CN111593922A - Intelligent parking space entering and exiting robot control system for vehicle and control method thereof - Google Patents
Intelligent parking space entering and exiting robot control system for vehicle and control method thereof Download PDFInfo
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- CN111593922A CN111593922A CN202010352199.XA CN202010352199A CN111593922A CN 111593922 A CN111593922 A CN 111593922A CN 202010352199 A CN202010352199 A CN 202010352199A CN 111593922 A CN111593922 A CN 111593922A
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- induction sensor
- 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
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/36—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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- 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
- E04H6/424—Positioning devices
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- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a robot control system for intelligent parking space entry and exit of vehicles, which is applied to the technical field of intelligent robots, wherein a parking space (1) of the robot control system for intelligent parking space entry and exit of vehicles is arranged on the side surface of a road surface (4), an entry and exit track (3) extends from the parking space (1) to the road surface (4), the entry and exit track (3) is of a curved arc structure, the entry and exit track (3) is made of a metal material, an induction sensor (5) is arranged at the bottom of a mobile robot (2), and the induction sensor (5) is connected with a control part (6). The intellectualization and the safety of the automatic entering and exiting of the vehicle are comprehensively improved.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to a control system for a vehicle intelligent parking space entering and exiting robot.
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 utility model provides a simple structure can convenient and fast realize that the automatic business turn over parking stall of vehicle, easy operation when the automatic business turn over parking stall of vehicle, and the input cost is low, arranges simply swiftly, can not appear dislocation or collision problem, promotes the automatic intelligent and security's of business turn over of vehicle intelligence business turn over parking stall robot control system comprehensively.
To solve the technical problems, the invention adopts the technical scheme that:
the invention relates to a robot control system for intelligent parking space entry and exit of a vehicle, which comprises a parking space, a mobile robot, an entry and exit track and a road surface, wherein the parking space is arranged on the side surface of the road surface, the entry and exit track extends from the parking space to the road surface, the entry and exit track is of a curved arc structure and is made of a metal material, the bottom of the mobile robot is provided with an induction sensor, the induction sensor is connected with a control part, the induction sensor is of a structure capable of inducing the position of the entry and exit track, the mobile robot comprises a robot body, the top of the robot body is provided with a jacking cylinder, a vehicle supporting plate is arranged on the jacking cylinder, and the vehicle supporting plate is connected with the control part.
The in-out track comprises a track front end and a track rear end, the track front end is located on a road surface, the track rear end is located on a parking space, the in-out track part is embedded in a clamping groove in the road surface, and the in-out track part is embedded in a clamping groove in the parking space.
The mobile robot comprises a driving motor and a track, the driving motor is connected with a control part, and when the control part controls the driving motor to rotate, the mobile robot is arranged into a structure capable of moving back and forth between the front end of the track and the rear end of the track along an in-out track under the control of an induction sensor.
The robot body of the mobile robot is provided with a rotating motor, the rotating motor is provided with a jacking cylinder, the rotating motor is connected with a control part, the rotating motor is vertically arranged on the robot body, and the vehicle supporting plate is vertically arranged with the jacking cylinder.
The front end of the rail passing in and out of the rail is provided with a front end induction sensor, the front end of the rail passing in and out of the rail is provided with a rear end induction sensor, the front end induction sensor and the rear end induction sensor are respectively connected with the control part, the bottom of the vehicle is provided with a vehicle induction sensor, and the vehicle induction sensor is connected with the control part in a wireless signal receiving way.
When the front-end induction sensor induces the vehicle induction sensor, the front-end induction sensor is arranged to be a structure capable of feeding back signals to the control part; when a vehicle induction sensor on the vehicle is positioned in the coverage range of the induction sensor on the mobile robot, the induction sensor is set to be in a structure capable of feeding back signals to the control component; when the induction sensor on the vehicle is positioned in the coverage range of the rear end induction sensor, the control part is set to be of a structure capable of controlling the shrinkage of the jacking cylinder.
