CN110910671B - Dynamic planning method for parking spaces of robot parking lot - Google Patents
Dynamic planning method for parking spaces of robot parking lot Download PDFInfo
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- CN110910671B CN110910671B CN201911115371.3A CN201911115371A CN110910671B CN 110910671 B CN110910671 B CN 110910671B CN 201911115371 A CN201911115371 A CN 201911115371A CN 110910671 B CN110910671 B CN 110910671B
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
Abstract
The invention discloses a method for dynamically planning parking spaces of a robot parking lot, which comprises the following steps: parking the garage: the user stops the vehicle in the garage to send parking information to the background server through the cell-phone, the robot gets the car: and the background server receives and sends parking information to the parking robot, and the parking robot moves to a corresponding garage. The invention relates to a method for dynamically planning parking spaces of a robot parking lot, which comprises the steps that a parking lot is composed of a robot moving path and effective parking areas, the effective parking areas are distributed on two sides of the robot moving path, so that a robot can move to the effective parking areas when moving to any position, the safety distance between the parking spaces can be adjusted, the parking areas are utilized more fully, the safety distance between vehicles is ensured, the size of the actual parking spaces depends on the actual size and the safety distance of the vehicles to be parked, and the vehicles with various lengths can be directly placed.
Description
Technical Field
The invention relates to the technical field of parking garages, in particular to a method for dynamically planning parking spaces of a robot parking lot.
Background
The intelligent parking lot is characterized in that a parking robot replaces manpower to place a vehicle at a specified position, but with the development of science and technology, the requirements of people on the robot parking lot are higher and higher, so that the traditional robot parking lot cannot meet the use requirements of people;
at present, the parking area of robot needs earlier according to the size of different vehicles, draw the parking stall of equidimension not in the place in parking area, later when putting the vehicle, put the vehicle in the parking stall of corresponding size through the parking robot, because the vehicle of equidimension not can only be put in the parking stall of corresponding size, when the vehicle of the same size was parked too much, other parking stalls can't be used, consequently often can cause the parking stall of a certain size to be idle, and the parking stall of another kind of size is frequently used, lead to the parking area unable make full use of, secondly, current robot parking area, by the whole transport of robot, if the robot marchs when the circuit takes place the deviation, easily collide with other parked vehicles, for this reason, we propose a robot parking area parking stall dynamic planning method.
Disclosure of Invention
The invention mainly aims to provide a method for dynamically planning parking spaces of a robot parking lot, which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
a method for dynamically planning parking spaces of a robot parking lot comprises the following steps:
parking a garage: a user stops a vehicle in a garage and sends parking information to a background server through a mobile phone;
(II) the robot gets the vehicle: the background server receives and sends parking information to the parking robot, and the parking robot moves to a corresponding garage to take out the vehicle;
(III) path planning: the background server formulates a parking route for placing the vehicle in the parking area according to the information of the parked vehicle, and the distance measuring instrument at the corresponding position is closed;
(IV) vehicle placement: the parking robot receives the parking route, places the vehicle in a corresponding parking space, turns on the range finder after parking, and sends feedback information of the parked vehicle to the background server;
(V) vehicle taking out: a user sends a vehicle taking instruction, the background server specifies a vehicle taking route, and the parking robot moves to place the vehicle according to the vehicle taking route and moves the vehicle into the parking garage;
(VI) the user gets the vehicle: and after the vehicle moves to the parking garage, the background server sends vehicle taking information to the user.
Preferably, in step (i), before the vehicle is parked, the personal information is first logged in the background server, the personal information includes the user name, the age, the identification card information and the driving card information, and the parking information includes the parking time, the vehicle model information and the vehicle position.
Preferably, the vehicle model information includes a vehicle length, a vehicle width, and a vehicle height.
Preferably, in the step (III), a plurality of laser range finders are installed at the top end of the parking area and surround the parking area to form a ring, the laser range finders corresponding to the specified parking positions are powered off when the vehicle is parked, the parking robot parks the vehicle in the parking area, the range finders are in wireless connection with the background server, and the parked vehicle information comprises the effective length of the parking lane.
Preferably, the parking areas consist of two rows of parallel parking lanes, a moving path for the parking robot to move is reserved between the parking areas, and the robot moves along the moving path.
