CN110952821B

CN110952821B - Community three-dimensional parking system with intelligent auxiliary function

Info

Publication number: CN110952821B
Application number: CN201911083627.7A
Authority: CN
Inventors: 寇京珅; 谢超
Original assignee: Chongqing Terminus Technology Co Ltd
Current assignee: Chongqing Terminus Technology Co Ltd
Priority date: 2019-11-07
Filing date: 2019-11-07
Publication date: 2021-07-30
Anticipated expiration: 2039-11-07
Also published as: CN110952821A

Abstract

The invention discloses a community three-dimensional parking system with an intelligent auxiliary function, which mainly comprises a three-dimensional parking garage, a positioning device and an auxiliary robot, wherein the auxiliary robot mainly comprises a body, a chassis and a display screen, the chassis and the display screen are respectively connected with the body, the chassis is fixedly connected below the body, an adjusting component is arranged below the display screen, two ends of the adjusting component are respectively fixedly connected with the display screen and the body, and the adjusting component is used for adjusting the height, the horizontal angle and the pitching angle of the display screen. Through positioner to the vehicle detection real-time position that parks, supplementary robot display screen shows the parking assistance information, and the suggestion driver adjusts the vehicle direction, guarantees that the vehicle parks into the position, improves parking efficiency, reduces the human cost of community.

Description

Community three-dimensional parking system with intelligent auxiliary function

Technical Field

The invention relates to the technical field of intelligent communities, in particular to a community three-dimensional parking system with an intelligent auxiliary function.

Background

The community is an important space for human living, and the concept of the intelligent community is generated along with the development of advanced technologies such as the Internet of things, big data, image analysis, artificial intelligence and the like in recent years. Particularly, the intelligent community combines various types of service facilities in the community with the above technical means, and highly automatic, intelligent, convenient and humanized community service is realized, so that the safety and the habitability of community residents are improved.

No matter it is residential community or commercial community at present, the parking stall is nervous all is the general phenomenon, and the installation has the stereo garage of over-and-under type parking stall can effectively alleviate the not enough of parking stall. However, when a user parks in the lifting parking space of the three-dimensional parking garage, the front and rear positions and the left and right positions of the vehicle are required to be within the preset deviation, otherwise, the lifting of the lifting parking space is influenced, the vehicle is easily damaged, and potential safety hazards also exist.

The existing three-dimensional parking garage needs a specially-assigned person to command in front of the vehicle, so that the labor cost of community property is increased, and the parking efficiency is reduced.

Disclosure of Invention

Objects of the invention

In order to overcome at least one defect in the prior art, improve parking efficiency and reduce labor cost, the invention discloses the following technical scheme.

(II) technical scheme

As a first aspect of the present invention, the present invention discloses an autonomous moving parking assist robot, comprising:

the chassis and the display screen are respectively connected with the body, the chassis is fixedly connected below the body, an adjusting component is arranged below the display screen, two ends of the adjusting component are respectively connected with the display screen and the body, and the adjusting component is used for adjusting the height, the horizontal angle and the pitching angle of the display screen.

In a possible embodiment, the adjusting assembly comprises a hydraulic cylinder, a rotary table and a bracket, the display screen is rotatably connected to the bracket, the bracket is fixedly connected to the upper surface of the rotary table, and the rotary table is fixedly connected to a piston rod of the hydraulic cylinder.

In a possible embodiment, a driving device and a guiding device are arranged on the chassis, the driving device comprises a driving wheel arranged on the chassis, and a driving main motor for driving the driving wheel to move;

the guiding device comprises a universal wheel arranged on the chassis and a rotating mechanism for driving the universal wheel to rotate.

In a possible embodiment, at least one rolling member is further arranged under the chassis, and the rolling member is used for supporting the body to slide on the ground.

In a possible embodiment, the rolling element comprises a spherical shell and an inner ball, the spherical shell is fixedly connected with the chassis, and the inner ball is rotatably connected in the spherical shell.

