CN111550099A - Automatic vehicle entering and exiting parking space control robot system and control method thereof - Google Patents
Automatic vehicle entering and exiting parking space control robot system and control method thereof Download PDFInfo
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- CN111550099A CN111550099A CN202010352196.6A CN202010352196A CN111550099A CN 111550099 A CN111550099 A CN 111550099A CN 202010352196 A CN202010352196 A CN 202010352196A CN 111550099 A CN111550099 A CN 111550099A
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- parking space
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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
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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
Abstract
The invention provides a vehicle automatic parking space entering and exiting control robot system applied to the technical field of intelligent robots, and further comprises a vehicle automatic parking space entering and exiting control robot system control method, wherein an entering and exiting track (3) of the vehicle automatic parking space entering and exiting control robot system extends from the position of a parking space (1) to a road surface (4), the entering and exiting track (3) is movably clamped in a track arrangement groove (5), a plurality of lifting cylinders I (6) arranged according to gaps are arranged between the bottom of the entering and exiting track (3) and the bottom of the track arrangement groove (5), and a mobile robot (2) is clamped on the entering and exiting track (3). The convenience of automatic parking is improved.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to a robot system for controlling automatic parking space entry and exit of a vehicle.
Background
In the prior art, along with the rapid increase of the automobile keeping quantity year by year, the corresponding parking spaces of all districts and public places are more and more tense. For this reason, parking spaces in many places are small in area, resulting in great inconvenience in parking and easiness in collision. Meanwhile, along with the continuous improvement of the living standard of people, people also put forward the demand of intelligent automatic parking for parking in parking spaces. And the intelligent parking system in the prior art has a complex structure and high cost, and is not beneficial to popularization.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the parking space control robot system is simple in structure, can conveniently and quickly realize automatic vehicle entering and exiting of the parking space, is stable and reliable in control process of the robot system, smooth in control process, free of vehicle dislocation or collision, few in parking system components, low in input cost and beneficial to popularization of the automatic parking robot system, and improves automatic parking convenience.
To solve the technical problems, the invention adopts the technical scheme that:
the invention relates to a parking space automatic in-out control robot system for vehicles, which comprises a square parking space, a mobile robot and an in-out track, wherein the parking space is arranged on the side surface of a road surface, the in-out track extends to the road surface from the parking space, the in-out track is movably clamped in a track arrangement groove, a plurality of lifting cylinders I arranged according to gaps are arranged between the bottom of the in-out track and the bottom of the track arrangement groove, the mobile robot is clamped on the in-out track, the mobile robot is arranged in a structure capable of moving relative to the in-out track, and the lifting cylinders I are connected with a control part.
The upper surface of the in-out rail is set to be a horizontal surface structure, and the side surface of each side of the in-out rail is attached to the inner wall of one side of the rail arrangement groove.
The mobile robot comprises a base, a lifting cylinder II is arranged on the upper surface of the base, a rotating motor is installed on the lifting cylinder II, a car supporting plate is installed in a rotating shaft of the rotating motor, a clamping groove in the lower surface of the base is set to be of a structure capable of being movably clamped on an in-out rail, a rack portion is arranged on the in-out rail, a driving motor is arranged on the base, a driving gear is installed in a rotating shaft of the driving motor, and the driving motor is connected with a control component.
Control unit control lift cylinder I when contracting, lift cylinder I sets up to the structure that can drive business turn over track upper surface and remove with parking stall surface and road surface parallel and level, control unit control lift cylinder I when stretching out, lift cylinder I sets up to the structure that can drive business turn over track upper surface and remove highly to be higher than parking stall surface and road surface, lift cylinder I drive business turn over track upper surface and when removing highly to be higher than parking stall surface and road surface, drive gear is connected with the meshing of rack portion.
The business turn over track include track anterior segment and track back end, the track anterior segment be linear structure, the track front end extends to the parking stall rear end from the parking stall front end, the track back end sets up to crooked arc structure, track anterior segment and track back end formula structure as an organic whole.
The position sensor I is arranged at the position, close to the rear end of the parking space, of the access track, the position sensor II is arranged on the mobile robot, and the position sensor I and the position sensor II are connected with the control part respectively.
The business turn over track is close to parking stall rear end position and sets up inductive sensor I, and the business turn over track other end sets up inductive sensor II, and inductive sensor I and inductive sensor II are connected with control unit respectively.
