CN112767737A - Parking space sharing system and method based on parking robot rapidly - Google Patents

Parking space sharing system and method based on parking robot rapidly Download PDF

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Publication number
CN112767737A
CN112767737A CN202110085837.0A CN202110085837A CN112767737A CN 112767737 A CN112767737 A CN 112767737A CN 202110085837 A CN202110085837 A CN 202110085837A CN 112767737 A CN112767737 A CN 112767737A
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parking
vehicle
parking space
sends
sharing
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Inventor
贾宝华
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Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
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Jiangsu Xiaobaitu Intelligent Manufacturing Technology Co Ltd
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Priority to CN202110085837.0A priority Critical patent/CN112767737A/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/148—Management of a network of parking areas
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • E04H6/24—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of dollies for horizontal transport, i.e. cars being permanently parked on wheeled platforms
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
    • G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
    • G07B15/02—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems
    • G07B15/04—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems comprising devices to free a barrier, turnstile, or the like
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/149—Traffic control systems for road vehicles indicating individual free spaces in parking areas coupled to means for restricting the access to the parking space, e.g. authorization, access barriers, indicative lights

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Architecture (AREA)
  • Business, Economics & Management (AREA)
  • Finance (AREA)
  • Computer Security & Cryptography (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

The invention belongs to the technical field of parking space sharing and parking robots, and discloses a rapid parking space sharing system and method based on a parking robot. The system comprises a parking space sharing terminal, a vehicle position confirming unit, a parking robot controller, a timing unit, a charging unit, a vehicle taking access control unit and a master controller. The invention adopts a parking robot to transport vehicles; after the parking space sharing time period is over, no matter whether the vehicle of the parking space lessee moves out of the parking lot or not, all parking space owners can park the vehicles in time; the parking place lessees can only enter the car taking exchange position, so that the safety is ensured; in the parking space sharing time period, the parking space owner can also park the vehicle in the parking space or take the vehicle for exchange, so that various disputes caused by the fact that the parking space is not occupied according to the parking space sharing convention can be avoided; the parking exchange area and the picking exchange area are separately arranged and can freely park in the parking exchange area.

Description

Parking space sharing system and method based on parking robot rapidly
Technical Field
The invention belongs to the technical field of parking space sharing and parking robots, and particularly relates to a rapid parking space sharing system and method based on a parking robot.
Background
From the practical situation of urban parking in China at present, the traditional parking mode is still used as the main mode, the problem of difficult parking is increasingly serious, and the urban parking system has the tendency of spreading from a first-line city to a second-three-four-line city. The parking difficulty and the low benefit brought by the traditional parking mode are mainly reflected in the following aspects: firstly, the contradiction between the supply and the demand for parking is outstanding, and the gap of the parking space is large. From the national scale, the existing urban parking facilities comprise roads, public parking lots, parking lots owned by residential districts, parking lots owned by enterprises and public institutions or business institutions, and the like, and the existing urban parking facilities are far from being capable of bearing the rapidly increasing number of automobiles. Although, the novel parking area of practicing thrift occupation of land such as stereo garage obtains wideling develop, but these parking areas need occupy the soil in addition, and the construction cycle is long, and the cost is higher, under the condition that can not additionally provide the building soil, can't alleviate the difficult problem of parking through constructing stereo garage.
The most straightforward implementation of the "parking space sharing mode" is "off-peak parking". The parking spaces are used in turn by utilizing different parking peak times and different distribution of different business states so as to balance the parking requirements of each business state and achieve the purpose of reducing the total amount of the parking spaces independently provided by each business state. The parking space sharing not only can balance the parking demand overflowing in a specific time period of the urban central area and the vacant parking space, but also can effectively improve the utilization rate and turnover rate of the parking space, and relieve the contradiction between the parking supply and demand in the urban central area. Currently, the "parking space sharing mode" is implemented by temporarily renting a private (individual or unit) parking space. In recent years, a plurality of methods, management systems and devices for temporarily renting private parking spaces have been developed, and particularly, the parking space locks are opened through different forms of passwords or temporary permission or through parking lot gates by using intelligent parking space locks, so that the parking spaces are prevented from being occupied by other people without permission, and a renter can conveniently use the parking spaces and a parking space manager to time and charge.
However, in the above-mentioned space sharing mode, there are many problems, such as: 1. after the owner shares the parking space in the idle time, when the set sharing time is over and the owner needs to park, if the vehicle in the parking space still does not leave, a lot of inconvenience is brought to the owner; 2. if the parking space of the owner of the parking space sharing position is positioned at a corner or a barrier blocks the sight, and the like, and a driver is not familiar with the environment when parking is needed, the driver can hardly find the parking space, and much time is wasted for parking; 3. a lot of drivers with parking requirements drive into a parking lot of a residential area or a unit, and potential hazards may be brought to safety management of the residential area or the unit; 4. after the owner shares the parking space in idle time, if the outdoor activities are temporarily cancelled midway, but the parking space is reasonably occupied by other people, the owner can face the situation without a proper parking space after returning; 5. when the situation of problem 4 is faced, even if the arrangement that other nearby parking spaces are shared for temporary parking of the owner exists in the prior art, the situation that the parking spaces are disordered and the owner cannot easily find the car can occur; 6. use the parking stall lock and need install the power or in time change the battery on the parking stall, need purchase equipment such as a large amount of parking stall locks on the one hand, on the other hand needs the time to reform transform the parking area, and the cost is higher.
The parking robot is a robot for replacing manual work to place the vehicle, when in use, the vehicle is supported by the parking robot, and then the robot drives the vehicle to move to place the vehicle. The parking robot can move the vehicle and adjust the position of the vehicle on the premise of not starting the vehicle. The parking robot is used for placing vehicles, more vehicles can be placed in the limited space of the parking lot, the existing single-layer parking lot can be changed into a multi-layer structure, and unmanned and intelligent parking lots are achieved.
Disclosure of Invention
In view of the technical problems in the prior art, the invention aims to provide a rapid parking space sharing system and method based on a parking robot, which are used for overall management of a parking lot, a parking robot is used for placing vehicles in the parking lot, a parking space lock does not need to be purchased additionally, a parking space owner does not need to consider which driver with a parking requirement is rented with the parking space, and the driver with the parking requirement does not need to consider how to find the corresponding parking space. The technical scheme adopted by the invention for solving the technical problem is as follows.