In a possible implementation manner, the auxiliary robot further includes a detection device, the detection device includes a position sensor and a display screen sensor, the position sensor is disposed on the body for detecting a position of the vehicle, and the display screen sensor is disposed on the display screen for detecting a height of the display screen.

As a second aspect of the present invention, the present invention further discloses a community three-dimensional parking system with an intelligent auxiliary function, comprising:

the three-dimensional parking garage comprises a three-dimensional parking garage, a positioning device and an auxiliary robot, and is characterized in that the auxiliary robot is the auxiliary robot in any technical scheme.

In a possible embodiment, the positioning device comprises cameras, which are respectively arranged at the front part, the rear part, the left part and the right part of the stereo parking garage and are used for measuring the real-time position of a vehicle in a parking space of the stereo parking garage.

In a possible embodiment, a sign line is provided on a single parking space of the stereo parking garage.

In one possible embodiment, the parking system further comprises a processor for determining a deviation distance of the vehicle from the marking line.

(III) advantageous effects

The invention discloses a community three-dimensional parking system with an intelligent auxiliary function, which has the following beneficial effects:

1. the parking auxiliary robot is used for measuring the position of a parked vehicle in real time through the positioning device, feeding back the signal to the parking auxiliary robot which moves autonomously, reminding a driver of making a relatively correct adjustment of the vehicle direction, ensuring that the vehicle is accurately parked in the parking place, reducing the labor cost of a community and improving the parking efficiency. The three-dimensional parking garage is provided with the positioner in the front, back, left and right respectively to carry out omnidirectional detection to the vehicle that parks.

2. The height of the display screen is adjusted within a certain range through the adjusting assembly so as to adapt to the visual field heights of different vehicle types.

3. The rolling parts are arranged at the bottom of the auxiliary robot, so that the auxiliary robot can move in multiple directions and at any position when moving by self.

4. The rolling part is internally provided with a ball body, so that the friction force between the auxiliary robot and the ground is reduced.

5. The auxiliary robot is provided with a detection device, the detection device utilizes the camera shooting and image analysis technology, and by extracting a representative region and a central line thereof in a front face image of the vehicle as a benchmark, the detection device provides reference for fine adjustment of the position of the auxiliary robot after reaching the parking space and adjustment of the height angle of the display screen, so that the auxiliary robot can conveniently and accurately move to the position, which is right opposite to a driver, in front of the vehicle and keep a proper distance with the vehicle, and detect whether the display screen is positioned at the visual field height of the vehicle.

6. The dispatching and task allocation of the auxiliary robot are realized through the centralized management of the dispatching center; the auxiliary robot can autonomously plan a path and execute auxiliary guide operation, and drives to a nearby stop point after the operation is finished, and the process of executing the auxiliary guide operation does not need remote control of a dispatching center.

7. The parking space of the stereo parking garage is provided with the mark line, so that the parking vehicle can be conveniently positioned, and the vehicle is ensured to be within the preset deviation.

Drawings

The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining and illustrating the present invention and should not be construed as limiting the scope of the present invention.

Fig. 1 is a schematic three-dimensional structure diagram of a first embodiment of an autonomous mobile parking assist robot disclosed in the present invention.

Fig. 2 is a schematic three-dimensional structure diagram of the adjusting assembly disclosed by the invention.

Fig. 3 is another perspective three-dimensional structure diagram of the first embodiment of the autonomous mobile parking assist robot disclosed in the present invention.

Fig. 4 is a schematic three-dimensional structure of the driving device and the guiding device disclosed by the invention.

Fig. 5 is a schematic three-dimensional structure diagram of a community stereo parking system with an intelligent auxiliary function according to a first embodiment of the present invention.

Fig. 6 is a schematic image of a front face of a typical vehicle.

Detailed Description

In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention.

It should be noted that: in the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are some embodiments of the present invention, not all embodiments, and features in the embodiments and embodiments in the present application may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making an invasive task, are within the scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention.

A first embodiment of an autonomous mobile parking assist robot of the present disclosure is described in detail below with reference to fig. 1-4. The embodiment is mainly applied to the lifting type three-dimensional parking garage, improves the parking efficiency and reduces the labor cost.