Parking stall still include parking stall side facial line I and parking stall side facial line II, parking stall side facial line I and II parallel arrangement of parking stall side facial line, business turn over orbital track anterior segment and I parallel arrangement of parking stall side facial line.
A limiting block I is arranged on the side face of the end part of one end of the in-and-out track, and a limiting block II is arranged on the side face of the end part of the other end of the in-and-out track.
The invention also relates to a control method for the automatic entering and exiting of the vehicle into and out of the parking space, which comprises a vehicle entering parking space control method and a vehicle exiting parking space control method, wherein the control steps of the vehicle entering parking space control method are as follows: 1) driving a vehicle needing to enter a parking space to a position close to the parking space, wherein the position of the vehicle is positioned above an in-out track; 2) the induction sensor II senses the position of a vehicle and feeds a signal back to the control part, the control part controls the lifting cylinder I to extend out to drive the in-out rail to move to a state higher than the road surface and the surface of the parking space, and the mobile robot is movably clamped at the position, close to the rear end of the parking space, on the in-out rail; 3) the control part controls the driving motor to rotate, the driving motor drives the mobile robot to move towards the direction close to the vehicle until the mobile robot moves to the bottom of the vehicle, the control part controls the lifting cylinder II to extend out, and the vehicle supporting plate acts on a cross beam at the bottom of the vehicle to support the vehicle; 4) the control part controls the driving motor to rotate reversely, the driving motor drives the mobile robot to move to the parking position, the induction sensor I feeds back signals to the control part after sensing the position of the vehicle, the control part controls the driving motor to stop rotating, the control part controls the lifting cylinder II and the lifting cylinder I to contract sequentially, the in-out rail contracts into the rail arrangement groove, and the vehicle enters the parking position.
The control method for controlling the vehicle to run out of the parking space comprises the following steps: 1) the lifting cylinder I is controlled to extend out through the control part, the in-out rail is driven to move to a state higher than the road surface and the surface of the parking space, and the mobile robot is movably clamped on the in-out rail and close to the rear end of the parking space; 2) the induction sensor I induces the position of the vehicle and feeds back a signal to the control part, the control part firstly controls the lifting cylinder II to extend out, and the vehicle supporting plate acts on a cross beam at the bottom of the vehicle to support the vehicle; 3) the control part controls the driving motor to rotate, the driving motor drives the mobile robot to support the vehicle to move towards the direction close to the road surface until the vehicle is located above the induction sensor II, the induction sensor II senses the vehicle and feeds back a signal to the control part, the control part controls the driving motor to stop rotating, then the control part controls the lifting cylinder II to contract, then the control part controls the driving motor to rotate reversely, and the driving motor drives the mobile robot to move to the position close to the rear end of the parking space; 4) the control part controls the driving motor to stop rotating, and then controls the lifting cylinder I to contract, so that the in-out rail contracts into the rail arrangement groove, and the vehicle can exit from the parking space.
When the control part controls the driving motor to drive the mobile robot to move to a position close to the rear end of the parking space, the control part controls the position sensor I on the in-out track and the position sensor II on the mobile robot to be vertically overlapped.
By adopting the technical scheme of the invention, the following beneficial effects can be obtained:
the automatic parking space entering and exiting control robot system for the vehicle, disclosed by the invention, has the advantages that when the automatic entering of the vehicle into the parking space is required, the vehicle is parked on the road surface close to the parking space, and the vehicle part is positioned above the entering and exiting track, so that after the control part is started (the starting control part can be remotely controlled by a remote controller, which is a mature technology in the prior art), the sensing sensor II can sense the vehicle and feed back a signal to the control part, the control part firstly controls the lifting cylinder I to extend out, so that the entering and exiting track is driven to be lifted to a state higher than the road surface, at the moment, the control part controls the mobile robot to move along the entering and exiting track to move to a position below the vehicle, then the control part controls the lifting cylinder II to extend out, so that the vehicle supporting plate is pushed to lift, the vehicle is driven to leave the road surface, and then the control, until moved to the parking space position. Then inductive pick up I senses the vehicle and exists, to control unit feedback information, control unit control lift cylinder II shrink, and the car supporting plate descends, places the parking stall with the vehicle. Then the control part controls the lifting cylinder to contract again, so that the in-and-out track contracts into the track arrangement groove, and the upper surface of the track is flush with the road surface. And the process of driving the vehicle out of the parking space is opposite to the steps. Through the structure, the automatic parking space entering and exiting of the vehicle can be conveniently and reliably realized, the number of parts of the whole robot system is small, the structure is simple, the control program is reliable, the vehicle collision can not be caused when the vehicle enters and exits the parking space, and the convenience and the safety of automatic parking are effectively improved. The automatic parking space entering and exiting control robot system for the vehicle is simple in structure, can conveniently and quickly realize automatic entering and exiting of the vehicle, is stable and reliable in control process, smooth in control process, free of vehicle dislocation or collision problems, few in parking system components, reliable in control program and low in input cost, facilitates popularization of the automatic parking robot system, and improves convenience and safety of automatic parking.