The invention provides a rapid parking space sharing system based on a parking robot, which comprises a parking space sharing terminal, a vehicle position confirming unit, the parking robot, a parking robot controller, a timing unit, a charging unit, a vehicle taking access control unit and a master controller, wherein the parking space sharing terminal is connected with the parking robot controller;
the parking space sharing terminal is used for displaying parking space sharing information of a parking lot and inquiring the parking space sharing information by parking space tenants; the system is also used for receiving a parking space sharing parking request or a parking space sharing vehicle taking request sent by a parking space lessee, and a parking space owner parking request or a parking space owner vehicle taking request sent by a parking space owner; the parking lot is also used for receiving information which is sent by a parking lot lessee or a parking lot owner and confirms that the vehicle is parked; the system is also used for parking space sharing fee settlement of the parking space lessees; the parking lot management system is also used for prompting the parking lot lessees or parking lot owners to take the serial numbers of the exchange places and/or the information of driving away as soon as possible;
the vehicle position confirmation unit is used for identifying the license plate number of the vehicle entering and exiting the deposit and check exchange area and tracking and confirming the position of the vehicle;
the parking robot and the parking robot controller are used for transporting vehicles of parking place tenants or parking place owners from parking place exchange areas/parking places where the vehicles are parked to any unoccupied parking place/vehicle taking exchange position in the parking lot;
the timing unit is used for parking space sharing timing and shared timing suspension;
the charging unit is used for calculating parking space sharing cost according to a preset charging rule;
the vehicle taking access control unit is used for identifying the license plate number of the vehicle which is about to leave the vehicle taking exchange position;
the master controller is used for matching the license plate number sent by the vehicle position confirmation unit with the license plate numbers of the parking place tenants sending the parking place sharing parking request or the parking place sharing car taking request or the license plate numbers of all the parking place owners; the system is used for controlling a vehicle starting position confirmation unit, a timing unit to start timing and stop timing, a charging unit to charge, a parking robot controller to start and a vehicle taking access control unit to open and close; the parking space sharing system is also used for inquiring the parking space number a and the unoccupied parking space number b which can be used for parking space sharing, judging the size of the parking space number a and the unoccupied parking space number b, and inquiring whether the parking space of the parking space owner is in the parking space sharing time period or not; the parking space sharing terminal is used for controlling the parking space sharing terminal to prompt that the relevant information is not found; the system is also used for inquiring the parking exchange area/parking space number/area vehicle exchange space number and the wheel base information of the vehicle parking corresponding to the license plate number, and calling the time information of the vehicle parking this time;
the parking space sharing information comprises parking numbers which can be used for parking space sharing, and the parking numbers which can be used for parking space sharing are obtained by subtracting the parking numbers of the parked car lessee cars from the parking numbers of all the current parking spaces in the parking space sharing time period and then subtracting the parking numbers for stopping sharing timing.
The parking sharing means that a parking owner of a parking space parks a vehicle in the parking lot in the parking space sharing time period of the parking space.
In a further technical scheme, the parking space sharing terminal is further used for receiving an emergency checking request provided by a parking space owner; prompting the parking place lessee that the vehicle is parked in the temporary parking place and/or punishment money needs to be paid; prompting the parking stall owner to store the car again;
the master controller is also used for inquiring the unoccupied vehicle taking exchange digit c and judging the size of the unoccupied vehicle taking exchange digit c; inquiring the information of the parked vehicles in the parking exchange area, and selecting the position information of one vehicle and the wheelbase information of the vehicle according to a preset rule; the parking lot is also used for inquiring the parking time information of the vehicles of the carport in the parking lot, judging that the vehicles of the carport which exceed the preset carport sharing time and are not relegated exist, confirming the longest overtime carport and inquiring the parking space exchange area/parking space number/vehicle taking exchange space number and the wheel base information of the parked carport; the parking space sharing terminal is also used for controlling the parking space sharing terminal to prompt that the parking robot carries the vehicle and please wait slightly, that the parking space is full and that the parking space is parked in the temporary parking space.
In a further technical scheme, the master controller is further used for matching license plate numbers sent by the car taking access control unit with license plate numbers of all parking place owners; the system is used for inquiring the time of the last operation of the license plate number, calculating the time difference between the time and the time sent by the vehicle taking access control unit, and comparing the time with the preset time difference.
The invention also provides a control method of the rapid parking space sharing system based on the parking robot, which comprises the following steps:
the management method comprises a parking process and a vehicle taking process;
the parking process comprises the following steps:
s1.1: after receiving a parking space sharing parking request sent by a parking space lessee, a parking space sharing parking request and a license plate number of the parking space lessee are sent to a master controller by a parking space sharing terminal;
or after receiving a parking space owner parking request sent by a parking space owner, the parking space sharing terminal sends the parking space owner parking request and the license plate number of the parking space owner to the master controller;
or the vehicle position confirmation unit identifies the license plate number of the vehicle entering the parking exchange area, tracks and confirms the position of the vehicle and sends the position to the master controller;
s1.2: the master controller matches the license plate number sent by the vehicle position confirmation unit with the license plate numbers of the parking place tenants sending the parking place sharing parking requests or license plate numbers of all parking place owners sent by the parking place sharing terminals, and if the matching fails or the matching succeeds with the license plate numbers of the parking place tenants sending the parking place sharing parking requests, a parking place sharing parking program is started; if the matching with the parking place owner is successful, starting a parking procedure of the parking place owner;
s1.3 parking stall sharing procedure of parking specifically includes:
s1.3.1 the carport sharing terminal sends the information of the carport renter to the master controller after receiving the information of confirming that the car is parked;
the master controller sends a detection control instruction to the vehicle position confirmation unit;
the vehicle position confirming unit confirms the position of the vehicle and detects the wheel base information of the vehicle, and sends the wheel base information to the master controller;
s1.3.2 Total controller queries the number of parking positions a available for parking space sharing:
if a is not less than 1, go to step S1.3.3 directly;
② if a is 0, repeating the step S1.3.2 after a predetermined time interval;
s1.3.3, the master controller sends the position and wheel base information of the vehicle to the parking robot controller and sends the control command of the transport vehicle to the parking robot controller;
the parking robot controller carries the vehicle from the parking exchange position where the vehicle is parked to any unoccupied parking position in the parking lot and sends the serial number of the parking position where the vehicle is parked to the master controller;
s1.4 owner' S flow of parking in parking stall specifically includes:
s1.4.1 the carport sharing terminal sends the information confirming the parking of the vehicle sent by the carport owner to the master controller after receiving the information;
the master controller sends a detection control instruction to the vehicle position confirmation unit;
the vehicle position confirmation device confirms a unit of the vehicle and detects wheel base information of the vehicle, and sends the wheel base information to the master controller;
s1.4.2 Total controller inquires the number of unoccupied parking positions b:
if b is greater than or equal to 1, go directly to step S1.4.3;
② if b is 0, repeating the step S1.4.2 after a predetermined time interval;
s1.4.3 the master controller judges whether the current time is in the parking space sharing time period registered by the owner, if yes, it sends out the control instruction to the timing unit to stop the sharing timing, if not, it maintains the current state;
s1.4.4, the master controller sends the position and wheel base information of the vehicle to the parking robot controller and sends the control command of the transport vehicle to the parking robot controller;
the parking robot controller carries the vehicle from the parking exchange position where the vehicle is parked to any unoccupied parking space in the parking lot, and sends the serial number of the parking space where the vehicle is parked to the master controller.