As shown in fig. 1, the autonomous moving parking assistant robot of the embodiment mainly includes a body 100, a chassis 110 and a display screen 120, wherein the chassis 110 and the display screen 120 are respectively connected to the body 100, the body 100 constitutes a main body of the robot, the display screen 120 is disposed above the body 100 and is slidably connected to the body 100 through an adjusting component, the adjusting component is disposed in the body 100, and one end of the adjusting component extends out of the body 100 and is fixedly connected to a lower surface of the display screen 120, and the adjusting component is used for adjusting a height, a horizontal angle and a pitch angle of the display screen 120 within a certain range to adapt to a height of a field of view of vehicles of different models, for example: the different vehicle types such as cars, SUVs, etc. have different visual field heights, which causes the difference of the visual angles of the driver for observing the display screen 120, if the angle of the deviation of the visual angles is larger, the driver can not clearly see the display content of the display screen 120, therefore, the invention adjusts the height, the horizontal angle and the pitch angle of the display screen 120 through the adjusting component, so that the height, the horizontal angle and the pitch angle are matched with the visual angle of the driver, and the visual effect of the display content of the display screen 120 is ensured; the chassis 110 is fixedly connected to the lower portion of the body 100, and is used for supporting and driving the auxiliary robot to freely slide on the ground at multiple angles.

When the vehicle is parked, the auxiliary robot autonomously moves to the front of the vehicle, the display screen 120 faces the driver of the vehicle, and the position of the display screen 120 is adjusted so that the driver can clearly observe the picture or the prompt displayed on the display screen 120.

Specifically, when the real-time position of the vehicle exceeds the preset deviation, the display screen 120 displays parking assistance information to prompt the driver to adjust the vehicle direction back and forth or left and right, so as to ensure that the vehicle is parked in the parking space.

As shown in fig. 2, in an embodiment, the adjusting assembly includes a hydraulic cylinder 121, a rotary table 122 and a support 123, the support 123 includes two opposite vertical plates and a horizontal plate disposed between the two vertical plates, through holes with the same size are respectively disposed on the two vertical plates, a rotating shaft is disposed in the through hole, an axis of the rotating shaft is parallel to a horizontal plane and perpendicular to an axis of the hydraulic cylinder 121, and a driving motor is fixedly connected to one end of the rotating shaft for driving the rotating shaft to rotate. The connecting piece is arranged below the display screen 120, the rotating shaft penetrates through the connecting piece to connect the display screen 120 to the support 123 in a rotating mode, and the driving motor drives the rotating shaft to rotate so as to drive the display screen 120 to rotate at a pitching angle.

The carousel 122 includes movable turntable and fixed carousel, and the axis perpendicular to horizontal plane of carousel 122 just is on a parallel with the axis of pneumatic cylinder 121, and support 123 passes through montant fixed connection in the upper surface of movable turntable, the lower surface and the fixed carousel butt of movable turntable, and fixed connection passes fixed carousel in the motor of movable turntable lower surface, and the motor drives movable turntable and rotates to drive display screen 120 and do the motion of horizontal angle.

One end of the fixed rotary table deviating from the movable rotary table is fixedly connected to a piston rod of the hydraulic cylinder, and the piston rod stretches and retracts to drive the display screen to move vertically.

As shown in fig. 3 and 4, in one embodiment, a driving device and a guiding device 170 are provided on the chassis, and the driving device includes a driving wheel 161 provided on the chassis, and a driving main motor 162 for driving the driving wheel 161 to move, for driving the auxiliary robot to move. The main driving motor 162 is fixedly connected to the inside of the chassis 110, and the main driving motor 162 drives the driving pulley 161 fixedly connected to the lower surface of the chassis 110 to rotate through a transmission member. Further, the transmission member may adopt a belt transmission or a gear transmission.

