CN109681011A - A kind of Intelligent parking system and intelligent parking method - Google Patents
A kind of Intelligent parking system and intelligent parking method Download PDFInfo
- Publication number
- CN109681011A CN109681011A CN201910023557.XA CN201910023557A CN109681011A CN 109681011 A CN109681011 A CN 109681011A CN 201910023557 A CN201910023557 A CN 201910023557A CN 109681011 A CN109681011 A CN 109681011A
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- Prior art keywords
- landing
- parking
- automobile
- module
- bracket
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- 238000000034 method Methods 0.000 title claims description 11
- 230000003028 elevating effect Effects 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 11
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 241000239290 Araneae Species 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 208000010877 cognitive disease Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000013519 translation 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
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/22—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes
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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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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of Intelligent parking systems, including parking robot, including bracket, controller, walking mechanism, communication module and navigation module, for the bracket, mobile, the described navigation module controls the walking mechanism orientation walking to the walking mechanism, and the walking mechanism and navigation module pass through communication module and connect with the controller；Landing, including for bearing automobile weight loading plate, be placed in loading plate back to the support socle of automobile side and the anti-slipping mechanism being set on loading plate, elevating mechanism, the mechanical lifting gear including the landing can be sling vertically；After in automobilism to the landing, the landing and automobile are jacked up and are moved to setting position by the parking robot, and the elevating mechanism slings the landing and automobile.The parking robot is able to achieve quick Transport Vehicle, automatic programme path walking, judged automatically it is accessible, securely and reliably.
Description
Technical field
The present invention relates to the wisdom parking on a kind of car carrying equipment and optimization parking stall more particularly to a kind of intelligent parkings
System and intelligent parking method.
Background technique
With the rapid development of automobile industry and universal, the few phenomenon in the more parking stalls of city vehicle, traditional parking mode is gradually
Start to walk intelligentized development.Mechanical carport has planar movement class, vertical lifting, tunnel stacking class.Their principle
All it is to have a workbench or multiple platforms, automobile can be lifted mobile or lifting mode from bottom of car and conveyed
To specified position.
Using in stereo garage is vehicle-carrying plate carrier vehicle extensively.This mode is that automobile is parked in the carrier vehicle specified in stereo garage
On plate, it is elevated to corresponding height by way of chain or steel cable, corresponding position is being moved to by motor.For this
Kind of mode needs to be laid with translation track, and lifting configuration and service cable etc., which handling efficiency is low, high failure rate, when parking
Between it is long, can not achieve wisdom parking essential meaning.
Summary of the invention
The present invention is few in order to solve parking stall in city, and mechanical garage barrier rate is high, and down time is long, can not achieve wisdom
The problem of parking and a kind of Intelligent parking system provided.The parking robot is able to achieve quick Transport Vehicle, automatic programme path
Walking, judged automatically it is accessible, securely and reliably.It is docked with mechanical Simple lifting garage perfection, greatly increases parking stall
Quantity, truly realize intelligent parking.
The technical solution used in the present invention are as follows: a kind of Intelligent parking system, including
Parking robot, including bracket, controller, lifting module, walking mechanism, communication module and navigation module, the lifting
Module is for jacking up or falling the bracket, the walking mechanism is used to drive the bracket movement, the navigation module control
The walking mechanism orientation walking is made, the lifting module, walking mechanism and navigation module pass through communication module and the control
Device connection processed；
Landing, including for bearing automobile weight loading plate, be placed in loading plate back to the support socle of automobile side and
The anti-slipping mechanism being set on loading plate,
Elevating mechanism, the mechanical lifting gear including the landing can be sling vertically；
After in automobilism to the landing, the landing and automobile are jacked up and are moved to by the parking robot
Setting position, the elevating mechanism sling the landing and automobile.
Further, the lifting module selects fork hydraulic or electronic, Worm-gear type linkage lifting device.
Further, the walking mechanism is Twin Rudders wheel, four steering wheels, Mecanum wheel, one of four groups of spider gears.
Further, the navigation module is that two dimensional code adds inertial navigation or laser that magnetic nail type is added to navigate.
Further, the vehicle-carrying plate is equipped with the position-limit mechanism for preventing automobile transverse shifting.
Further, when the lifting module falls the bracket, the height of the bracket is lower than the loading plate
Highly.
Further, the loading plate is equipped with the reinforcing rib for increasing the loading plate intensity.
The present invention also provides a kind of intelligent parking methods, include the following steps
A is by automobile parking on landing；
The landing and automobile are moved to predetermined position by parking robot by b；
C is sling landing and automobile vertically to setting height by mechanical lifting gear；
The landing includes loading plate and for by loading plate branch support socle from the ground, the parking robot
It is placed under the loading plate.