The vehicle taking process comprises the following steps:
s2.1, after receiving a parking space sharing and car taking request sent by a parking space lessee, the parking space sharing and car taking request and a license plate number of the parking space lessee are sent to a master controller by a parking space sharing terminal;
or after receiving a parking space owner vehicle taking request sent by a parking space owner, the parking space sharing terminal sends the parking space owner vehicle taking request and the license plate number of the parking space owner to the master controller;
s2.2, the master controller inquires the parking space number, the parking space exchange area position, the vehicle taking exchange area number and the axle distance information corresponding to the parking of the vehicle according to the license plate number, the parking space lessee and the parking space owner sent by the parking space sharing terminal, sends a control instruction for stopping timing to the timing unit and calls the time information of the current parking of the vehicle;
s2.3, if the vehicle is a parking space lessee vehicle, the master controller sends the time information of the current parking of the vehicle to a charging unit and sends a charging control instruction to the charging unit;
the charging unit calculates the charge according to a preset charging rule and sends the result to the master controller;
the master controller sends the charging result to the parking space sharing terminal and sends a control instruction of fee settlement to the parking space sharing terminal;
after receiving the information of successful expense settlement, the parking space sharing terminal sends the information to the master controller;
s2.4, if the serial number of the vehicle taking exchange position for parking the vehicle is inquired, directly entering the step S2.5;
if the number of the parking space where the vehicle is parked/the vehicle taking exchange area is inquired, the master controller sends the number of the parking space where the vehicle is parked/the information of the vehicle position and the wheel base to the parking robot controller and sends a vehicle carrying control instruction to the parking robot controller;
the parking robot controller carries the vehicle to any unoccupied vehicle taking exchange position from a parking space or a vehicle position where the vehicle is parked, and sends the serial number of the vehicle taking exchange position where the vehicle is parked to the master controller;
s2.5, the master controller sends the vehicle taking exchange position number of the vehicle parking to the parking space sharing terminal;
the parking space sharing terminal prompts a parking space lessee or a parking space owner to take a car to exchange a space number and/or information of driving away as soon as possible.
In a further technical solution, if the parking exchange area is unable to park the vehicle and the parking space owner still wants to park the vehicle in the parking lot, the control method further includes an emergency parking program for the parking space owner:
s1.5 parking stall owner emergency parking procedure specifically includes:
s1.5.1 the parking space sharing terminal sends the parking space owner emergency parking request to the master controller after receiving the parking space owner emergency parking request;
s1.5.2 Total controller queries the parking lot for the number of unoccupied parking spots b:
if b is more than or equal to 1, sending a control instruction for prompting that the parking robot carries the vehicle and please wait slightly to a parking space sharing terminal of the parking space owner, and executing steps S1.5.6-S1.5.9;
if b is equal to 0, inquiring the unoccupied vehicle taking exchange digit c, and if c is more than or equal to 2, executing steps S1.5.3 and S1.5.6-S1.5.9; if c is less than or equal to 1, executing steps S1.5.4-S1.5.5 and S1.5.6-S1.5.9;
s1.5.3 the master controller inquires the information of the parked vehicles in the parking exchange area, selects the position information of one vehicle and the wheel base information of the vehicle according to the preset rule, sends the position information and the wheel base information to the parking robot controller, and sends a control instruction of carrying the vehicle to the position for exchanging the vehicle for taking the vehicle to the parking robot controller;
the parking robot controller controls the parking robot to carry the vehicle from the parking position to any unoccupied vehicle taking exchange position and sends carrying completion information to the master controller;
s1.5.4 the general controller inquires the parking time information of all the carport lessee vehicles in the parking lot, and judges whether there is any carport lessee vehicle which exceeds the preset carport sharing time and is not relegated:
if not, sending a control instruction for prompting that the parking space is full and please park the vehicle in the temporary parking space to a parking space sharing terminal of the parking space owner; inquiring the number b of unoccupied parking positions in the parking lot after a preset time interval, if b is equal to 0, inquiring the number b of unoccupied parking positions in the parking lot again after the preset time interval, and if b is more than or equal to 1, sending a control instruction for prompting the parking lot owner to store the car again;
if yes, inquiring the parking space number of the parking space renter vehicle with the longest overtime parking space and the wheel base information of the vehicle, sending the number and the wheel base information to the parking robot controller, and sending a control instruction for carrying the vehicle to the temporary parking space to the parking robot controller;
the parking robot controller controls the parking robot to carry the car of the parking stall tenant from the parking stall parked by the parking robot to the temporary parking stall, and sends carrying completion information to the master controller;
the main controller sends the parking place lessee and the vehicle information thereof to the parking place sharing terminal, and sends a control instruction for prompting the parking place lessee to park the vehicle in the temporary parking place and/or pay penalty money to the vehicle;
s1.5.5 the master controller inquires the information of the parked vehicles in the parking exchange area, selects the position information of one vehicle and the wheel base information of the vehicle according to the preset rule, sends the information to the parking robot controller and sends a control instruction for carrying the vehicle to the parking space to the parking robot controller;
the parking robot controller controls the parking robot to carry the vehicle to any unoccupied parking space from the parking position of the vehicle, and sends carrying completion information to the master controller;
s1.5.6 the carport sharing terminal sends the information confirming the parking of the vehicle sent by the carport owner to the master controller after receiving the information;
the master controller sends a detection control instruction to the vehicle position confirmation device;
the vehicle position confirmation device confirms the position of the vehicle and detects the wheel base information of the vehicle, and sends the wheel base information to the master controller;
s1.5.7 Total controller inquires the number of unoccupied parking positions b:
if b is greater than or equal to 1, go directly to step S1.5.8;
② if b is 0, repeating the step S1.5.7 after a predetermined time interval;
s1.5.8 the master controller judges whether the current time is in the parking space sharing time period registered by the owner, if yes, it sends out the control instruction to the timing unit to stop the sharing timing, if not, it maintains the current state;
s1.5.9, the master controller sends the position and wheel base information of the vehicle to the parking robot controller and sends the control command of the transport vehicle to the parking robot controller;
the parking robot controller carries the vehicle from the parking exchange position where the vehicle is parked to any unoccupied parking space in the parking lot, and sends the serial number of the parking space where the vehicle is parked to the master controller.