The parking stall be square structure, the parking stall includes four parking stall corners, every parking stall corner position sets up a distance sensor, every distance sensor is connected with control unit respectively, the vehicle include four vehicle corners, every vehicle corner sets up a vehicle corner distance inductor, every vehicle corner distance inductor is connected with control unit respectively.
The invention also relates to a control method of the intelligent vehicle parking space entering and exiting robot, which comprises a vehicle parking space entering control method and a vehicle parking space exiting control method, wherein the control steps of the vehicle parking space entering control method are as follows: 1) a vehicle needing to enter a parking space drives into a road surface position above a front end induction sensor, the front end induction sensor induces the vehicle induction sensor, the front end induction sensor feeds back a signal to a control part, and the control part controls a mobile robot at the rear end of a track to move to the front end position of the track along an in-out track; 2) the mobile robot moves to the position below the vehicle, a vehicle induction sensor on the vehicle is positioned in the coverage range of the induction sensor on the mobile robot, the induction sensor feeds back signals to the control part, the control part controls the jacking cylinder to lift, the vehicle supporting plate supports the vehicle, and the control part controls the mobile robot to move to the rear end position of the track along the in-out track; 3) after the mobile robot drives the vehicle to move to the rear end position of the track, the induction sensor on the vehicle is located in the coverage range of the rear end induction sensor, the rear end induction sensor feeds back signals to the control part, the control part controls the jacking cylinder to shrink, the vehicle supporting plate moves downwards, the vehicle is parked on the ground of the parking space, 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) an operator sends a vehicle driving-out parking space action signal through a remote controller, a control part controls a jacking cylinder to lift up, a vehicle supporting plate supports the vehicle, and the control part controls a mobile robot located at the rear end of a track to move to the front end of the track along an in-out track; 2) when the mobile robot drives the vehicle to move to the front position of the track, a vehicle induction sensor on the vehicle is positioned in the coverage area of the induction sensor on the mobile robot, the induction sensor feeds back a signal to the control part, the control part controls the jacking cylinder to contract, the vehicle supporting plate moves downwards, and the vehicle is parked on the ground of the road surface; 3) and the control part controls the mobile robot to move to the rear end position of the track along the access track, the induction sensor on the mobile robot is positioned in the coverage range of the induction sensor at the rear end, the control part controls the mobile robot to stop moving, and the mobile robot is positioned at the rear end position of the track on the parking space to finish the vehicle to exit the parking space.
When the front-end induction sensor induces the vehicle induction sensor, the front-end induction sensor is arranged to be a structure capable of feeding back signals to the control part; when a vehicle induction sensor on the vehicle is positioned in the coverage range of the induction sensor on the mobile robot, the induction sensor is set to be in a structure capable of feeding back signals to the control component; when the induction sensor on the vehicle is positioned in the coverage range of the rear end induction sensor, the control part is set to be of a structure capable of controlling the shrinkage of the jacking cylinder.
By adopting the technical scheme of the invention, the following beneficial effects can be obtained:
according to the control system and the control method for the intelligent vehicle parking space entering and exiting robot, when a vehicle needs to enter a parking space, the vehicle is driven to a road surface close to the parking space, the vehicle and the parking space are basically in a vertical state, the control part controls the jacking cylinder to lift up and lift the vehicle, then the control part controls the mobile robot to move to a position below the vehicle on the road surface along the entering and exiting track, the induction sensor senses the vehicle, then the mobile robot is controlled to move to the parking space along the entering and exiting track, then the control part controls the jacking cylinder to shrink, and the vehicle is placed on the ground of the parking space, so that the vehicle can enter the parking space. When the vehicle is required to exit the parking space, the operation steps are opposite to those of the vehicle entering the parking space. 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 robot control system and the control method for the intelligent parking space entering and exiting of the vehicle have the advantages of simple structure, simple operation, low investment cost, simple and quick arrangement and no dislocation or collision problem when the vehicle automatically enters and exits the parking space, can conveniently and quickly realize the automatic parking space entering and exiting of the vehicle, and comprehensively improve the automatic intelligent entering and exiting and the safety of the vehicle.