Further, the parking robot includes bracket, controller, lifting module, walking mechanism, communication module and leads
Model plane block, the lifting module is for jacking up or falling the bracket, the walking mechanism be used to driving the bracket it is mobile,
The navigation module controls the walking mechanism orientation walking, and the lifting module, walking mechanism and navigation module pass through logical
Letter module is connect with the controller；
The parking robot is placed under the landing, and the controller receives automobile and docks at the parking safely
After the instruction of platform, the lifting module on the parking robot is jacked up landing to disengaging ground by bracket, described
Parking robot is moved to setting position under the guide of the navigation module, and the lifting module is fallen bracket and stopped with described
The separation of vehicle platform, the parking robot are run to next standby position.
Beneficial effect caused by the present invention include: in existing or existing parking lot, can be in original parking
Machinery garage simple lifting, the parking stall number doubled, in conjunction with parking robot, it is only necessary to which vehicle is parked in vehicle are installed on position
It is flame-out to pull the hand brake out on platform at entrance, according to (wechat, Alipay, meeting after process bicycle parking success on operation large-size screen monitors
Member card can consume parking), after being scanned successfully by safety device, parking robot hears that instruction places an order, drive to park it is flat
Platform is jacked up below platform, fallen on the position of automatic running to machinery garage just jacked up park platform be driven out to machinery garage to
Order position.Machinery garage laser scanner, which detects, parks platform, and the lifting device on main frame will park platform rise, effectively
Saving space securely and reliably realize intelligent parking truly.
Detailed description of the invention
Fig. 1 parking robot top view of the present invention；
Fig. 2 parking robot side view of the present invention；
Fig. 3 parking robot main view of the present invention；
The top view of Fig. 4 landing of the present invention；
The side view of landing in Fig. 5 present invention；
The main view of landing in Fig. 6 present invention；
The side view of elevating mechanism in Fig. 7 present invention；
The main view of elevating mechanism in Fig. 8 present invention；
In figure: 1, parking robot, 11, bracket, 12, lifting module, 13, walking mechanism, 14, controller, 15, detection device,
16, charging unit, 2, automobile parking platform, 21, loading plate, 22, support socle, 23, cushion, 24, position-limit mechanism, 25, plus
Strengthening tendons, 3, elevating mechanism, 31, main structure steelframe, 32, lifting device, 33, machinery garage control system, 34, machinery garage laser
Detection device.
Specific embodiment
Further details of explanation is done to the present invention with reference to the accompanying drawings and detailed description, it should be appreciated that
The protection scope of the present invention is not limited by the specific implementation manner.
Intelligent parking system in the present invention, including parking robot 1, landing and elevating mechanism 3, automobile parking in
After landing, landing is moved to designated position by parking robot 1, then by elevating mechanism 3 by landing and
Automobile is sling, and then plays the purpose for making full use of parking space and intelligent parking.
As shown in Figure 1-3, parking robot 1 includes bracket 11, controller 14, lifting module 12, walking mechanism 13, communication
Module and navigation module, lifting module 12 is for jacking up or falling bracket 11, walking mechanism 13 is used for the movement of driving arm 11,
Navigation module controls the orientation walking of walking mechanism 13, and lifting module 12, walking mechanism 13 and navigation module pass through communication module
It is connect with controller 14；After controller 14 receives start command, starting lifting module 12 jacks up bracket 11 first, walks
The driving arm 11 under the guide of navigation module of mechanism 13 is mobile, and also installation is walked safe inspection for detection support 11 on vehicle frame
Device 15 is surveyed, detection device 15 is used for 11 peripheral obstacle of detection support, is convenient for 11 safe harbor barrier of bracket.It parks machine
1 installation detecting device of people, 15 principle: laser anti-collision module emits light beam, irradiates the object of surrounding, passes through the anti-of detection laser beam
Penetrate and carry out cognitive disorders object, and to 14 feedback signal of controller, instructed so that controller 14 issues, control robot slow down or
Person stops.
As Figure 4-Figure 6, landing, including for bearing automobile weight loading plate 21, be placed in loading plate 21 back to
The support socle 22 of automobile side and the anti-slipping mechanism being set on loading plate 21, support socle 22 are used for loading plate 21 is fragmented
Ground, anti-slipping mechanism are additionally provided with position-limit mechanism on loading plate 21 for preventing automobile after parking to be moved forward and backward on loading plate 21
24, after position-limit mechanism 24 is used to prevent parking, automobile is displaced sideways, and position-limit mechanism 24 is postive stop baffle at this.Support leg
Socle cushion 23 is also equipped on column 22, for buffering the shock between landing and other objects.In order to increase carrying
The intensity of plate 21 is provided with reinforcing rib 25 on loading plate 21.