In a further technical solution, the vehicle pickup process further includes:
s2.6, the vehicle taking access control unit identifies the license plate number of the vehicle which is about to leave the vehicle taking exchange position, and sends the license plate number and the time to the master controller;
the license plate that total controller will get the car entrance guard unit and send matches with all parking stall owner's license plate numbers:
if the matching is successful, sending a control instruction for opening the access control to a vehicle taking access control unit, judging whether the current time is in a parking space sharing time period of a parking space owner parking space, if so, sending a control instruction for stopping sharing timing suspension to a timing unit, and if not, maintaining the current situation;
if the matching is unsuccessful, inquiring the time of the last operation of the license plate number, and calculating the time difference between the time and the time sent by the vehicle taking access control unit:
if the time difference is smaller than or equal to the preset time difference, a control instruction for opening the access control is sent to the vehicle taking access control unit;
if the time difference is larger than the preset time difference, the time difference of the vehicle is sent to a charging unit, and a charging control instruction is sent to the charging unit;
the charging unit calculates the charge according to a preset charging rule and sends the result to the master controller;
the master controller sends the charging result to the parking space sharing terminal and sends a control instruction of delayed fee settlement to the parking space sharing terminal;
after receiving the information of successful expense settlement, the parking space sharing terminal sends the information to the master controller;
and the master controller sends a control instruction for opening the access control to the car taking access control unit.
In the control method, the parking robot is adopted in the parking lot to carry the vehicle to or from the parking space, so that the trouble of parking space renters in finding the parking space is avoided, the time is saved, and the potential safety hazards of strangers entering a community and other occasions are eliminated. Meanwhile, the owner of the parking space does not need to consider the parking space to rent the parking space to the parking space lessee, does not need to install equipment such as a power supply and a parking space lock, does not need to consider the position of the rented parking space and the information of the owner and the like for the parking space lessee, and can park the vehicle as long as the parking space which is vacant and can be used for parking space sharing is reserved when the vehicle parks the vehicle.
According to the technical scheme, the parking exchange area and the vehicle taking exchange area are separated, the parking exchange area is not provided with a specific parking position, a parking place tenant or a parking place owner can park vehicles in the parking place exchange area at any time, and the vehicle position recognition device can confirm the specific position of the vehicle in a camera, a laser radar and a mathematical model mode. Therefore, parking tenants or parking owners with weak parking technologies can park the vehicles more conveniently, the time for parking the vehicles at the vehicle taking exchange positions is shortened, and the parking speed is accelerated.
In the technical scheme, the parking place owner possibly needs to park in the parking place and parking space sharing time period for some reasons, if the vehicle is not allowed to enter the parking lot, the problem that the parking place owner needs to pay for traffic fines and the like can be caused, and the parking place owner is easy to generate discontent emotion, so that the vehicle of the parking place owner can park in the parking lot as long as the parking place in the parking lot is still vacant, and the parking place owner does not need to wait for a parking place tenant to remove the vehicle or automatically find the parking place which can be used for parking. However, the related fee is required to be deducted when the parking space sharing income is counted. However, if the parking space in the parking lot is not empty, the vehicle of the parking lot owner can be temporarily stored in the unoccupied pick-up exchange position.
In the technical scheme, the parking stall lessee can not get the car in time after the parking stall sharing time quantum finishes because of various reasons, if directly carry its vehicle outside the parking lot, then can cause the parking stall lessee can't find the vehicle or need pay traffic penalty scheduling problem, consequently, as long as the parking stall in the parking lot has still vacant, or though not having vacant but the vehicle of parking stall owner has not arrived yet, the vehicle of parking stall lessee can also continue to park in this parking lot, but need pay punishment penalty. However, if the available parking space shared by the parking spaces in the parking lot is not vacant and the vehicle of the parking space owner arrives, the vehicle of the parking space tenant needs to be moved out of the parking lot in order to guarantee the rights and interests of the owner. Meanwhile, in order to avoid the problems that the parking place lessees cannot find the vehicles or need to pay traffic fines and the like, the parking robot carries the vehicles to the temporary unoccupied vehicle taking exchange positions.
Because all parking spaces are used by the parking robots for scheduling, owners and parking space renters of the parking spaces which can be used for parking space sharing do not need to know which parking space the own vehicles are parked in, so long as the vehicles of the owners of the parking spaces can be parked in the parking lot in time within the time period which is not shared by the parking spaces, and the rights and interests of the owners and the parking space renters of the parking spaces which can be used for parking space sharing can be simultaneously ensured within the time period which is shared by the parking spaces and the time period which is shared by the parking spaces. If the situation that the vehicle of the parking stall owner wants to park the vehicle in the parking stall sharing time slot is present, in order to guarantee the rights and interests of the parking stall lessees, the vehicle of the parking stall lessees cannot be moved out of the parking lot, but the parking stall owner can directly park or park with the identity of the parking stall lessees, under the condition that the parking stall is still vacant, the vehicle is parked on the parking stall in the parking lot, and under the condition that the vacant parking stall is not provided, the vehicle is parked on the unoccupied vehicle taking and exchanging position. If the situation that the vehicle of the parking place lessee does not take the vehicle after the parking place sharing time period is over occurs, the vehicle of the parking place lessee can be parked in the parking lot at any time in order to guarantee the rights and interests of the parking place owners, but the vehicle of the parking place lessee can be parked on the parking place in the parking lot under the condition that the parking place is still vacant, and can be parked on the vehicle taking exchange position which is not occupied temporarily under the condition that the parking place is not vacant. Therefore, the safety problem caused by the parking space sharing is avoided, and various disputes caused by the fact that the parking space is not used according to the parking space sharing convention are avoided, and overall management is achieved.
In a further technical scheme, the shared parking space income is distributed by a parking lot manager and all parking space owners according to time periods of labor payment, parking space renting and the like. In the control method of the present invention, a parking lot manager and all parking stall owners do not know whether a vehicle of a parking stall tenant is parked on each parking stall that can be used for parking stall sharing, how long time the vehicle is parked, and the like, and cannot calculate the income of parking stall sharing according to a single parking stall. Also, since parking of vehicles is scheduled by the parking robot, there may occur a case where some of the parking spaces available for the space sharing are not parked for a long time or vehicles of the space lessee are not parked all the time, and if earnings for the space sharing are calculated according to a single parking space, it is not fair to owners of the parking spaces available for the space sharing. If the ways of allocating income such as paying according to labor and renting the parking spaces are adopted, the parking lot manager and all parking space owners can be guaranteed to have income as long as a parking space lessee uses the parking spaces which can be used for sharing the parking spaces.
In the control method of the present invention, the structure and model of the parking robot are not limited, and the parking robot may be used in the parking space sharing method of the present invention as long as it can perform the functions of transporting the vehicle from the parking space of the parking lot to the pick-up exchange position and transporting the vehicle from the parking space of the parking lot to the pick-up exchange position.