Drawings
The contents of the description and the references in the drawings are briefly described as follows:
fig. 1 is a schematic top view of a robot control system for intelligent parking and exiting of vehicles according to the present invention;
FIG. 2 is a schematic side view of a mobile robot of the intelligent parking space entering and exiting control 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. an inductive sensor; 6. a control component; 7. a robot body; 8. jacking a cylinder; 9. a vehicle supporting plate; 10. a rail front end; 11. a rail rear end; 12. a drive motor; 13. a front-end inductive sensor; 14. a back-end inductive sensor; 15. a rotating electric machine; 17. a lower plate of the pallet; 18. a vehicle supporting plate upper plate; 24. parking space corners; 25. a distance sensor.
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 fig. 1 and 2, the invention relates to a robot control system for intelligent parking and exiting of a vehicle, which comprises a parking space 1, a mobile robot 2, an entering and exiting track 3 and a road surface 4, wherein the parking space 1 is arranged on the side surface of the road surface 4, the entering and exiting track 3 extends from the parking space 1 to the road surface 4, the entering and exiting track 3 is of a curved arc structure, the entering and exiting track 3 is made of a metal material, the bottom of the mobile robot 2 is provided with an induction sensor 5, the induction sensor 5 is connected with a control part 6, the induction sensor 5 is of a structure capable of sensing the position of the entering and exiting track 3, the mobile robot 2 comprises a robot body 7, the top of the robot body 7 is provided with a jacking cylinder 8, the jacking cylinder 8 is provided with a car supporting plate 9, and the car supporting plate 9 is connected with the control part 6. Above-mentioned structure, when needing to realize that the vehicle gets into the parking stall, drive the vehicle on the road surface that is close to the parking stall, the vehicle is in the vertical state basically with the parking stall, control unit control jacking cylinder rises, hold up the vehicle, then control unit control mobile robot moves the vehicle position under the vehicle on the road surface along the business turn over track, inductive transducer senses the vehicle, then control mobile robot moves the parking stall position along the business turn over track, then control unit control jacking cylinder shrink, the parking stall is placed to the vehicle on the ground, realize that the vehicle gets into the parking stall operation. When the vehicle is required to exit the parking space, the operation steps are opposite to those of the vehicle entering the parking space. 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 robot control system for intelligent vehicle parking space entering and exiting has the advantages of simple structure, simple operation, low cost, simple and quick arrangement, no dislocation or collision problem and comprehensive improvement on the automation and the safety of the vehicle, and can conveniently and quickly realize the automatic vehicle parking space entering and exiting.
The in-out track 3 comprises a track front end 10 and a track rear end 11, the track front end 10 is located on the road surface 4, the track rear end 11 is located on the parking space 1, the in-out track 3 is partially embedded in a clamping groove on the road surface 4, and the in-out track 3 is partially embedded in a clamping groove on the parking space 1. Above-mentioned structure, business turn over track include track front end and track rear end, and mobile robot can remove between track front end and track rear end along business turn over track through inductive transducer's setting to be convenient for mobile robot conveniently reliably drives the vehicle business turn over parking stall.
The mobile robot 2 comprises a driving motor and a track, the driving motor 12 is connected with the control part 6, and when the control part 6 controls the driving motor 12 to rotate, the mobile robot 2 is arranged into a structure capable of moving back and forth between the front end 10 of the track and the rear end 11 of the track along the in-out track 3 under the control of the induction sensor 5. Above-mentioned structure, mobile robot adopts driving motor drive, and realizes through the metal track when mobile robot traveles, and like this, bearing capacity is strong. The mobile robot can be a robot capable of bearing and running in the robot field. The invention has the innovation point that the mobile robot is not improved any more, but the mobile robot is matched with other parts to realize the intelligent control of the automatic entering and exiting of the vehicle into and from the parking space, and the convenience of the vehicle during parking is realized.