Drawings
The contents of the description and the references in the drawings are briefly described as follows:
fig. 1 is a schematic structural diagram of a vehicle automatic parking space entering and exiting control robot system according to the present invention;
fig. 2 is a schematic side sectional structural view illustrating a connection between a mobile robot and an in-out track of the automatic parking space entry and exit control robot system for vehicles according to the present invention;
in the drawings, the reference numbers are respectively: 1. a parking space; 2. a mobile robot; 3. entering and exiting the track; 4. a pavement; 5. a track arrangement slot; 6. a lifting cylinder I; 7. a control component; 8. a base; 9. a lifting cylinder II; 10. a rotating electric machine; 11. a vehicle supporting plate; 13. a rack portion; 14. a drive motor; 15. a drive gear; 16. a rail front section; 17. a rear section of the track; 18. the rear end of the parking space; 19. a position sensor I; 21. the front end of a parking space; 22. an induction sensor I; 23. an induction sensor II; 24. a parking space side line I; 25. parking stall side line II.
Detailed Description
The following detailed description of the embodiments of the present invention, such as the shapes and structures of the components, the mutual positions and connection relations among the components, the functions and operation principles of the components, will be made by referring to the accompanying drawings and the description of the embodiments:
as shown in attached drawings 1 and 2, the invention relates to a vehicle automatic parking space entering and exiting control robot system, which comprises a square parking space 1, a mobile robot 2 and an entering and exiting track 3, wherein the parking space 1 is arranged on the side surface of a road surface 4, the entering and exiting track 3 extends to the road surface 4 from the position of the parking space 1, the entering and exiting track 3 is movably clamped in a track arrangement groove 5, a plurality of lifting cylinders I6 which are arranged according to gaps are arranged between the bottom of the entering and exiting track 3 and the bottom of the track arrangement groove 5, the mobile robot 2 is clamped on the entering and exiting track 3, the mobile robot 2 is arranged into a structure which can move relative to the entering and exiting track 3, a lifting cylinder II is arranged on the mobile robot, a vehicle supporting plate is arranged on the lifting cylinder, the lifting cylinder I6 and the lifting cylinder II are respectively connected with a control part 7, an induction sensor I22 is arranged at the position, close to the rear end 18 of the parking space, and an induction sensor II 23 is arranged at the other end of the in-out track 3, and the induction sensor I22 and the induction sensor II 23 are respectively connected with the control part 7. The structure is characterized in that when a vehicle needs to automatically enter a parking space, the vehicle is parked on a road surface close to the parking space, and part of the vehicle is located above an in-out track, so that after a control part is started (the starting control part can be remotely controlled through a remote controller, which is a mature technology in the prior art), a vehicle can be sensed by the sensing sensor II, the sensing sensor II feeds back a signal to the control part, the control part firstly controls the lifting cylinder I6 to extend out, so that the in-out track is driven to rise to be higher than the height of the road surface, at the moment, the control part controls the mobile robot to move along the in-out track to move to a position below the vehicle, then the control part controls the lifting cylinder II to extend out, so that a vehicle supporting plate is pushed to rise, the vehicle is driven to rise, the vehicle leaves the road surface, and, until moved to the parking space position. Then inductive pick up I senses the vehicle and exists, to control unit feedback information, control unit control lift cylinder II shrink, and the car supporting plate descends, places the parking stall with the vehicle. Then the control part controls the lifting cylinder to contract again, so that the in-and-out track contracts into the track arrangement groove, and the upper surface of the track is flush with the road surface. And the process of driving the vehicle out of the parking space is opposite to the steps. Through the structure, the automatic parking space entering and exiting of the vehicle can be conveniently and reliably realized, the number of parts of the whole robot system is small, the structure is simple, the control program is reliable, the vehicle collision can not be caused when the vehicle enters and exits the parking space, and the convenience and the safety of automatic parking are effectively improved. The automatic parking space entering and exiting control robot system for the vehicle has a simple structure, can conveniently and quickly realize automatic entering and exiting of the vehicle, is stable and reliable in control process, smooth in control process, free from the problem of vehicle dislocation or collision, few in parking system components and low in investment cost, and is beneficial to popularization of the automatic parking robot system, so that the convenience and safety of automatic parking are improved.