The invention has the following beneficial effects:
1. adopt the robot transport vehicle that parks, can realize overall management, do not need the concrete management of parking stall owner, can avoid because the problem that the parking stall sharing appears, and because do not agree according to the parking stall and use various disputes that the parking stall appears.
2. After the parking space sharing time period is finished, no matter whether the vehicle of the parking space lessee moves out of the parking lot or not, all owners of the parking spaces capable of being used for parking space sharing can park the vehicles in time.
3. The parking place lessees do not need to search for the parking places by themselves, and only need to park on the vehicle taking exchange positions near the entrance and the exit of the parking lot, and then the parking robots can carry the vehicles to the corresponding parking places; when the parking robot takes the car, the parking robot is only required to wait for the car to be carried to the car taking exchange position on the car taking exchange position.
4. The parking stall lessees can only enter the car taking exchange position but cannot enter more ranges, and the safety of residential districts, units and the like is guaranteed.
5. In the parking stall sharing time quantum, the parking stall owner also can park its vehicle in the parking stall or get the car and trade the position, and the at utmost avoids the owner not to have suitable parking stall, parking stall to occupy the confusion, and the owner looks for the difficult condition of car.
6. The power supply does not need to be installed on the parking space or the battery does not need to be replaced in time, and a large number of devices such as parking space locks do not need to be purchased or the parking lot is transformed, so that the cost is saved.
7. The parking exchange area and the vehicle taking exchange area are separately arranged, and a parking place tenant or a parking place owner can park at will in the parking exchange area without being limited by a planned parking place.
Detailed Description
In order to more clearly illustrate the technical solutions of the present invention, the following embodiments are described in detail, and it is obvious that the embodiments described below are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other embodiments based on these embodiments without any creative effort.
Example 1
The embodiment relates to a rapid parking space sharing system based on a parking robot, which specifically comprises the specific content of installing the parking space sharing system in a newly built community.
The new-built residential district is designed according to parking and taking of vehicles by using the parking robot at the building position, and comprises a two-layer underground parking lot, ground parking spaces in a small number of residential districts and ground parking spaces outside the residential district periphery, the underground parking lot comprises a special elevator which is positioned in the residential district and used for one layer and two layers of a straight-through underground parking lot and a special elevator which is positioned outside the residential district and used for one layer and two layers of a straight-through underground parking lot and used by the parking robot, and a parking exchange area and a vehicle taking exchange position are arranged near the two special elevators.
The community property is an underground parking lot manager, all parking spaces of the underground parking lot are managed by the community property, parking space owners can park in underground parking lots free of charge, residents of non-parking space owners in the community can use the underground parking lots with parking space tenants, and parking space sharing cost needs to be paid.
The rapid parking space sharing system based on the parking robot comprises a parking space sharing terminal, a vehicle position confirmation unit, the parking robot, a parking robot controller, a timing unit, a charging unit, a vehicle taking access control unit and a master controller;
the parking space sharing terminal can be an application program suitable for a mobile phone, a computer, a tablet personal computer, intelligent wearable equipment, or intelligent equipment fixed beside a parking exchange position or an access control unit, a small program capable of being inserted into a third-party application program, a quick switch, a webpage and the like; the vehicle position confirmation unit comprises a license plate recognition device arranged at the entrance of the parking exchange area, and cameras and laser radars arranged around the parking exchange area; the vehicle taking access control unit comprises a license plate recognition device and an automatic control gate;
the parking space sharing terminal is used for displaying parking space sharing information of a parking lot and inquiring the parking space sharing information by parking space tenants; the system is also used for receiving a parking space sharing parking request or a parking space sharing vehicle taking request sent by a parking space lessee, and a parking space owner parking request or a parking space owner vehicle taking request sent by a parking space owner; the parking lot is also used for receiving information which is sent by a parking lot lessee or a parking lot owner and confirms that the vehicle is parked; the system is also used for parking space sharing fee settlement of the parking space lessees; the parking lot management system is also used for prompting the parking lot lessees or parking lot owners to take the serial numbers of the exchange places and/or the information of driving away as soon as possible;
the vehicle position confirmation unit is used for identifying the license plate number of the vehicle entering and exiting the deposit and check exchange area and tracking and confirming the position of the vehicle;
the parking robot and the parking robot controller are used for transporting vehicles of parking place tenants or parking place owners from parking place exchange areas/parking places where the vehicles are parked to any unoccupied parking place/vehicle taking exchange position in the parking lot;
the timing unit is used for parking space sharing timing and shared timing suspension;
the charging unit is used for calculating parking space sharing cost according to a preset charging rule;
the vehicle taking access control unit is used for identifying the license plate number of the vehicle which is about to leave the vehicle taking exchange position;
the master controller is used for matching the license plate number sent by the vehicle position confirmation unit with the license plate numbers of the parking place tenants sending the parking place sharing parking request or the parking place sharing car taking request or the license plate numbers of all the parking place owners; the system is used for controlling a vehicle starting position confirmation unit, a timing unit to start timing and stop timing, a charging unit to charge, a parking robot controller to start and a vehicle taking access control unit to open and close; the parking space sharing system is also used for inquiring the parking space number a and the unoccupied parking space number b which can be used for parking space sharing, judging the size of the parking space number a and the unoccupied parking space number b, and inquiring whether the parking space of the parking space owner is in the parking space sharing time period or not; the parking space sharing terminal is used for controlling the parking space sharing terminal to prompt that the relevant information is not found; the system is also used for inquiring the parking exchange area/parking space number/area vehicle exchange space number and the wheel base information of the vehicle parking corresponding to the license plate number, and calling the time information of the vehicle parking this time;
the parking space sharing information comprises parking numbers which can be used for parking space sharing, and the parking numbers which can be used for parking space sharing are obtained by subtracting the parking numbers of the parked car lessee cars from the parking numbers of all the current parking spaces in the parking space sharing time period and then subtracting the parking numbers for stopping sharing timing.
The parking sharing means that a parking owner of a parking space parks a vehicle in the parking lot in the parking space sharing time period of the parking space.
In a further technical scheme, the parking space sharing terminal is further used for receiving an emergency checking request provided by a parking space owner; prompting the parking place lessee that the vehicle is parked in the temporary parking place and/or punishment money needs to be paid; prompting the parking stall owner to store the car again;
the master controller is also used for inquiring the unoccupied vehicle taking exchange digit c and judging the size of the unoccupied vehicle taking exchange digit c; inquiring the information of the parked vehicles in the parking exchange area, and selecting the position information of one vehicle and the wheelbase information of the vehicle according to a preset rule; the parking lot is also used for inquiring the parking time information of the vehicles of the carport in the parking lot, judging that the vehicles of the carport which exceed the preset carport sharing time and are not relegated exist, confirming the longest overtime carport and inquiring the parking space exchange area/parking space number/vehicle taking exchange space number and the wheel base information of the parked carport; the parking space sharing terminal is also used for controlling the parking space sharing terminal to prompt that the parking robot carries the vehicle and please wait slightly, that the parking space is full and that the parking space is parked in the temporary parking space.