The robot body 7 of the mobile robot 2 is provided with a rotating motor 15, the rotating motor 15 is provided with a jacking cylinder 7, the rotating motor 15 is connected with the control part 6, the rotating motor 15 is vertically arranged on the robot body 7, and the vehicle supporting plate 9 is vertically arranged with the jacking cylinder 8. Above-mentioned structure, rotating electrical machines's setting can be as required, through the certain angle of control part control rotating electrical machines rotation, after mobile robot drove the vehicle and gets into the parking stall, rotates the angle of fine setting vehicle through rotating electrical machines, then puts down the vehicle and to the parking stall position.
The front end 10 of the track 3 is provided with a front end induction sensor 13, the rear end 11 of the track 3 is provided with a rear end induction sensor 14, the front end induction sensor 13 and the rear end induction sensor 14 are respectively connected with the control part 6, the bottom of the vehicle is provided with a vehicle induction sensor, and the vehicle induction sensor is connected with the control part 6 in a wireless signal receiving way. In the structure, through the arrangement of the front end induction sensor 13, the rear end induction sensor 14, the vehicle induction sensor and the induction sensors on the mobile robot, when a vehicle needing to enter a parking space drives into the position of the road surface 4 above the front end induction sensor 13, the front end induction sensor 13 induces the vehicle induction sensor, the front end induction sensor 13 feeds back a signal to the control part 6, and the control part 6 controls the mobile robot 2 at the rear end 11 of the track to move to the position of the front end 10 of the track along the in-out track 3; the mobile robot 2 moves to the position below the vehicle, a vehicle induction sensor on the vehicle is positioned in the coverage range of the induction sensor 5 on the mobile robot 2, the induction sensor 5 feeds back a signal to the control part 6, the control part 6 controls the jacking cylinder 8 to lift, the vehicle supporting plate 9 supports the vehicle, and the control part 6 controls the mobile robot 2 to move to the position of the rear end 11 of the track along the in-out track 3; after the mobile robot 2 drives the vehicle to move to the position 11 at the rear end of the track, the induction sensor on the vehicle is located in the coverage range of the induction sensor 14 at the rear end, the induction sensor 14 at the rear end feeds back signals to the control part 6, the control part 6 controls the jacking cylinder 8 to contract, the vehicle supporting plate 9 moves downwards, the vehicle is parked on the ground of the parking space 1, and the vehicle enters the parking space. When an operator sends a vehicle exiting parking position action signal through a remote controller, the control part 6 controls the jacking cylinder 8 to lift up, the vehicle supporting plate 9 supports the vehicle, and the control part 6 controls the mobile robot 2 positioned at the rear end 11 of the track to move to the front end 10 of the track along the entering and exiting track 3; when the mobile robot 2 drives the vehicle to move to the front end 10 of the track, a vehicle induction sensor on the vehicle is positioned in the coverage range of an induction sensor 5 on the mobile robot 2, the induction sensor 5 feeds back a signal to the control part 6, the control part 6 controls the jacking cylinder 8 to contract, the vehicle supporting plate 9 moves downwards, and the vehicle is parked on the ground of the road surface 4; the control part 6 controls the mobile robot 2 to move towards the track rear end 11 position along the in-out track 3, the induction sensor 5 on the mobile robot 2 is located in the coverage range of the rear end induction sensor 14, the control part 6 controls the mobile robot 2 to stop moving, the mobile robot 2 is located at the track rear end 11 position on the parking space 1, and the vehicle is driven out of the parking space.
When the front end induction sensor 13 induces the vehicle induction sensor, the front end induction sensor 13 is set to be a structure capable of feeding back signals to the control part 6; when the vehicle induction sensor on the vehicle is positioned in the coverage area of the induction sensor 5 on the mobile robot 2, the induction sensor 5 is configured to feed back a signal to the control part 6; when the induction sensor on the vehicle is located within the coverage of the rear end induction sensor 14, the control part 6 is configured to control the retraction of the jacking cylinder 8.