The mobile robot 2 comprises a base 8, a lifting cylinder II 9 is arranged on the upper surface of the base 8, a rotating motor 10 is arranged on the lifting cylinder II 9, a car supporting plate 11 is arranged on a rotating shaft of the rotating motor 10, a clamping groove on the lower surface of the base 8 is arranged in a structure capable of being movably clamped on an in-out track 3, a rack portion 13 is arranged on the in-out track 3, a driving motor 14 is arranged on the base 8, a driving gear 15 is arranged on the rotating shaft of the driving motor 14, and the driving motor 14 is connected with a control component 7. According to the structure, when the high position of the access track is located on a road surface, the mobile robot can be clamped on the access track through the clamping groove and cannot shake, the driving motor rotates under the control of the control part to drive the driving gear to generate acting force along the rack part, and therefore the mobile robot is driven to move back and forth along the access track. And lift cylinder II 9 stretches out the back under the control of control unit, can transfer the car supporting plate and move up perpendicularly to can support and lean on in the vehicle bottom, thereby can hold up the vehicle and leave the road surface, the driving motor reverse rotation once more of being convenient for drives the mobile robot and removes to the parking stall direction, until removing the parking stall position, reliably realizes the automatic function that gets into the parking stall of vehicle.
The in-and-out track 3 comprises a track front section 16 and a track rear section 17, wherein the track front section 16 is of a linear structure, the track front end 16 extends to the parking space rear end 18 from the parking space front end 21, the track rear section 17 is of a bent arc structure, and the track front section 16 and the track rear section 17 are of an integrated structure. The structure and the curved arc structure of the rear section of the track are arranged to guide vehicles entering or exiting the parking space, so that the vehicles can turn by 90 degrees basically when moving along the entering and exiting track. And the structure setting of track front end for the vehicle linear motion that gets into the parking is, can not bump or rub with the vehicle in adjacent parking stall, improves the security when the vehicle passes in and out the parking stall or rolls off the parking stall.
A position sensor I19 is arranged at the position, close to the rear end 18 of the parking space, of the access track 3, a position sensor II is arranged on the mobile robot 2, and the position sensor I19 and the position sensor II are respectively connected with the control part 7. The setting of position sensor I19 and position sensor II ensures that mobile robot places when the parking stall, can be all the time with business turn over orbital relevant position pinpoint, and when mobile robot replied the parking stall position promptly, the coincidence was arranged about I19 of position sensor and II positions of position sensor. Therefore, after the in-out rail is changed from the contraction state to the extension state, the clamping groove of the mobile robot can be automatically and accurately clamped on the in-out rail, manual interference or operation is not needed, and the intelligent control of the vehicle in and out of the parking space in the whole process is achieved.
The side face of one end part of the in-and-out track 3 is provided with a limiting block I, and the side face of the other end part of the in-and-out track 3 is provided with a limiting block II. Above-mentioned structure, the setting of stopper I and stopper II restricts mobile robot's the running length on business turn over track for mobile robot can not break away from business turn over track when moving to arbitrary one end, effectively ensures the automatic parking reliability.