As Figure 7-8, elevating mechanism 3 includes the mechanical lifting gear 32 that can sling landing vertically；It can be used existing
There is the elevating mechanism 3 in mechanical Simple lifting garage, mechanism includes main structure steelframe 31, chain lifting device 32, mechanical car
Library control system 33, machinery garage laser detector 34, after landing is run to designated position, elevating mechanism 3 passes through
It hooks pawl hooks and lives landing, sling landing to specified altitude assignment.
As a kind of specific structure type, the parking robot 1 in the present invention goes up and down module 12, fork hydraulic or electricity
It is dynamic, Worm-gear type linkage lifting etc..
1 walking mechanism 13 of parking robot is optional, Twin Rudders wheel, four steering wheels, Mecanum wheel, four groups of differential wheel modes etc..
1 navigation device of parking robot may include that two dimensional code adds inertial navigation, and laser navigation adds magnetic nail etc..
Two dimensional code adds the principle of inertial navigation are as follows: obtains angular speed using gyroscope, integrates to obtain angle；It is obtained in conjunction with code-disc
Coordinate and course angle.Since there are accumulated errors for inertial navigation, two-dimensional barcode information is added to correct accumulated error.
Laser navigation principle are as follows: place multiple articles for having handmarking, machine in the space of transfer robot movement
In the process of walking, laser navigation module measures each reflecrtive mark article by the laser beam for emitting and being reflected back to people
Distance and angle, own location information is then calculated by geometry, to carry out autonomous.
Charging interface is set in parking lot, and parking robot 1 is equipped with charging module 16, and charging module 16 connects controller
14, when controller 14 detects that 1 electricity of parking robot is low, drive the charging module 16 on parking robot 1 and charging
Mouth connection, realizes automatic charging.Charging interface is located at parking robot 1 to Operational Zone.
Controller model TMS320F28335 in the present invention, laser anti-collision module model SICK TIM310.
Process of parking is described below: implementing 1 or multiple entrances in the garage of normal operation, which is
Concave design, parking robot 1 head on automobile parking platform 2 and drive in concave design mouth, put down and park platform and await orders.When
On running car to the platform, laser radar scanner carries out security sweep to vehicle, and when appearance position has deviation, system can be mentioned
Show that you adjust automobile, after having stopped vehicle, display screen can show flame-out, drawing good hand's brake.After everything is ready, people goes out car, stops to operation
Truck position is carried out to vehicle parking operation, according to the universal of present mobile payment, is generally scanned the two-dimensional code using mobile phone or right
License plate is known keeps vehicle otherwise.At this moment system can assign instruction to trolley, and at this moment parking robot 1 can drive to this and stop
It is laid flat below platform, raised car park platform independently drives under the elevating mechanism 3 of planning, runs in road, and parking robot 1 is certainly
It is dynamic to carry out path planning, automatic identification of obstacles.
It is driven out to after parking robot 1 puts down landing after machinery garage and reaches the area that awaits orders and awaited orders or charged.
At this moment system can assign instruction to machinery garage control system 33, and at this moment the elevating mechanism 3 in garage declines, be suspended to park it is flat
The lower end of platform will park platform rise.Lower end spaces can also park one, and to park platform as shown in Figure 3.Whole process speed
Fastly, securely and reliably, the meaning of intelligent parking is really realized.
The above is only a preferred embodiment of the present invention, and the present invention is not limited in the content of embodiment.For in this field
Technical staff for, can have various change and change within the scope of technical solution of the present invention, made any variation and
Change, within that scope of the present invention.
Claims (9)
1. a kind of Intelligent parking system, it is characterised in that: including
Parking robot, including bracket, controller, walking mechanism, communication module and navigation module, the walking mechanism are used for institute
Bracket movement, the navigation module control walking mechanism orientation walking are stated, the walking mechanism and navigation module pass through
Communication module is connect with the controller；
Landing, including for bearing automobile weight loading plate, be placed in loading plate back to the support socle of automobile side and
The anti-slipping mechanism being set on loading plate,
Elevating mechanism, the mechanical lifting gear including the landing can be sling vertically；
After in automobilism to the landing, the landing and automobile are jacked up and are moved to by the parking robot
Setting position, the elevating mechanism sling the landing and automobile.
2. Intelligent parking system according to claim 1, it is characterised in that: be equipped in the bottom of the bracket for that will moor
The lifting module that vehicle robot bracket is jacked up or fallen, the lifting module select fork hydraulic or electronic, Worm-gear type
Link lifting device.
