors, and platform body is moved along it direction
An infrared sensor is at least arranged in two sides；
In the walking process of carrier loader platform, infrared sensor is for the light sensation information below acquisition platform ontology, concurrently
Give single-chip microcontroller；Whether single-chip microcontroller judges platform body along trajectory line walking according to the light sensation information；If single-chip microcontroller judges institute
The light sensation information of some infrared sensors is the light sensation information of trajectory line, indicates that carrier loader platform is walked along trajectory line；If monolithic
Machine judges that the light sensation information of at least one infrared sensor is not the light sensation information of trajectory line, indicates carrier loader platform off-track
Line, then single-chip microcontroller control hub motor carries out correction rotation, until carrier loader platform is walked along trajectory line.
It further, further include lifting motor and lifting apparatus；
The lifting motor is mounted in platform body, drives lifting apparatus to go up and down by the control of single-chip microcontroller；
The lifting apparatus is mounted on the upper surface of platform body, and vehicle parking passes through lifting apparatus on lifting apparatus
Lifting realize that vehicle rises or falls.
Further, the two opposite sides side setting wait parking stall of the vehicle in parking lot of stopping/pick up the car is respectively arranged with branch
Platform is supportted, four tires of vehicle are used to support；The height that vehicle rises is made vehicle tire distance from bottom by the lifting apparatus
The distance on ground is greater than the supporting table height on parking stall.
Further, the identification module includes: camera, signal processor and signal projector；
The camera is used to acquire the identification code of user's offer wait the vehicle that stops/pick up the car, and is sent to signal processor；
After signal processor handles the identification code received, obtain wait parking space information of the vehicle in parking lot of stopping/pick up the car, and
It is sent to signal projector；The parking space information is sent to carrier loader platform by signal projector.
Further, the identification code is two dimensional code.
Further, be also equipped with battery in the platform body, battery be used for signal receiver, single-chip microcontroller,
It is lifted motor and hub motor power supply.
Further, the lifting apparatus uses lifting platform.
The utility model has the advantages that (1) present invention by carrier loader platform automatic transporting vehicle stops the region into setting, compared to manually stopping
The mode of vehicle can accurately control the vehicle line of vehicle, reduce the gap between parked vehicle, and make vehicle parking
It is clean and tidy orderly, reduce security risk, improve the area utilization in parking lot, to increase parking stall in residential area
Quantity reduces parking stall price.
(2) present invention, which can be arbitrarily arranged at ground, roof or underground garage or other users, is inconvenient to the ground entered
Side, substantially increases space utilization rate, further alleviates the problem of community parking hardly possible.
(3) user of the invention only can easily access vehicle by showing two dimensional code, not high for stopping technical
Drivers are even more to eliminate many troubles, avoid occurring the safety accident because of the improper initiation of manual operation, save manpower and when
Between.
Detailed description of the invention
Fig. 1 is structure composition schematic diagram of the invention；
Fig. 2 is the schematic diagram that the lifting apparatus of carrier loader platform rises；
Fig. 3 is the schematic diagram that the lifting apparatus of carrier loader platform declines；
Fig. 4 is the working principle of the invention figure；
Wherein, the parking stall 1-, 2- two dimensional code identification module, 3- carrier loader platform, 4- trajectory line, 5- supporting table, 6- platform sheet
Body, 7- lifting apparatus.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The intelligent parking system for present embodiments providing a kind of single carrier loader platform, referring to attached drawing 1, comprising: two dimensional code is known
Other module 2, carrier loader platform 3, trajectory line 4 and parking stall 1；
The trajectory line 4 is the scribing line different from ground color applied on the ground, for guiding carrier loader platform 3 according to rail
Trace 4 is walked, and then vehicle is parked to parking stall；And the color of trajectory line 4 and the color distinction on ground are larger；