The guiding device 170 includes a universal wheel 171 disposed on the chassis, and a rotating mechanism for driving the universal wheel to rotate, for controlling and guiding the moving direction of the auxiliary robot. The transmission mechanism may include a gear 172, a rack 173 and a driving hydraulic cylinder 174 for driving the rack to move, a rotating shaft is disposed on the universal wheel 171, the rotating shaft is rotatably connected to the lower surface of the chassis 110, one end of the rotating shaft away from the universal wheel is fixedly connected to the gear 172, the gear 172 is engaged with the rack 173, and the rack is slidably connected to the chassis 110 through the driving hydraulic cylinder 174. As shown in fig. 1, in one embodiment, the lower surface of the chassis 110 is further provided with at least one rolling member 130, and the rolling member 130 is used for supporting the body 100 to slide on the ground, so that the auxiliary robot can move on the ground more conveniently. In the present application, the rolling members 130 are uniformly provided with 4 along the circumferential direction of the chassis.

In one embodiment, the rolling member 130 may include a ball housing 131 and an inner ball 132, the ball housing 131 is fixedly connected to the chassis 110, the inner ball 132 is rotatably connected to the inside of the ball housing 131, and the inner ball 132 rolls on the ground to enable the auxiliary robot to move on the ground, which enables the auxiliary robot to freely change directions when sliding on the ground. The rolling members 130 may be provided in any configuration such as a universal wheel.

In one embodiment, the auxiliary robot may further include a detection device, which may include a position sensor 140 and a display screen sensor 150, the position sensor 140 being disposed on the body 100 for detecting the position of the vehicle relative to the auxiliary robot. Further, the position sensor 140 may be a camera mounted on the body 100 for capturing an image of a front face of the vehicle and detecting a position of the vehicle based on the image, and the position of the vehicle detected by the position sensor 140 may be used as a reference for the auxiliary robot to autonomously move, so that the auxiliary robot can move right in front of the position of the vehicle; furthermore, the position sensor 140 may be further configured with a tof (time Of flight) depth perception sensor, which emits infrared light to the vehicle to measure the distance by measuring the transmission time Of the infrared light between the position sensor 140 and the vehicle, so that the auxiliary robot can move to a position at a proper distance from the vehicle with reference to the measured distance, thereby preventing the observation Of the display screen from being affected by too far distance between the robot and the vehicle, and preventing the probability Of accidental collision from being increased due to too close distance between the robot and the vehicle. More specifically, FIG. 6 is a schematic image of a typical front face of a vehicle, which may be captured by the position sensor 140; the image includes a front windshield area 301, an engine cowl area 302, a vehicle light area 303, a front air inlet area 304, a front bumper area 305, a license plate area 306, and a emblem area 307, each of which has a relatively sharp closed edge at the periphery due to seams and lines of intersection between components, color differences, differences in light reflectance, and the like. The position sensor 140 identifies at least one vehicle region surrounded by a closed edge by using edge extraction and closed detection according to the image of fig. 6, and then compares each vehicle region surrounded by the closed edge with the pre-stored vehicle front windshield template, engine front cover template, front air inlet template and front bumper template in similarity respectively, so as to identify at least one of the front windshield region 301, the engine front cover region 302, the front air inlet region 304 and the front bumper region 305; further, the position sensor 140 is used as a reference for the auxiliary robot to autonomously move in the left and right directions with respect to the vehicle with reference to the area center line of at least one of the above vehicle areas, so that the auxiliary robot can move right in front of the vehicle position; then, the auxiliary robot again moves 1/4 of the vehicle width to the right with respect to the zone centerline, reaching a position directly in front of the driver's seat of the vehicle (the vehicle width 1/4 to the left if the driver's seat is on the right side of the vehicle); further, as described above, the front-rear distance between the robot and the vehicle is adjusted by the TOF distance measurement. As the position and direction of the vehicle are adjusted during parking, the auxiliary robot performs left-right and front-back movement accordingly according to the measurement result of the position sensor 140.