Preferably, after the parking lane is placed, the background server calculates the effective length of the parking lane according to the vehicle length data, wherein the effective length of the parking lane is equal to the effective length of the last parking lane minus the vehicle length data, and the vehicle length data is equal to the sum of the vehicle length and the safety distance between the front end and the rear end of the vehicle.
Preferably, after the vehicle is taken out, the effective length of the parking lane is equal to the effective length of the previous parking lane plus the vehicle length data.
Preferably, in step (vi), the vehicle pickup information includes parking time, a position of the garage to be picked up, and charging information.
Compared with the prior art, the invention has the following beneficial effects:
the method is applied to a parking lot with a robot for parking automatically, the parking lot is composed of a robot moving path and an effective parking area, and the effective parking area is distributed on two sides of the robot moving path, so that the robot can move to the effective parking area when moving to any position;
secondly, parking spaces are not arranged in advance in an effective parking area, the size of the actual parking space depends on the actual size and the safe distance of the vehicle to be stored, the large vehicle can distribute the parking area equivalent to the overall size of the large vehicle, and the small vehicle also distributes the corresponding parking area according to the size of the vehicle;
thirdly, the safety distance between the parking spaces can be adjusted so as to more fully utilize the parking area and ensure the safety distance between the vehicles;
fourthly through the top installation laser range finder in parking area to enclose the parking area by laser range finder, when the object touches the laser that laser range finder takes place, survey the distance and change, can in time discover to have the object to be close to the vehicle, conveniently handle in time.
Drawings
FIG. 1 is a system flow diagram of a method for dynamically planning parking spaces in a robot parking lot according to the present invention;
fig. 2 is a top view of a method for dynamically planning parking spaces in a robot parking lot according to the present invention.
In the figure: 1. a parking area; 2. a parking robot; 3. a vehicle; 4. a path of movement.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1-2, a method for dynamically planning parking spaces in a robot parking lot includes the following steps:
parking a garage: the method comprises the steps that a user stops a vehicle 3 in a garage and sends parking information to a background server through a mobile phone, before the vehicle 3 is parked, personal information is firstly logged in the background server, the personal information comprises user name, age, identity card information and running card information, the parking information comprises parking time, vehicle 3 type information and vehicle 3 position, and the vehicle 3 type information comprises vehicle 3 length, vehicle 3 width and vehicle 3 height;
(II) the robot gets the vehicle: the background server receives and sends parking information to the parking robot 2, the parking robot 2 moves to a corresponding garage, and the vehicle 3 is taken out;
(III) path planning: the method comprises the following steps that a background server formulates a parking route for placing a parking area 1 according to information of parked vehicles 3, distance meters at corresponding positions are closed, the parking area 1 is composed of two rows of parallel parking lanes, a moving path 4 for moving a parking robot 2 is reserved between the parking areas 1, the robot moves along the moving path 4, a plurality of laser distance meters are installed at the top end of the parking area 1 and surround the parking area 1 to form a ring, the laser distance meters corresponding to a specified parking position are powered off when the vehicles 3 are parked, the parking robot 2 parks the vehicles 3 in the parking area 1, the distance meters are in wireless connection with the background server, and the information of the parked vehicles 3 comprises the effective length of the parking lanes;
(IV) vehicle 3 placement: the parking robot 2 receives the parking route, places the vehicle 3 to a corresponding parking space, opens the range finder after parking, and sends feedback information of the parked vehicle 3 to the background server, after placement, the background server calculates the effective length of the parking lane according to the length data of the vehicle 3, the effective length of the parking lane is equal to the effective length of the last parking lane minus the length data of the vehicle 3, the length data of the vehicle 3 is equal to the length plus the safety distance between the front end and the rear end of the vehicle 3, and after the vehicle 3 is taken out, the effective length of the parking lane is equal to the effective length of the last parking lane plus the length data of the vehicle 3;
(v) vehicle 3 extraction: a user sends a vehicle taking instruction, the background server specifies a vehicle taking route, the parking robot 2 moves to place the vehicle 3 according to the vehicle taking route, and the vehicle is moved into the parking garage;
(VI) the user gets the vehicle: and after the vehicle 3 moves to the parking garage, the background server sends vehicle taking information to the user, wherein the vehicle taking information comprises parking time, a garage taking position and charging information.