The parking stall 1 is the fixation parking stall of user, the corresponding trajectory line 4 in each parking stall 1；Each parking stall 1
Corresponding user all has a two dimensional code, which can show the parking space information on the parking stall 1；Wherein, the parking stall
Information is mobile route of the user between 3 starting point of the parking stall 1 in parking lot and carrier loader platform, and mobile route is stopped with this
The corresponding trajectory line 4 in parking stall 1 is identical；Longitudinal two opposite sides side on parking stall 1 is respectively arranged with supporting table 5, is used to support vehicle
Four tires；Four parking stalls 1 are set in parking area in the present embodiment；Carrier loader platform 3 is according to rail corresponding with parking stall 1
When trace 4 is walked in place, just the vehicle carried is placed on the parking stall, and the tire of vehicle is just respectively supported at
In two supporting tables 5；
The two dimensional code identification module 2 includes: camera, signal processor and signal projector；The camera is used for
The two dimensional code of user's offer wait the vehicle that stops/pick up the car is provided, and is sent to signal processor；Signal processor, which passes through, to be received
Two dimensional code is obtained wait parking space information of the vehicle in parking lot of stopping/pick up the car, and is sent to signal projector；Signal projector is by institute
It states parking space information and carrier loader platform 3 is sent to by bluetooth；
The carrier loader platform 3 includes: platform body 6, signal receiver, single-chip microcontroller, lifting motor, lifting apparatus 7, wheel hub
Motor, infrared sensor and battery；The platform body 6 for loading wait the vehicle that stops/pick up the car, lower surface set there are two with
Upper wheel is simultaneously equipped with more than two infrared sensors, and platform body 6 is moved along it the two sides respectively at least setting one in direction
Infrared sensor；The upper surface of platform body 6 is equipped with lifting apparatus 7, and vehicle parking is filled on lifting apparatus 7 by lifting
Rising or falling for vehicle is realized in the lifting for setting 7；Referring to attached drawing 2 and 3, in the present embodiment, lifting apparatus 7 uses lifting platform；
The inside of platform body 6 is equipped with signal receiver, single-chip microcontroller, lifting motor, hub motor and battery, wherein lifting electricity
Machine is for driving lifting apparatus 7 to go up and down；Wheel of more than two hub motors respectively with platform body 6 connects one to one, wheel
Hub motor drives the walking of carrier loader platform 3 for driving the vehicle wheel rotation；
Referring to attached drawing 4, the signal receiver of the carrier loader platform 3 is used to the parking space information received being sent to monolithic
Machine；The rotation information of each hub motor is calculated according to the parking space information in single-chip microcontroller, and (rotation information is hub motor
Revolving speed, direction and rotation time), it thus controls more than two hub motors and drives correspondence according to respective rotation information respectively
Vehicle wheel rotation, with drive carrier loader platform 3 walk；Meanwhile single-chip microcontroller is also used to the work of console lifting motor, by lifting apparatus 7
It rises or declines；In 3 walking process of carrier loader platform, light sensation information (institute of the infrared sensor for 6 lower section of acquisition platform ontology
State the color that light sensation information is ground or trajectory line 4), and it is sent to single-chip microcontroller；Single-chip microcontroller judges according to the light sensation information
Whether platform body 6 walks along trajectory line 4；If single-chip microcontroller judges that the light sensation information of all infrared sensors is trajectory line 4
Light sensation information, indicate carrier loader platform 3 along trajectory line 4 walk；If single-chip microcontroller judges the light sensation letter of at least one infrared sensor
Breath is not the light sensation information of trajectory line 4, indicates 3 off-track line 4 of carrier loader platform, then single-chip microcontroller control hub motor is corrected
Rotation, until carrier loader platform 3 is walked along trajectory line 4；
Wherein, the height that vehicle rises is greater than the distance on vehicle tire distance from bottom ground by the lifting apparatus 7
5 height of supporting table on parking stall 1；
The battery is used to power to signal receiver, single-chip microcontroller, lifting motor, hub motor and infrared sensor.