The invention also relates to a control method of the intelligent parking space entering and exiting robot for the vehicle, which has the advantages of simple steps, convenience and rapidness for realizing the automatic entering and exiting of the vehicle, simple operation when the vehicle automatically enters and exits the parking space, low investment cost, simple and rapid arrangement, no dislocation or collision problem and comprehensive improvement on the intelligentization and safety of the automatic entering and exiting of the vehicle.
The intelligent parking space entering and exiting robot control method for the vehicle comprises a vehicle parking space entering control method and a vehicle parking space exiting control method, wherein the vehicle parking space entering control method comprises the following control steps: 1) a vehicle needing to enter a parking space drives into the position of the road surface 4 above the front end induction sensor 13, the front end induction sensor 13 induces the vehicle induction sensor, the front end induction sensor 13 feeds back a signal to the control part 6, and the control part 6 controls the mobile robot 2 at the rear end 11 of the track to move to the position of the front end 10 of the track along the in-out track 3; 2) the mobile robot 2 moves to the position below the vehicle, a vehicle induction sensor on the vehicle is positioned in the coverage range of the induction sensor 5 on the mobile robot 2, the induction sensor 5 feeds back a signal to the control part 6, the control part 6 controls the jacking cylinder 8 to lift, the vehicle supporting plate 9 supports the vehicle, and the control part 6 controls the mobile robot 2 to move to the position of the rear end 11 of the track along the in-out track 3; 3) after the mobile robot 2 drives the vehicle to move to the position 11 at the rear end of the track, the induction sensor on the vehicle is located in the coverage range of the induction sensor 14 at the rear end, the induction sensor 14 at the rear end feeds back signals to the control part 6, the control part 6 controls the jacking cylinder 8 to contract, the vehicle supporting plate 9 moves downwards, the vehicle is parked on the ground of the parking space 1, 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) an operator sends a vehicle exiting parking position action signal through a remote controller, a control part 6 controls a jacking cylinder 8 to lift up, a vehicle supporting plate 9 supports the vehicle, and the control part 6 controls a mobile robot 2 located at the rear end 11 of a track to move to the front end 10 of the track along an entering and exiting track 3; 2) when the mobile robot 2 drives the vehicle to move to the front end 10 of the track, a vehicle induction sensor on the vehicle is positioned in the coverage range of an induction sensor 5 on the mobile robot 2, the induction sensor 5 feeds back a signal to the control part 6, the control part 6 controls the jacking cylinder 8 to contract, the vehicle supporting plate 9 moves downwards, and the vehicle is parked on the ground of the road surface 4; 3) the control part 6 controls the mobile robot 2 to move towards the track rear end 11 position along the in-out track 3, the induction sensor 5 on the mobile robot 2 is located in the coverage range of the rear end induction sensor 14, the control part 6 controls the mobile robot 2 to stop moving, the mobile robot 2 is located at the track rear end 11 position on the parking space 1, and the vehicle is driven out of the parking space.
When the front end induction sensor 13 induces the vehicle induction sensor, the front end induction sensor 13 is set to be a structure capable of feeding back signals to the control part 6; when the vehicle induction sensor on the vehicle is positioned in the coverage area of the induction sensor 5 on the mobile robot 2, the induction sensor 5 is configured to feed back a signal to the control part 6; when the induction sensor on the vehicle is located within the coverage of the rear end induction sensor 14, the control part 6 is configured to control the retraction of the jacking cylinder 8.