The display screen sensor 150 is disposed on the display screen 120, and is configured to detect a position of a front windshield of the vehicle, and adjust a height, a horizontal angle, and a pitch angle of the display screen 120 with the position as a reference. In particular, the display screen sensor 150 may employ a camera. The front face image of the vehicle is shot through the camera, the position of the front windshield can be extracted from the front face image of the vehicle shot by the display screen sensor 150 by utilizing an edge recognition technology, and the height, the pitching angle and the horizontal angle of the display screen are adjusted in a matching mode according to the position. More specifically, when the auxiliary robot reaches a proper position in front of the vehicle according to the measurement result of the position sensor 140, the display sensor 150 also captures an image of the front face of the front of the vehicle, and also detects the position of the front windshield of the vehicle by using the closed edge detection and similarity comparison with the front windshield template; if the front windshield of the vehicle cannot be detected, the connecting piece drives the display screen 120 and the display screen sensor 150 to adjust the vertical direction, so that the shooting height is adjusted until the front windshield of the vehicle can be successfully detected; and then, according to the position and the height of the front windshield of the vehicle, the adaptive adjustment of the height of the display screen, the pitching visual angle and the horizontal angle is continuously executed.

Specifically, when a vehicle is parked in the stereo garage, a sensor of the stereo garage detects a vehicle to be parked, and transmits a detected position signal to the dispatching center, the dispatching center transmits a position signal indicating that a parking demand exists in a 6 th parking space of the stereo garage to the auxiliary robot, the auxiliary robot obtains a self-positioning position according to the self-positioning position (the auxiliary robot can use various indoor or outdoor positioning means to achieve self-positioning, such as GPS positioning, indoor three-point positioning based on wireless signal strength, and the like, which are not described herein again), and the position signal autonomously moves to the front of the parking space of the stereo garage according to a pre-planned stereo garage traveling path scheme, and fine adjustment is achieved through vehicle position detection of the position sensor 140, so that the robot is held at a suitable position and distance directly in front of the vehicle; further, the screen sensor 150 determines the position of the driver of the vehicle by detecting the position of the front windshield and transmits the detected position of the driver to the control system, which sends a position signal to the adjustment assembly, which controls the screen 120 to be raised or lowered so that the screen 120 is in the proper position, i.e., the driver of the vehicle can see all the information on the screen 120.

A first embodiment of the intelligent auxiliary function community stereo parking system disclosed in the present invention is described in detail below with reference to fig. 1 to 5. This embodiment mainly is applied to over-and-under type stereo garage, improves parking efficiency, reduces the human cost.

As shown in fig. 1-5, the present embodiment mainly comprises the apparatus described in the first embodiment of an autonomous mobile parking assist robot, as well as a stereo parking garage 200 and a positioning apparatus 210.

When the stereo parking garage 200 confirms that a certain empty parking space at the bottom layer of the stereo parking garage has a parking requirement, the serial number of the parking garage and the serial number of the parking space are reported to a dispatching center; the stereo garage 200 can install a vehicle sensing device based on the geomagnetic principle on the road surface in front of each bottom parking space, and send the parking requirement after sensing the vehicle. The method comprises the steps that a dispatching center sends a position signal with a parking demand to an auxiliary robot, wherein the position signal indicates that the parking demand exists in a No. 6 parking space of a No. 3 stereo garage; the dispatching center can register and manage the working state and the positioning position of each auxiliary robot, so that an auxiliary robot closest to an empty parking space with parking requirements is selected from all idle auxiliary robots, and the position signals recording the parking requirements are sent to the auxiliary robot. The auxiliary robot autonomously moves to the front of the parking space of the stereo garage according to a self-positioning position (the auxiliary robot can utilize various indoor or outdoor positioning means to achieve the acquisition of the self-positioning position, such as GPS positioning, indoor three-point positioning based on wireless signal strength and the like, which are not described herein any more), and the position signal according to a pre-planned stereo garage traveling path scheme. Then, the auxiliary robot autonomously realizes auxiliary guidance for parking. After the auxiliary guidance is finished, in order to avoid influencing the vehicle passing, the auxiliary robot drives to a nearby stop point, and the stop point can be arranged at an edge position which does not influence the vehicle passing in the garage area. And after the terminal arrives at the stop point, the auxiliary robot reports the position and the idle state of the auxiliary robot to the scheduling center to wait for new task allocation.