Working principle: the intelligent parking system can be arranged in ground, roof, underground garage or other users not side
Just the place entered；
When user's bicycle parking:
The first step drives near two dimensional code identification module 2 to parking vehicle, and car owner takes the photograph to two dimensional code identification module 2
As head shows two dimensional code, signal processor obtains corresponding parking space information according to the two dimensional code, and is sent to carrier loader platform 3；
Second step drives on carrier loader platform 3 to parking vehicle, and the single-chip microcontroller of carrier loader platform 3 passes through console lifting motor work
Make, and then vehicle is risen setting height by the work of lifting apparatus 7；
Third step, the single-chip microcontroller of carrier loader platform 3 pass through 3 edge of In-wheel motor driving carrier loader platform according to the parking space information
Trajectory line 4 is walked；
4th step enters four vehicles of vehicle behind the parking stall of parking vehicle 1 after carrier loader platform 3 moves in place
Tire is located at 5 top of supporting table on parking stall 1；The work of single-chip microcontroller console lifting motor, lifting apparatus 7 is fallen, so that vehicle
Four tires be supported in the supporting table on parking stall, i.e. carrier loader platform 3 and Vehicles separation；
5th step, the single-chip microcontroller control hub motor rotation of carrier loader platform 3, so that carrier loader platform 3 is along backtracking to load
The starting point of vehicle platform 3.
When user picks up the car:
The car owner of the first step, vehicle to be picked up the car shows two dimensional code, signal processor to the camera of two dimensional code identification module 2
The corresponding parking space information of the vehicle to be picked up the car is obtained according to the two dimensional code, and is sent to carrier loader platform 3；
Second step, the single-chip microcontroller of carrier loader platform 3 obtain the corresponding mobile route in the parking stall according to the parking space information, lead to
In-wheel motor driving carrier loader platform 3 is crossed to walk along corresponding trajectory line 4；
Third step enters behind the parking stall for vehicle of picking up the car 1 after carrier loader platform 3 moves in place, drives into vehicle to be picked up the car
Lower section；
4th step, the single-chip microcontroller of carrier loader platform 3 is worked by lifting motor control lifting apparatus 7 rises vehicle, makes it
It is separated with the supporting table 5 on parking stall 1；
5th step, the single-chip microcontroller control hub motor rotation of carrier loader platform 3, so that being loaded with the carrier loader platform 3 of vehicle along original
After road returns to the starting point of carrier loader platform 3, vehicle is put it on the ground by the lifting work of motor control lifting apparatus 7.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (8)
1. a kind of intelligent parking system of single carrier loader platform characterized by comprising identification module, carrier loader platform (3) and stop
Parking stall (1)；
The parking stall (1) is the fixation parking stall of user, and the corresponding user of each parking stall (1) all has an identification code,
The parking space information that the identification code recording has the user to correspond to parking stall (1)；Wherein, the parking space information is the corresponding parking of the user
Mobile route between (1) and carrier loader platform (3) starting point of position；
The identification module is used to acquire the identification code of user's offer, and extracts the parking space information in the identification code and be sent to load
Vehicle platform (3)；
The carrier loader platform (3) includes: platform body (6), signal receiver, single-chip microcontroller and hub motor；
For the platform body (6) for carrying wait the vehicle that stops/pick up the car, lower surface is equipped with more than two wheels, platform body (6)
Inside signal receiver, single-chip microcontroller and hub motor are installed, wherein more than two hub motors respectively with platform body
(6) wheel connects one to one, and hub motor drives the walking of carrier loader platform (3) for driving the vehicle wheel rotation；
The signal receiver of the carrier loader platform (3) is used to the parking space information received being sent to single-chip microcontroller；
The single-chip microcontroller calculates the rotation information of each hub motor according to received parking space information, and controls two or more
Hub motor drives corresponding vehicle wheel rotation according to respective rotation information respectively, to drive carrier loader platform (3) according to the shifting
Dynamic route walking, by it is described take out wait stopping/pick up the car vehicle parking on corresponding parking stall (1) or from corresponding parking stall (1) to
Stop/pick up the car vehicle；The rotation information includes steering, revolving speed and the rotation time of hub motor.