In a further technical scheme, the master controller is further used for matching license plate numbers sent by the car taking access control unit with license plate numbers of all parking place owners; the system is used for inquiring the time of the last operation of the license plate number, calculating the time difference between the time and the time sent by the vehicle taking access control unit, and comparing the time with the preset time difference.
Example 2
The embodiment relates to a control method of a parking robot-based overall parking space sharing system installed in embodiment 1, in particular to a parking and picking-up process of a parking space tenant, and the method specifically comprises the following steps:
s1: after receiving a parking space sharing parking request sent by a parking space lessee, a parking space sharing parking request and a license plate number of the parking space lessee are sent to a master controller by a parking space sharing terminal; or the vehicle position confirmation unit identifies the license plate number of the vehicle entering the parking exchange area, confirms the position of the vehicle through the scanning tracking of the plurality of cameras and the laser radar, and sends the position to the master controller.
After a parking stall lessee inquires that a parking stall which can be used for parking stall sharing exists in the community through a parking stall sharing terminal installed on a mobile phone, the parking stall lessee does not send out a parking stall sharing parking request, and directly drives into a parking exchange area. The vehicle position confirmation unit identifies the license plate number of the vehicle entering the parking exchange area, tracks and confirms the position of the vehicle and sends the position to the master controller.
S2: the master controller matches the license plate number sent by the vehicle position confirmation unit with the license plate numbers of the parking place tenants sending the parking place sharing parking requests or license plate numbers of all parking place owners sent by the parking place sharing terminals, and if the matching fails or the matching succeeds with the license plate numbers of the parking place tenants sending the parking place sharing parking requests, a parking place sharing parking program is started; and if the matching with the parking space owner is successful, starting a parking program of the parking space owner.
And the matching fails because the parking space lessee does not provide the parking space sharing parking request at the parking space sharing terminal, and therefore, a motor parking space sharing parking program is started.
S3: after receiving the information which is sent by the parking stall lessees and confirms that the vehicle is parked, the parking stall sharing terminal sends the information to the master controller; the master controller sends a detection control instruction to the vehicle position confirmation unit; the vehicle position confirming unit confirms the position of the vehicle and detects the wheel base information of the vehicle, and sends the wheel base information to the master controller.
And (4) the parking place lessee can confirm that the vehicle is parked on the parking place sharing terminal before leaving the parking exchange area.
S4: and the master controller inquires parking number a which can be used for parking space sharing: if a is more than or equal to 1, directly executing the next step; ② if a is 0, repeating the step after a predetermined time interval.
S5: the master controller sends the position and wheel base information of the vehicle to the parking robot controller and sends a vehicle carrying control instruction to the parking robot controller; the parking robot controller carries the vehicle from the parking exchange position where the vehicle is parked to any unoccupied parking space in the parking lot, and sends the serial number of the parking space where the vehicle is parked to the master controller.
The parking robot calculates parking spaces where the vehicles will park through a preset parking space algorithm, then obtains the traveling routes of the vehicle robot through the preset route algorithm, and then alternately takes and carries the vehicles of the parking space lessees from the parked vehicles to the corresponding parking spaces according to the information.
S6: and after receiving the parking space sharing vehicle taking request sent by the parking space lessee, the parking space sharing terminal sends the parking space sharing vehicle taking request and the license plate number of the parking space lessee to the master controller.
After the work of the parking place lessee is finished, the lessee wants to drive a car and leave, and a parking place sharing and car taking request is sent out through a parking place sharing terminal installed on a mobile phone.
And the parking space sharing terminal calls the license plate number of the parking space lessee and sends the license plate number to the master controller.
S7: the master controller inquires the parking space number, the position of the parking exchange area, the number of the vehicle taking exchange area and the axle distance information corresponding to the parking of the vehicle according to the license plate number sent by the parking space sharing terminal or the parking space lessee, sends a control instruction for stopping timing to the timing unit and calls the time information of the current parking of the vehicle.
S8: the master controller sends the time information of the current parking of the vehicle to a charging unit and sends a charging control instruction to the charging unit;
the charging unit calculates the charge according to a preset charging rule and sends the result to the master controller;
the master controller sends the charging result to the parking space sharing terminal and sends a control instruction of fee settlement to the parking space sharing terminal;
and after receiving the information of successful fee settlement, the parking space sharing terminal sends the information to the master controller.
And the parking stall lessee enters a fee settlement page at a parking stall sharing terminal arranged on the mobile phone to pay related fees.
S9: if the serial number of the vehicle taking exchange position for parking the vehicle is inquired, directly entering the next step; if the number of the parking space where the vehicle is parked/the vehicle taking exchange area is inquired, the master controller sends the number of the parking space where the vehicle is parked/the information of the vehicle position and the wheel base to the parking robot controller and sends a vehicle carrying control instruction to the parking robot controller; the parking robot controller carries the vehicle to any unoccupied vehicle taking exchange position from the parking space or the vehicle position where the vehicle is parked, and sends the vehicle taking exchange position number where the vehicle is parked to the master controller.
The parking robot calculates the number of the parking taking exchange positions where the vehicle will park through a preset parking exchange position algorithm, obtains the traveling route of the vehicle robot through a preset route algorithm, and carries the vehicle of the parking position tenant from the parking exchanging area/parking position where the vehicle parks to the corresponding parking exchange position according to the information.
S10: the master controller sends the vehicle taking exchange position number of the vehicle parking to the parking space sharing terminal; the parking space sharing terminal prompts a parking space lessee or a parking space owner to take a car to exchange a space number and/or information of driving away as soon as possible.
And the parking stall lessee enters the car taking exchange position through the pedestrian passage and waits beside the car taking exchange position corresponding to the car taking exchange position number displayed by the parking stall sharing terminal installed on the mobile phone. When the vehicle is transported, the carport drives to prepare for leaving the vehicle taking exchange position.