The auxiliary robot has chassis 110 and display screen 120, be connected with body 100 respectively, body 100 constitutes the main part of robot, display screen 120 sets up in body 100 top, and through adjusting part sliding connection on body 100, this adjusting part sets up in body 100, and one end stretches out in body 100 and the lower surface rigid coupling of display screen 120, adjusting part is used for adjusting the height of display screen 120 in certain within range to the field of vision height that adapts to different motorcycle type vehicles, for example: the chassis 110 is fixedly connected below the body 100 for supporting the auxiliary robot to freely slide on the ground at multiple angles.

The stereo parking garage 200 is provided with a positioning device 210 for measuring the real-time position of the vehicle in the parking space, and the real-time position measured by the positioning device 210 further determines whether the deviation distance of the vehicle in the parking space is within the preset deviation.

When the real-time position of the vehicle exceeds the preset deviation, the positioning device 210 sends the deviation information to the auxiliary robot, the parking deviation information is displayed on the display screen 120 of the auxiliary robot, and a driver of the vehicle is reminded to make corresponding adjustment so as to ensure that the vehicle is parked in place. Specifically, as an embodiment, the display screen 120 may display a real-time shot of a camera in the positioning device 210, which is determined to have a deviation exceeding a preset deviation, so as to facilitate the driver to observe and adjust the position. As another example, the display screen 120 may also display a prompt symbol, such as an arrow, that prompts the driver that the vehicle should be steered.

In one embodiment, as shown, the positioning device 210 may be composed of a plurality of overhead cameras, and may monitor the position of the vehicle in the parking space without dead space. The cameras are respectively arranged at the front part, the rear part, the left part and the right part of the stereo parking garage 200, and each camera shoots pictures towards a parking space and is used for measuring the real-time position of a vehicle in the parking space of the stereo parking garage 200, and the positioning device 210 can also assist in a positioning mode adopting the infrared emission-receiving principle of TOF.

Specifically, when the vehicle is parked, each camera monitors the parked vehicle in real time, and transmits monitored information to the control system, and the control system judges whether the front, rear, left and right positions of the parked vehicle are within a preset deviation range.

In one embodiment, a sign line 230 is provided on a single parking space of the stereo garage 200 for positioning the parked vehicles to ensure that the vehicles are within a predetermined deviation. The marker line 230 may be provided as a yellow reflective strip to facilitate a clear display in a dark environment. Specifically, mark lines may be set up on the front, rear, left, and right frames of the parking space of the sky parking garage, and the positioning device 210 may measure the real-time position of the vehicle according to the mutual position relationship between the mark lines and the peripheral edge of the vehicle, and when the distance between the peripheral edge of the vehicle and the mark lines is smaller than a threshold value, or even the mark lines are pressed, the positioning device 210 determines that the real-time position of the vehicle has exceeded a preset deviation.

In one embodiment, the parking system further includes a processor, which is disposed in the control system, and is configured to determine a deviation distance of the vehicle from the marking line 230 and send the determination result to the auxiliary robot, so as to remind the driver to adjust the front, rear, left, and right of the vehicle, thereby ensuring that the vehicle is parked in the parking space.

In one embodiment, a driving device and a guiding device 170 are disposed on the chassis, and the driving device includes a driving wheel 161 disposed on the chassis, and a driving main motor 162 for driving the driving wheel 161 to move, for driving the auxiliary robot to move. The main driving motor 162 is fixedly connected to the inside of the chassis 110, and the main driving motor 162 drives the driving pulley 161 fixedly connected to the lower surface of the chassis 110 to rotate through a transmission member. Further, the transmission member may adopt a belt transmission or a gear transmission.

The guiding device 170 includes a universal wheel 171 disposed on the chassis, and a rotating mechanism for driving the universal wheel to rotate, for controlling and guiding the moving direction of the auxiliary robot. The transmission mechanism may include a gear 172, a rack 173 and a driving hydraulic cylinder 174 for driving the rack to move, a rotating shaft is disposed on the universal wheel 171, the rotating shaft is rotatably connected to the lower surface of the chassis 110, one end of the rotating shaft away from the universal wheel is fixedly connected to the gear 172, the gear 172 is engaged with the rack 173, and the rack is slidably connected to the chassis 110 through the driving hydraulic cylinder 174.