The invention also relates to a control method for the automatic entering and exiting of the vehicle into and out of the parking space, which comprises a vehicle entering parking space control method and a vehicle exiting parking space control method, wherein the control steps of the vehicle entering parking space control method are as follows: 1) driving a vehicle needing to enter a parking space to a position close to the parking space, wherein the position of the vehicle is positioned above the in-out track 3; 2) the induction sensor II senses the position of a vehicle and feeds back a signal to the control part 7, the control part 7 controls the lifting cylinder I6 to extend out to drive the in-out rail 3 to move to a state higher than the surface of the road surface 4 and the surface of the parking space 1, and at the moment, the mobile robot 2 is movably clamped on the in-out rail 3 and is close to the rear end 18 of the parking space; 3) the control part 7 controls the driving motor 14 to rotate, the driving motor 14 drives the mobile robot 2 to move towards the direction close to the vehicle until the mobile robot 2 moves to the bottom of the vehicle, the control part 7 controls the lifting cylinder II 9 to extend out, and the vehicle supporting plate 11 acts on a cross beam at the bottom of the vehicle to support the vehicle; 4) the control part 7 controls the driving motor 14 to rotate reversely, the driving motor 14 drives the mobile robot 2 to move to the position of the parking space 1, the induction sensor I22 feeds back a signal to the control part 7 after sensing the position of the vehicle, the control part 7 controls the driving motor 14 to stop rotating, the control part 7 controls the lifting cylinder II 9 and the lifting cylinder I6 to contract sequentially, the in-out rail 3 contracts into the rail arrangement groove 5, and the vehicle enters the parking space.
The control method for controlling the vehicle to run out of the parking space comprises the following steps: 1) the lifting cylinder I6 is controlled to extend out through the control part 7, the in-out rail 3 is driven to move to a state higher than the surface of the road surface 4 and the surface of the parking space 1, and the mobile robot 2 is movably clamped on the in-out rail 3 and is close to the rear end 18 of the parking space; 2) the induction sensor I22 induces the position of the vehicle and feeds back a signal to the control part 7, the control part 7 firstly controls the lifting cylinder II 9 to extend out, and the vehicle supporting plate 11 acts on a cross beam at the bottom of the vehicle to support the vehicle; 3) the control part 7 controls the driving motor 14 to rotate, the driving motor 14 drives the mobile robot 2 to lift the vehicle to move towards the direction close to the road surface 4 until the vehicle is located above the induction sensor II 23, the induction sensor II 23 induces the vehicle and feeds back a signal to the control part 7, the control part 7 controls the driving motor 14 to stop rotating, then the lifting cylinder II 9 is controlled to contract, then the control part 7 controls the driving motor 14 to rotate reversely, and the driving motor 14 drives the mobile robot 2 to move to the position close to the rear end 18 of the parking space; 4) the control part 7 controls the driving motor 14 to stop rotating, the control part 7 controls the lifting cylinder I6 to contract again, the in-out rail 3 contracts into the rail arrangement groove 5, and the vehicle exits from the parking space.
When the control part 7 controls the driving motor 14 to drive the mobile robot 2 to move to a position close to the rear end 18 of the parking space, the control part 7 controls the position sensor I19 on the in-out track 3 and the position sensor II on the mobile robot 2 to be vertically overlapped.
The automatic parking space entering and exiting control robot system for the vehicle, disclosed by the invention, has the advantages that when the automatic entering of the vehicle into the parking space is required, the vehicle is parked on the road surface close to the parking space, and the vehicle part is positioned above the entering and exiting track, so that after the control part is started (the starting control part can be remotely controlled by a remote controller, which is a mature technology in the prior art), the sensing sensor II can sense the vehicle and feed back a signal to the control part, the control part firstly controls the lifting cylinder I to extend out, so that the entering and exiting track is driven to be lifted to a state higher than the road surface, at the moment, the control part controls the mobile robot to move along the entering and exiting track to move to a position below the vehicle, then the control part controls the lifting cylinder II to extend out, so that the vehicle supporting plate is pushed to lift, the vehicle is driven to leave the road surface, and then the control, until moved to the parking space position. Then inductive pick up I senses the vehicle and exists, to control unit feedback information, control unit control lift cylinder II shrink, and the car supporting plate descends, places the parking stall with the vehicle. Then the control part controls the lifting cylinder to contract again, so that the in-and-out track contracts into the track arrangement groove, and the upper surface of the track is flush with the road surface. And the process of driving the vehicle out of the parking space is opposite to the steps. Through the structure, the automatic parking space entering and exiting of the vehicle can be conveniently and reliably realized, the number of parts of the whole robot system is small, the structure is simple, the control program is reliable, the vehicle collision can not be caused when the vehicle enters and exits the parking space, and the convenience and the safety of automatic parking are effectively improved. The automatic parking space entering and exiting control robot system for the vehicle is simple in structure, can conveniently and quickly realize automatic entering and exiting of the vehicle, is stable and reliable in control process, smooth in control process, free of vehicle dislocation or collision problems, few in parking system components, reliable in control program and low in input cost, facilitates popularization of the automatic parking robot system, and accordingly improves automatic parking convenience.