3. Intelligent parking system according to claim 1, it is characterised in that: the walking mechanism be Twin Rudders wheel, four steering wheels,
Mecanum wheel, one of four groups of spider gears.
4. Intelligent parking system according to claim 1, it is characterised in that: the navigation module is that two dimensional code adds inertia to lead
Boat or laser add magnetic nail type to navigate.
5. Intelligent parking system according to claim 1, it is characterised in that: the vehicle-carrying plate, which is equipped with, prevents automobile lateral
Mobile position-limit mechanism.
6. Intelligent parking system according to claim 2, it is characterised in that: the lifting module falls the bracket
When, the height of the bracket is lower than the height of the loading plate.
7. Intelligent parking system according to claim 1, it is characterised in that: the loading plate, which is equipped with, increases the carrying
The reinforcing rib of plate intensity.
8. a kind of intelligent parking method, it is characterised in that: include the following steps
A is by automobile parking on landing；
The landing and automobile are moved to predetermined position by parking robot by b；
C is sling landing and automobile vertically to setting height by mechanical lifting gear；
The landing includes loading plate and for by loading plate branch support socle from the ground, the parking robot
When the mobile landing, the parking robot is placed under the loading plate.
9. intelligent parking method according to claim 8, it is characterised in that: the parking robot includes bracket, control
Device, lifting module, walking mechanism, communication module and navigation module, the lifting module is used to that the bracket to be jacked up or be fallen,
The walking mechanism is for driving the bracket movement, the navigation module to control the walking mechanism orientation walking, the liter
Drop module, walking mechanism and navigation module pass through communication module and connect with the controller；
After the controller receives the instruction that automobile has docked at safely the landing, the parking robot run to
Under the landing, the parking robot is jacked up landing to disengaging ground, the Apparatus for parking vehicles by lifting module
After device people is moved to setting position under the guide of the navigation module, the parking robot puts down the landing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910023557.XA CN109681011A (en) | 2019-01-10 | 2019-01-10 | A kind of Intelligent parking system and intelligent parking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910023557.XA CN109681011A (en) | 2019-01-10 | 2019-01-10 | A kind of Intelligent parking system and intelligent parking method |
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| Publication Number | Publication Date |
|---|---|
| CN109681011A true CN109681011A (en) | 2019-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910023557.XA Pending CN109681011A (en) | 2019-01-10 | 2019-01-10 | A kind of Intelligent parking system and intelligent parking method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110566024A (en) * | 2019-09-27 | 2019-12-13 | 佛山科学技术学院 | Parking control device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104878970A (en) * | 2015-06-10 | 2015-09-02 | 深圳怡丰机器人科技有限公司 | Car conveying robot provided with AGV (automatic guided vehicle) and adopting car carrying board exchange |
| CN105239810A (en) * | 2015-11-06 | 2016-01-13 | 厦门市海陆工程有限公司 | Piggy-back intelligent vehicle carrier and intelligent vehicle carrying system employing the same |
| CN106677579A (en) * | 2017-03-01 | 2017-05-17 | 上海汇聚自动化科技有限公司 | Intelligent parking robot with omni-directional moving and transferring platform and control method thereof |
| CN209874607U (en) * | 2019-01-10 | 2019-12-31 | 仓智（上海）智能科技有限公司 | Intelligent parking system |
-
2019
- 2019-01-10 CN CN201910023557.XA patent/CN109681011A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104878970A (en) * | 2015-06-10 | 2015-09-02 | 深圳怡丰机器人科技有限公司 | Car conveying robot provided with AGV (automatic guided vehicle) and adopting car carrying board exchange |
| CN105239810A (en) * | 2015-11-06 | 2016-01-13 | 厦门市海陆工程有限公司 | Piggy-back intelligent vehicle carrier and intelligent vehicle carrying system employing the same |
| CN106677579A (en) * | 2017-03-01 | 2017-05-17 | 上海汇聚自动化科技有限公司 | Intelligent parking robot with omni-directional moving and transferring platform and control method thereof |
| CN209874607U (en) * | 2019-01-10 | 2019-12-31 | 仓智（上海）智能科技有限公司 | Intelligent parking system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110566024A (en) * | 2019-09-27 | 2019-12-13 | 佛山科学技术学院 | Parking control device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220802 Address after: Room 211, No. 28, Xiushan Road, Chongming District, Shanghai 202150 Applicant after: SHANGHAI HYTONE PARKING EQUIPMENT CO.,LTD. Address before: 201100 room 506, No. 1313, zhuanxing East Road, Minhang District, Shanghai Applicant before: INTEWARE (SHANGHAI) INTELLIGENT TECHNOLOGY CO.,LTD. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190426 |