According to the control system and the control method for the intelligent vehicle parking space entering and exiting robot, when a vehicle needs to enter a parking space, the vehicle is driven to a road surface close to the parking space, the vehicle and the parking space are basically in a vertical state, the control part controls the jacking cylinder to lift up and lift the vehicle, then the control part controls the mobile robot to move to a position below the vehicle on the road surface along the entering and exiting track, the induction sensor senses the vehicle, then the mobile robot is controlled to move to the parking space along the entering and exiting track, then the control part controls the jacking cylinder to shrink, and the vehicle is placed on the ground of the parking space, so that the vehicle can enter the parking space. When the vehicle is required to exit the parking space, the operation steps are opposite to those of the vehicle entering the parking space. 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 robot control system and the control method for the intelligent parking space entering and exiting of the vehicle have the advantages of simple structure, simple operation, low investment cost, simple and quick arrangement and no dislocation or collision problem when the vehicle automatically enters and exits the parking space, can conveniently and quickly realize the automatic parking space entering and exiting of the vehicle, and comprehensively improve the automatic intelligent entering and exiting and the safety of the vehicle.
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 (9)
1. The utility model provides a vehicle intelligence business turn over parking stall robot control system which characterized in that: the intelligent robot control system for vehicles to enter and exit the parking spaces comprises parking spaces (1), mobile robots (2), an entering and exiting track (3) and a road surface (4), parking stall (1) set up in road surface (4) side, business turn over track (3) extend road surface (4) from parking stall (1), business turn over track (3) are crooked pitch arc structure, business turn over track (3) are made for metal material, mobile robot (2) bottom sets up inductive sensor (5), inductive sensor (5) are connected with control unit (6), inductive sensor (5) set up the structure that can respond to business turn over track (3) position, mobile robot (2) include robot body (7), robot body (7) top sets up jacking cylinder (8), set up on jacking cylinder (8) and hold in the palm sweep (9), it is connected with control unit (6) to hold in the palm sweep (9).
2. The vehicle intelligent parking space access robot control system of claim 1, wherein: the in-out track (3) comprises a track front end (10) and a track rear end (11), the track front end (10) is located on the road surface (4), the track rear end (11) is located on the parking space (1), the in-out track (3) is partially embedded in a clamping groove in the road surface (4), and the in-out track (3) is partially embedded in a clamping groove in the parking space (1).
3. The vehicle intelligent parking space access robot control system according to claim 1 or 2, characterized in that: the mobile robot (2) comprises a driving motor and a track, the driving motor (12) is connected with a control part (6), and when the control part (6) controls the driving motor (12) to rotate, the mobile robot (2) is arranged to be in a structure capable of moving back and forth between the front end (10) of the track and the rear end (11) of the track along the in-and-out track (3) under the control of the induction sensor (5).
4. The vehicle intelligent parking space access robot control system according to claim 1 or 2, characterized in that: the robot is characterized in that a rotating motor (15) is arranged on a robot body (7) of the mobile robot (2), a jacking cylinder (7) is arranged on the rotating motor (15), the rotating motor (15) is connected with a control part (6), the rotating motor (15) is vertically arranged on the robot body (7), and a vehicle supporting plate (9) is vertically arranged with the jacking cylinder (8).
5. The vehicle intelligent parking space access robot control system of claim 2, wherein: the track front end (10) of business turn over track (3) set up front end inductive sensor (13), front end inductive sensor (14) are set up in front end (11) behind the track of business turn over track (3), front end inductive sensor (13) and rear end inductive sensor (14) are connected with control unit (6) respectively, vehicle bottom set up vehicle inductive sensor, realize wireless signal between vehicle inductive sensor and the control unit (6) and receive and be connected.
6. The vehicle intelligent parking space access robot control system of claim 5, wherein: when the front end induction sensor (13) induces the vehicle induction sensor, the front end induction sensor (13) is set to be a structure capable of feeding back signals to the control component (6); when a vehicle induction sensor on the vehicle is positioned in the coverage range of the induction sensor (5) on the mobile robot (2), the induction sensor (5) is set to be a structure capable of feeding back a signal to the control component (6); when the induction sensor on the vehicle is positioned in the coverage range of the rear end induction sensor (14), the control component (6) is set to be a structure capable of controlling the shrinkage of the jacking cylinder (8).