When the parking system is used, a user logs in the background server and sends parking information, the background server sends the information to the parking robot 2 according to the parking information, so that the parking robot 2 moves to a garage where the vehicle 3 is temporarily stored and lifts the vehicle 3, and then the background server compares the parking information with the effective length of a parking lane parked in the parking area 1, and the parking system has the following conditions:
A. when the effective length of a certain parking lane is smaller than the length of the vehicle 3, comparing the effective length of the parking lane at another position with the vehicle 3;
B. when the effective length of the parking lane is longer than that of the vehicle 3, the vehicle 3 is transported to the position and is close to the parked vehicle 3, the effective length of the parking lane minus the length of the vehicle 3 is a new effective length of the parking lane, and the data is stored and used for calculating the effective length of the parking lane next time, so that the safety distance between the parking spaces can be adjusted, the parking area is more fully utilized, and meanwhile, the safety distance between the vehicle and the vehicle is ensured.
When the parking garage is used, a user sends a vehicle taking instruction to the background server, the background server controls the parking robot 2 to take the vehicle 3 out, and the vehicle 3 is placed in the garage and used for taking the vehicle from the designated garage.
Because a plurality of laser range finders enclose parking area 1, when the object touches the laser that laser range finder takes place, survey the distance and change, can in time discover that there is the object to be close to vehicle 3, conveniently handle in time.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. A method for dynamically planning parking spaces of a robot parking lot is characterized by comprising the following steps:
parking a garage: the method comprises the steps that a user stops a vehicle in a garage and sends parking information to a background server through a mobile phone, before the vehicle is parked, personal information is firstly logged in the background server, the personal information comprises user name, age, identity card information and driving card information, the parking information comprises parking time, vehicle model information and vehicle position, and the vehicle model information comprises vehicle length, vehicle width and vehicle height;
(II) the robot gets the vehicle: the background server receives and sends parking information to the parking robot, and the parking robot moves to a corresponding garage to take out the vehicle;
(III) path planning: the parking method comprises the following steps that a background server formulates a parking route for placing a parking area according to information of parked vehicles, distance meters at corresponding positions are closed, a plurality of laser distance meters are mounted at the top end of the parking area and form a ring shape to surround the parking area, when the vehicles are parked, the laser distance meters corresponding to specified parking positions are powered off, the vehicles are parked in the parking area by a parking robot, the distance meters are wirelessly connected with the background server, the information of the parked vehicles comprises the effective length of the parking lane, the parking area consists of two rows of parking lanes in parallel, a moving path for the parking robot to move is reserved between the parking areas, and the parking robot moves along the moving path;
(IV) vehicle placement: the parking robot receives the parking route, places the vehicles on corresponding parking spaces, opens the range finder after parking, sends feedback parked vehicle information to the background server, and calculates the effective length of a parking lane according to vehicle length data after placement, wherein the effective length of the parking lane is equal to the effective length of the previous parking lane minus the vehicle length data, and the vehicle length data is equal to the vehicle length plus the safety distance between the front end and the rear end of the vehicle;
(V) vehicle taking out: a user sends a vehicle taking instruction, the background server specifies a vehicle taking route, and the parking robot moves to place the vehicle according to the vehicle taking route and moves the vehicle into the parking garage;
(VI) the user gets the vehicle: and after the vehicle moves to the parking garage, the background server sends vehicle taking information to the user.
2. The method for dynamically planning the parking spaces of the robot parking lot according to claim 1, wherein the method comprises the following steps: and after the vehicle is taken out, the effective length of the parking lane is equal to the sum of the effective length of the previous parking lane and the vehicle length data.
3. The method for dynamically planning the parking spaces of the robot parking lot according to claim 1, wherein the method comprises the following steps: in the step (VI), the vehicle taking information comprises parking time, garage taking position and charging information.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111862671A (en) * | 2020-03-26 | 2020-10-30 | 同济大学 | Intelligent parking lot vehicle control system and method for parking robot |
| CN112216144B (en) * | 2020-10-13 | 2021-11-02 | 安徽亿力停车场投资有限公司 | Big data line-moving planning analysis method based on hospital parking lot |
| CN112489481B (en) * | 2020-12-01 | 2022-06-10 | 阿波罗智联(北京)科技有限公司 | Parking method, device, equipment and storage medium |
| CN113706926A (en) * | 2021-09-07 | 2021-11-26 | 上海艾吉微电子科技有限公司 | Intelligent parking management implementation system and method |
| CN115059334A (en) * | 2022-07-06 | 2022-09-16 | 江苏明奕达物联网科技有限公司 | Automatic parking method for parking robot |
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