2. a kind of intelligent parking system of single carrier loader platform as described in claim 1, which is characterized in that further include trajectory line
(4), the trajectory line (4) is the tag line of setting on the ground, for guiding carrier loader platform (3) to walk according to trajectory line (4),
The corresponding trajectory line (4) of each parking stall (1), and the mobile route of the parking space information record of parking stall (1) and the parking stall
(1) corresponding trajectory line (4) is identical；It, will when carrier loader platform (3) is walked in place according to trajectory line (4) corresponding with parking stall (1)
What is carried is placed on the parking stall (1) wait the vehicle that stops/pick up the car；
The lower surface of the platform body (6) is equipped with more than two infrared sensors, and platform body (6) is moved along it direction
Two sides one infrared sensor is at least set；
In the walking process of carrier loader platform (3), infrared sensor is used for the light sensation information below acquisition platform ontology (6), and
It is sent to single-chip microcontroller；Whether single-chip microcontroller judges platform body (6) along trajectory line (4) walking according to the light sensation information；If monolithic
Machine judges that the light sensation information of all infrared sensors is the light sensation information of trajectory line (4), indicates carrier loader platform (3) along track
Line (4) walking；If single-chip microcontroller judges that the light sensation information of at least one infrared sensor is not the light sensation information of trajectory line (4), table
Show carrier loader platform (3) off-track line (4), then single-chip microcontroller control hub motor carries out correction rotation, until carrier loader platform (3) edge
Trajectory line (4) walking.
3. a kind of intelligent parking system of single carrier loader platform as claimed in claim 1 or 2, which is characterized in that further include lift
Lifting motor and lifting apparatus (7)；
The lifting motor is mounted in platform body (6), and lifting apparatus (7) is driven to go up and down by the control of single-chip microcontroller；
The lifting apparatus (7) is mounted on the upper surface of platform body (6), and vehicle parking passes through lifting on lifting apparatus (7)
Rising or falling for vehicle is realized in the lifting of device (7).
4. a kind of intelligent parking system of single carrier loader platform as claimed in claim 3, which is characterized in that wait the vehicle that stops/pick up the car
The two opposite sides side setting on the parking stall (1) in parking lot is respectively arranged with supporting table (5), is used to support four of vehicle
Tire；The height that vehicle rises is made the distance on vehicle tire distance from bottom ground be greater than parking stall by the lifting apparatus (7)
(1) supporting table (5) height.
5. a kind of intelligent parking system of single carrier loader platform as claimed in claim 1 or 2, which is characterized in that the identification
Module includes: camera, signal processor and signal projector；
The camera is used to acquire the identification code of user's offer wait the vehicle that stops/pick up the car, and is sent to signal processor；Signal
After processor handles the identification code received, obtain wait parking space information of the vehicle in parking lot of stopping/pick up the car, and send
To signal projector；The parking space information is sent to carrier loader platform (3) by signal projector.
6. a kind of intelligent parking system of single carrier loader platform as claimed in claim 1 or 2, which is characterized in that the identification
Code is two dimensional code.
7. a kind of intelligent parking system of single carrier loader platform as claimed in claim 3, which is characterized in that the platform body
(6) battery is also equipped in, battery is used to power to signal receiver, single-chip microcontroller, lifting motor and hub motor.
8. a kind of intelligent parking system of single carrier loader platform as claimed in claim 3, which is characterized in that the lifting apparatus
(7) lifting platform is used.
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| CN201811254687.6A CN109296236A (en) | 2018-10-26 | 2018-10-26 | A kind of intelligent parking system of single carrier loader platform |
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| CN201811254687.6A CN109296236A (en) | 2018-10-26 | 2018-10-26 | A kind of intelligent parking system of single carrier loader platform |
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Cited By (6)
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| CN109707201A (en) * | 2019-02-25 | 2019-05-03 | 青岛理工大学 | Automatic parking carrying platform positioned based on tracking and calibration method |
| CN110374377A (en) * | 2019-03-08 | 2019-10-25 | 浙江捷易智能科技股份有限公司 | A kind of channel stereo garage and Transport Vehicle method |
| CN112031459A (en) * | 2020-09-29 | 2020-12-04 | 李剑峰 | Stereo garage |
| CN112124301A (en) * | 2019-06-25 | 2020-12-25 | 上海擎感智能科技有限公司 | Control method and device for automatic parking |
| CN112133122A (en) * | 2019-06-25 | 2020-12-25 | 上海擎感智能科技有限公司 | Parking lot for automatic parking |
| CN113846883A (en) * | 2020-06-16 | 2021-12-28 | 北京德威佳业科技有限公司 | Method for traveling and accurately positioning AGV (automatic guided vehicle) |
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