In a possible embodiment, at least one rolling member 130 is further disposed under the chassis 110, and the rolling member 130 is used for supporting the body 100 to slide on the ground.

In one possible embodiment, the rolling member 130 comprises a ball shell 131 and an inner ball 132, the ball shell 131 is fixedly connected with the chassis 110, and the inner ball 132 is rotatably connected in the ball shell 131.

In a possible embodiment, the auxiliary robot 220 further includes a detection device including a position sensor 140 and a display screen sensor 150, the position sensor 140 is disposed on the body 100 for detecting a position of the vehicle, and the display screen sensor 150 is disposed on the display screen 120 for detecting a height of the display screen 120.

In one possible implementation, the auxiliary robot, the positioning device and the dispatching center realize bidirectional communication interaction among each other based on a local area wireless internet of things, and local area wireless internet of things protocols which can be adopted include but are not limited to NB-IOT, WIFI, 4G, 5G, LORA and the like.

The specific structures of the main body 100, the chassis 110, the display screen 120, and the like in this embodiment can refer to the structural arrangement described in the first embodiment of the autonomous mobile parking assistant robot, and are not described in detail again.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. An autonomous mobile parking assist robot, comprising: the chassis and the display screen are respectively connected with the body, the chassis is fixedly connected below the body, an adjusting component is arranged below the display screen, two ends of the adjusting component are respectively connected with the display screen and the body, and the adjusting component is used for adjusting the height, the horizontal angle and the pitching angle of the display screen so as to adapt to the visual field heights of vehicles of different models;

the auxiliary robot further comprises a detection device, the detection device comprises a position sensor and a display screen sensor, the position sensor is arranged on the body and used for detecting the position of a vehicle and enabling the auxiliary robot to be kept at a proper position and a proper distance right in front of the vehicle, and the display screen sensor is arranged on the display screen and used for detecting the height of the display screen and enabling a driver of the vehicle to see all information on the display screen.

2. The auxiliary robot of claim 1, wherein the adjustment assembly includes a hydraulic cylinder, a turntable, and a bracket, the display screen being rotatably coupled to the bracket, the bracket being fixedly coupled to an upper surface of the turntable, the turntable being fixedly coupled to a piston rod of the hydraulic cylinder.

3. The auxiliary robot as claimed in claim 1, wherein a driving means and a guiding means are provided on the chassis, the driving means including a driving wheel provided on the chassis, and a driving main motor driving the driving wheel to move;

4. The auxiliary robot as claimed in claim 3, wherein at least one rolling member is further provided under the chassis for supporting the body to slide on the ground.

5. The auxiliary robot as claimed in claim 4, wherein the rolling member includes a ball housing fixedly coupled to the chassis and an inner ball rotatably coupled within the ball housing.

6. A community stereo parking system with intelligent auxiliary function, comprising a stereo parking garage, a positioning device, an auxiliary robot and a dispatching center, wherein the auxiliary robot is the auxiliary robot as claimed in any one of claims 1-5;

the system comprises a three-dimensional parking garage and a dispatching center, wherein a vehicle sensing device is arranged on each bottom layer parking space of the three-dimensional parking garage and used for collecting parking garage codes and parking space numbers of parking vehicles and sending collected information to the dispatching center, and the dispatching center sends parking position signals to auxiliary robots according to the collected information sent by the vehicle sensing device.

7. The parking system according to claim 6, wherein said positioning means comprises cameras disposed at the front, rear, left and right portions of said stereo garage for measuring the real-time position of the vehicle at the parking spaces of said stereo garage.

8. Parking system according to claim 6, wherein a sign line is provided on a single parking space of said stereo parking garage.

9. The parking system of claim 8 further comprising a processor for determining a deviation distance that the vehicle is located at the sign line.