S11: the vehicle taking access control unit identifies the license plate number of the vehicle which is about to leave the vehicle taking exchange position, and sends the license plate number and the time to the master controller;
the license plate that total controller will get the car entrance guard unit and send matches with all parking stall owner's license plate numbers:
if the matching is successful, sending a control instruction for opening the access control to a vehicle taking access control unit, judging whether the current time is in a parking space sharing time period of a parking space owner parking space, if so, sending a control instruction for stopping sharing timing suspension to a timing unit, and if not, maintaining the current situation;
if the matching is unsuccessful, inquiring the time of the last operation of the license plate number, and calculating the time difference between the time and the time sent by the vehicle taking access control unit:
if the time difference is smaller than or equal to the preset time difference, a control instruction for opening the access control is sent to the vehicle taking access control unit;
if the time difference is larger than the preset time difference, the time difference of the vehicle is sent to a charging unit, and a charging control instruction is sent to the charging unit;
the charging unit calculates the charge according to a preset charging rule and sends the result to the master controller;
the master controller sends the charging result to the parking space sharing terminal and sends a control instruction of delayed fee settlement to the parking space sharing terminal;
after receiving the information of successful expense settlement, the parking space sharing terminal sends the information to the master controller;
and the master controller sends a control instruction for opening the access control to the car taking access control unit.
And if the judgment result of the vehicle taking access control device is negative, the vehicle taking access control device opens the vehicle taking access control. The carport lessees drive to leave the community.
Example 3
The embodiment relates to a control method of a parking space sharing system based on a parking robot, which is installed in embodiment 1, in particular to a parking and picking-up process of a parking space owner, and the method specifically comprises the following steps:
s1: after receiving a parking space owner parking request sent by a parking space owner, the parking space sharing terminal sends the parking space owner parking request and a license plate number of the parking space owner to a master controller; or the vehicle position confirmation unit identifies the license plate number of the vehicle entering the parking exchange area, confirms the position of the vehicle through the scanning tracking of the plurality of cameras and the laser radar, and sends the position to the master controller.
The parking stall owner sends out a parking stall owner parking request through a parking stall sharing terminal installed on the mobile phone, and drives to enter a parking exchange area. The vehicle position confirmation unit identifies the license plate number of the vehicle entering the parking exchange area, tracks and confirms the position of the vehicle and sends the position to the master controller.
S2: the master controller matches the license plate number sent by the vehicle position confirmation unit with the license plate numbers of the parking place owners sending the parking place shared parking requests or license plate numbers of all the parking place owners sent by the parking place shared terminal, and if the matching fails or the matching succeeds with the license plate numbers of the parking place owners sending the parking place shared parking requests, a parking place shared parking program is started; and if the matching with the parking space owner is successful, starting a parking program of the parking space owner.
And starting a parking procedure of the motor car owner because the matching with the license plate number of the parking place owner is successful.
S3: after receiving information which is sent by a parking stall owner and confirms that the vehicle is parked, the parking stall sharing terminal sends the information to a master controller; the master controller sends a detection control instruction to the vehicle position confirmation unit; the vehicle position confirming unit confirms the position of the vehicle and detects the wheel base information of the vehicle, and sends the wheel base information to the master controller.
And the parking place owner can confirm that the vehicle is parked on the parking place sharing terminal before leaving the parking exchange area.
S4: the master controller inquires the number b of unoccupied parking positions: if b is more than or equal to 1, directly executing the next step; ② if b is 0, repeating the step after a predetermined time interval.
S5: the master controller judges whether the current time is in the parking space sharing time period registered by the parking space owner, if so, a control instruction for starting to stop sharing timing is sent to the timing unit, and if not, the current situation is maintained.
The master controller inquires that the parking space of the parking space owner is in the parking space sharing time period, and controls the timing unit to send out the start of suspending sharing timing.
S6: the master controller sends the position and wheel base information of the vehicle to the parking robot controller and sends a vehicle carrying control instruction to the parking robot controller; the parking robot controller carries the vehicle from the parking exchange position where the vehicle is parked to any unoccupied parking space in the parking lot, and sends the serial number of the parking space where the vehicle is parked to the master controller.
The parking robot calculates parking spaces where vehicles will park through a preset parking space algorithm, then obtains the traveling routes of the vehicle robot through the preset route algorithm, and then carries the vehicles of the parking space owners to the corresponding parking spaces from the parked parking spaces in an exchange mode according to the information.
S7: and after receiving the parking space sharing vehicle taking request sent by the parking space owner, the parking space sharing terminal sends the parking space sharing vehicle taking request and the license plate number of the parking space owner to the master controller.
The parking place owner sends a parking place owner car taking request through a parking place sharing terminal installed on a mobile phone because the parking place owner wants to drive a car and leave the car.
And the parking space sharing terminal calls the license plate number of the parking space owner and sends the license plate number to the master controller.
S8: the master controller inquires the corresponding parking space number of the vehicle parking, the position of the parking exchange area, the vehicle taking exchange position number and the wheel base information according to the license plate number sent by the parking space sharing terminal or the parking space owner, sends a control instruction for stopping timing to the timing unit, and calls the time information of the current parking of the vehicle.
S9: if the serial number of the vehicle taking exchange position for parking the vehicle is inquired, directly entering the next step; if the number of the parking space where the vehicle is parked/the vehicle taking exchange area is inquired, the master controller sends the number of the parking space where the vehicle is parked/the information of the vehicle position and the wheel base to the parking robot controller and sends a vehicle carrying control instruction to the parking robot controller; the parking robot controller carries the vehicle to any unoccupied vehicle taking exchange position from the parking space or the vehicle position where the vehicle is parked, and sends the vehicle taking exchange position number where the vehicle is parked to the master controller.
The parking robot calculates the number of the parking taking exchange positions where the vehicle will park through a preset parking exchange position algorithm, obtains the traveling route of the vehicle robot through a preset route algorithm, and carries the vehicle of the parking place owner from the parking storing exchange area/parking place where the vehicle parks to the corresponding parking exchange position according to the information.
S10: the master controller sends the vehicle taking exchange position number of the vehicle parking to the parking space sharing terminal; the parking space sharing terminal prompts the parking space owner or the parking space owner to take the car to exchange the space number and/or the information of driving away as soon as possible.
The parking place owner enters the car taking exchange position through the pedestrian passage and waits beside the car taking exchange position corresponding to the car taking exchange position number displayed by the parking place sharing terminal installed on the mobile phone. When the vehicle is transported, the parking stall owner drives the vehicle and prepares to leave the vehicle taking exchange position.
S11: the vehicle taking access control unit identifies the license plate number of the vehicle which is about to leave the vehicle taking exchange position, and sends the license plate number and the time to the master controller;
the license plate that total controller will get the car entrance guard unit and send matches with all parking stall owner's license plate numbers:
if the matching is successful, sending a control instruction for opening the access control to a vehicle taking access control unit, judging whether the current time is in a parking space sharing time period of a parking space owner parking space, if so, sending a control instruction for stopping sharing timing suspension to a timing unit, and if not, maintaining the current situation;
if the matching is unsuccessful, inquiring the time of the last operation of the license plate number, and calculating the time difference between the time and the time sent by the vehicle taking access control unit:
if the time difference is smaller than or equal to the preset time difference, a control instruction for opening the access control is sent to the vehicle taking access control unit;
if the time difference is larger than the preset time difference, the time difference of the vehicle is sent to a charging unit, and a charging control instruction is sent to the charging unit;
the charging unit calculates the charge according to a preset charging rule and sends the result to the master controller;
the master controller sends the charging result to the parking space sharing terminal and sends a control instruction of delayed fee settlement to the parking space sharing terminal;
after receiving the information of successful expense settlement, the parking space sharing terminal sends the information to the master controller;
and the master controller sends a control instruction for opening the access control to the car taking access control unit.