The present invention has been described in connection with the accompanying drawings, and it is to be understood that the invention is not limited to the specific embodiments disclosed, but is intended to cover various modifications, changes and equivalents of the embodiments of the invention, and its application to other applications without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a vehicle is automatic to be gone into and out parking stall control robot system which characterized in that: the parking space automatic entering and exiting parking space control robot system comprises a square parking space (1), a mobile robot (2) and an entering and exiting track (3), wherein the parking space (1) is arranged on the side surface of a road surface (4), the entering and exiting track (3) extends to the road surface (4) from the position of the parking space (1), the entering and exiting track (3) is movably clamped in a track arrangement groove (5), a plurality of lifting cylinders I (6) which are arranged according to gaps are arranged between the bottom of the entering and exiting track (3) and the bottom of the track arrangement groove (5), the mobile robot (2) is clamped on the entering and exiting track (3), the mobile robot (2) is arranged in a structure capable of moving relative to the entering and exiting track (3), a lifting cylinder II is arranged on the mobile robot, a vehicle supporting plate is arranged on the lifting cylinder, the lifting cylinder I (6) and the lifting cylinder II are respectively connected with a control part (7), the position of the access track (3) close to the rear end (18) of the parking space is provided with an induction sensor I (22), the other end of the access track (3) is provided with an induction sensor II (23), and the induction sensor I (22) and the induction sensor II (23) are respectively connected with the control part (7).
2. The automatic parking space entrance and exit control robot system for vehicles according to claim 1, characterized in that: mobile robot (2) including base (8), base (8) upper surface sets up lift cylinder II (9), install rotating electrical machines (10) on lift cylinder II (9), install in the pivot of rotating electrical machines (10) and hold in the palm sweep (11), the draw-in groove of base (8) lower surface sets up to the structure that can the activity clamp on business turn over track (3), set up rack portion (13) on business turn over track (3), set up driving motor (14) on base (8), installation drive gear (15) in the pivot of driving motor (14), driving motor (14) are connected with control unit (7).
3. The vehicle automatic parking space access control robot system according to claim 2, wherein: control unit (7) control lift cylinder I (6) when contracting, lift cylinder I (6) set up to drive business turn over track (3) upper surface and move to the structure with parking stall (1) surface and road surface (4) parallel and level, control unit (7) control lift cylinder I (6) when stretching out, lift cylinder I (6) set up to drive business turn over track (3) upper surface and move the structure that highly is higher than parking stall (1) surface and road surface (4), lift cylinder I (6) drive business turn over track (3) upper surface and move when highly being higher than parking stall (1) surface and road surface (4), drive gear (15) are connected with rack portion (13) meshing.
4. The automatic parking space access control robot system for vehicles according to claim 1 or 2, characterized in that: business turn over track (3) including track anterior segment (16) and track back end (17), track anterior segment (16) be linear structure, track front end (16) extend to parking stall rear end (18) from parking stall front end (21), track back end (17) set up to crooked arc structure, track anterior segment (16) and track back end (17) formula structure as an organic whole.
5. The automatic parking space entry and exit control robot system for vehicles according to claim 2 or 3, characterized in that: a position sensor I (19) is arranged at a position, close to the rear end (18) of the parking space, of the access track (3), a position sensor II is arranged on the mobile robot (2), and the position sensor I (19) and the position sensor II are respectively connected with the control component (7).
6. The automatic parking space access control robot system for vehicles according to claim 1 or 2, characterized in that: parking stall (1) still include parking stall side facial line I (24) and parking stall side facial line II (25), parking stall side facial line I (24) and parking stall side facial line II (25) parallel arrangement, the track anterior segment (16) and the parking stall side facial line I (24) parallel arrangement of business turn over track (3).