7. A control method for a robot for intelligent parking of vehicles is characterized in that: the intelligent parking space entering and exiting robot control method for the vehicle comprises a vehicle parking space entering control method and a vehicle parking space exiting control method, wherein the vehicle parking space entering control method comprises the following control steps: 1) a vehicle needing to enter a parking space drives into a road surface (4) above a front end induction sensor (13), the front end induction sensor (13) induces the vehicle induction sensor, the front end induction sensor (13) feeds back a signal to a control part (6), and the control part (6) controls a mobile robot (2) located at the rear end (11) of a track to move to the front end (10) of the track along an in-out track (3); 2) the mobile robot (2) moves to a position below a vehicle, a vehicle induction sensor on the vehicle is positioned in the coverage range of the induction sensor (5) on the mobile robot (2), the induction sensor (5) feeds back a signal to the control part (6), the control part (6) controls the jacking cylinder (8) to lift up, the vehicle supporting plate (9) supports the vehicle, and the control part (6) controls the mobile robot (2) to move to the position of the rear end (11) of the track along the in-out track (3); 3) after the mobile robot (2) drives the vehicle to move to the position of the rear end (11) of the track, the induction sensor on the vehicle is positioned in the coverage range of the induction sensor (14) at the rear end, the induction sensor (14) at the rear end feeds back signals to the control part (6), the control part (6) controls the jacking cylinder (8) to contract, the vehicle supporting plate (9) moves downwards, the vehicle is parked on the ground of the parking space (1), and the vehicle enters the parking space.
8. The method for controlling the robot for intelligent parking and exiting of the vehicle according to claim 7, wherein: the control method for controlling the vehicle to run out of the parking space comprises the following steps: 1) an operator sends a vehicle driving-out parking space action signal through a remote controller, a control part (6) controls a jacking cylinder (8) to lift up, a vehicle supporting plate (9) supports the vehicle, and the control part (6) controls a mobile robot (2) located at the rear end (11) of a track to move to the front end (10) of the track along an in-out track (3); 2) when the mobile robot (2) drives the vehicle to move to the front end (10) of the track, a vehicle induction sensor on the vehicle is positioned in the coverage range of the induction sensor (5) on the mobile robot (2), the induction sensor (5) feeds back a signal to the control part (6), the control part (6) controls the jacking cylinder (8) to contract, the vehicle supporting plate (9) moves downwards, and the vehicle is parked on the ground of the road surface (4); 3) and the control part (6) controls the mobile robot (2) to move to the position of the rear end (11) of the track along the access track (3), the induction sensor (5) on the mobile robot (2) is positioned in the coverage range of the rear end induction sensor (14), the control part (6) controls the mobile robot (2) to stop moving, the mobile robot (2) is positioned at the position of the rear end (11) of the track on the parking space (1), and the vehicle is driven out of the parking space.
9. The method for controlling the intelligent vehicle parking space entering and exiting robot according to claim 8 or 9, wherein: when the front end induction sensor (13) induces the vehicle induction sensor, the front end induction sensor (13) is set to be a structure capable of feeding back signals to the control part (6); when a vehicle induction sensor on the vehicle is positioned in the coverage range of the induction sensor (5) on the mobile robot (2), the induction sensor (5) is set to be a structure capable of feeding back a signal to the control component (6); when the induction sensor on the vehicle is positioned in the coverage range of the rear end induction sensor (14), the control component (6) is set to be a structure capable of controlling the shrinkage of the jacking cylinder (8).
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| CN202010352199.XA CN111593922A (en) | 2020-04-28 | 2020-04-28 | Intelligent parking space entering and exiting robot control system for vehicle and control method thereof |
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| CN202010352199.XA CN111593922A (en) | 2020-04-28 | 2020-04-28 | Intelligent parking space entering and exiting robot control system for vehicle and control method thereof |
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Application publication date: 20200828 |