7. The automatic parking space access control robot system for vehicles according to claim 1 or 2, characterized in that: a limiting block I is arranged on the side face of the end part of one end of the in-and-out track (3), and a limiting block II is arranged on the side face of the end part of the other end of the in-and-out track (3).
8. A control method for vehicles to automatically enter and exit a parking space is characterized by comprising the following steps: the method for controlling the vehicle to automatically enter and exit the parking space comprises a method for controlling the vehicle to enter the parking space and a method for controlling the vehicle to exit the parking space, and the method for controlling the vehicle to enter the parking space comprises the following control steps: 1) driving a vehicle needing to enter the parking space to a position close to the parking space, wherein the position of the vehicle is positioned above the in-out track (3); 2) the induction sensor II senses the position of a vehicle and feeds back a signal to the control part (7), the control part (7) controls the lifting cylinder I (6) to stretch out to drive the in-out track (3) to move to a state higher than the surfaces of the road surface (4) and the parking space (1), and at the moment, the mobile robot (2) is movably clamped on the in-out track (3) and is close to the rear end (18) of the parking space; 3) the control part (7) controls the driving motor (14) to rotate, the driving motor (14) drives the mobile robot (2) to move towards the direction close to the vehicle until the mobile robot (2) moves to the bottom of the vehicle, the control part (7) controls the lifting cylinder II (9) to extend out, and the vehicle supporting plate (11) acts on a cross beam at the bottom of the vehicle to support the vehicle; 4) the control part (7) controls the driving motor (14) to rotate reversely, the driving motor (14) drives the mobile robot (2) to move to the position of the parking space (1), the induction sensor I (22) feeds back a signal to the control part (7) after sensing the position of the vehicle, the control part (7) controls the driving motor (14) to stop rotating, the control part (7) controls the lifting cylinder II (9) and the lifting cylinder I (6) to contract sequentially, the in-out track (3) contracts into the track arrangement groove (5), and the vehicle enters the parking space.
9. The method for controlling automatic entrance and exit of a vehicle into and out of a parking space according to claim 8, wherein: the control method for controlling the vehicle to run out of the parking space comprises the following steps: 1) the lifting cylinder I (6) is controlled to extend out through the control part (7) to drive the in-out track (3) to move to a state higher than the surface of the road surface (4) and the surface of the parking space (1), and at the moment, the mobile robot (2) is movably clamped on the in-out track (3) and is close to the rear end (18) of the parking space; 2) the induction sensor I (22) induces the position of the vehicle and feeds back a signal to the control part (7), the control part (7) firstly controls the lifting cylinder II (9) to extend out, and the vehicle supporting plate (11) acts on a cross beam at the bottom of the vehicle to support the vehicle; 3) the control part (7) controls the driving motor (14) to rotate, the driving motor (14) drives the mobile robot (2) to support the vehicle to move towards the direction close to the road surface (4) until the vehicle is located above the induction sensor II (23), the induction sensor II (23) induces the vehicle and feeds back a signal to the control part (7), the control part (7) controls the driving motor (14) to stop rotating and then controls the lifting cylinder II (9) to contract, then the control part (7) controls the driving motor (14) to rotate in the reverse direction, and the driving motor (14) drives the mobile robot (2) to move to the position close to the rear end (18) of the parking space; 4) the control part (7) controls the driving motor (14) to stop rotating, the control part (7) controls the lifting cylinder I (6) to contract again, the in-out rail (3) contracts into the rail arrangement groove (5), and the vehicle exits from the parking space.
10. The method for controlling automatic entrance and exit of a vehicle into and out of a parking space according to claim 8, wherein: when the control part (7) controls the driving motor (14) to drive the mobile robot (2) to move to a position close to the rear end (18) of the parking space, the control part (7) controls the position sensor I (19) on the access track (3) and the position sensor II on the mobile robot (2) to be vertically overlapped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010352196.6A CN111550099A (en) | 2020-04-28 | 2020-04-28 | Automatic vehicle entering and exiting parking space control robot system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010352196.6A CN111550099A (en) | 2020-04-28 | 2020-04-28 | Automatic vehicle entering and exiting parking space control robot system and control method thereof |
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| CN111550099A true CN111550099A (en) | 2020-08-18 |
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| CN202010352196.6A Withdrawn CN111550099A (en) | 2020-04-28 | 2020-04-28 | Automatic vehicle entering and exiting parking space control robot system and control method thereof |
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