And the vehicle taking access control device opens the vehicle taking access control because the matching is successful. The parking stall owner drives away from the community.
Example 4
The embodiment relates to a control method of a parking space sharing system based on a parking robot, which is installed in embodiment 1, in particular to an emergency parking process of a parking space owner, and the method specifically comprises the following steps:
firstly, the parking stall owner drives to come to the entry in parking exchange district, discovers that the parking exchange district has stopped the car, can't go into the parking again, so:
s1: after receiving a parking space owner emergency parking request sent by a parking space owner, the parking space sharing terminal sends the parking space owner emergency parking request to a master controller;
s2: the master controller inquires the unoccupied parking number b in the parking lot:
if b is more than or equal to 1, sending a control instruction for prompting that the parking robot carries the vehicle and please wait slightly to a parking space sharing terminal of the parking space owner, and executing steps S6-S9;
if b is equal to 0, inquiring the unoccupied vehicle taking exchange digit c, and if c is more than or equal to 2, executing steps S.3 and S6-S9; if c is less than or equal to 1, executing steps S4-S5 and steps S6-S9;
s3: the master controller inquires the information of the parked vehicles in the parking exchange area, selects the position information of one vehicle and the wheel base information of the vehicle according to a preset rule, sends the position information and the wheel base information of the vehicle to the parking robot controller, and sends a control instruction for carrying the vehicle to the vehicle taking exchange position to the parking robot controller;
the parking robot controller controls the parking robot to carry the vehicle from the parking position to any unoccupied vehicle taking exchange position and sends carrying completion information to the master controller;
s4: the main controller inquires the parking time information of all parking place lessee vehicles in the parking lot and judges whether the parking place lessee vehicles which exceed the preset parking place sharing time and are not relegated exist:
if not, sending a control instruction for prompting that the parking space is full and please park the vehicle in the temporary parking space to a parking space sharing terminal of the parking space owner; inquiring the number b of unoccupied parking positions in the parking lot after a preset time interval, if b is equal to 0, inquiring the number b of unoccupied parking positions in the parking lot again after the preset time interval, and if b is more than or equal to 1, sending a control instruction for prompting the parking lot owner to store the car again;
if yes, inquiring the parking space number of the parking space renter vehicle with the longest overtime parking space and the wheel base information of the vehicle, sending the number and the wheel base information to the parking robot controller, and sending a control instruction for carrying the vehicle to the temporary parking space to the parking robot controller;
the parking robot controller controls the parking robot to carry the car of the parking stall tenant from the parking stall parked by the parking robot to the temporary parking stall, and sends carrying completion information to the master controller;
the main controller sends the parking place lessee and the vehicle information thereof to the parking place sharing terminal, and sends a control instruction for prompting the parking place lessee to park the vehicle in the temporary parking place and/or pay penalty money to the vehicle;
s5: the master controller inquires the information of the parked vehicles in the parking exchange area, selects the position information of one vehicle and the wheel base information of the vehicle according to a preset rule, sends the position information and the wheel base information of the vehicle to the parking robot controller, and sends a control instruction for transporting the vehicle to a parking space to the parking robot controller;
the parking robot controller controls the parking robot to carry the vehicle to any unoccupied parking space from the parking position of the vehicle, and sends carrying completion information to the master controller;
s6: after receiving information which is sent by a parking stall owner and confirms that the vehicle is parked, the parking stall sharing terminal sends the information to a master controller;
the master controller sends a detection control instruction to the vehicle position confirmation device;
the vehicle position confirmation device confirms the position of the vehicle and detects the wheel base information of the vehicle, and sends the wheel base information to the master controller;
s7: the master controller inquires the number b of unoccupied parking positions:
if b is greater than or equal to 1, go directly to step S1.5.8;
② if b is 0, repeating the step S1.5.7 after a predetermined time interval;
s8: the master controller judges whether the current time is in the parking space sharing time period registered by the parking space owner, if so, a control instruction for starting to stop sharing timing is sent to the timing unit, and if not, the current situation is maintained;
s9: the master controller sends the position and wheel base information of the vehicle to the parking robot controller and sends a vehicle carrying control instruction to the parking robot controller;
the parking robot controller carries the vehicle from the parking exchange position where the vehicle is parked to any unoccupied parking space in the parking lot, and sends the serial number of the parking space where the vehicle is parked to the master controller.
If the parking space owner sends an emergency parking request, the parking space sharing terminal prompts that the parking robot is carrying the vehicle and please wait for a short time, then the parking robot can carry away one vehicle in the parking exchange area for parking by the short time; if the prompt of 'the parking space is full' and 'please park the vehicle in the temporary parking space', the parking space owner can not park the vehicle in the parking lot, but can only park the vehicle in the temporary parking space temporarily, and waits for the parking space sharing terminal to prompt that the vehicle can be parked again.
The parts not involved in the present invention are the same as or can be implemented using the prior art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (6)

1. A rapid parking space sharing system based on a parking robot is characterized by comprising a parking space sharing terminal, a vehicle position confirming unit, the parking robot, a parking robot controller, a timing unit, a charging unit, a vehicle taking access control unit and a master controller;
the parking space sharing terminal is used for displaying parking space sharing information of a parking lot and inquiring the parking space sharing information by parking space tenants; the system is also used for receiving a parking space sharing parking request or a parking space sharing vehicle taking request sent by a parking space lessee, and a parking space owner parking request or a parking space owner vehicle taking request sent by a parking space owner; the parking lot is also used for receiving information which is sent by a parking lot lessee or a parking lot owner and confirms that the vehicle is parked; the system is also used for parking space sharing fee settlement of the parking space lessees; the parking lot management system is also used for prompting the parking lot lessees or parking lot owners to take the serial numbers of the exchange places and/or the information of driving away as soon as possible;
the vehicle position confirmation unit is used for identifying the license plate number of the vehicle entering and exiting the deposit and check exchange area and tracking and confirming the position of the vehicle;
the parking robot and the parking robot controller are used for transporting vehicles of parking place tenants or parking place owners from parking place exchange areas/parking places where the vehicles are parked to any unoccupied parking place/vehicle taking exchange position in the parking lot;
the timing unit is used for parking space sharing timing and shared timing suspension;
the charging unit is used for calculating parking space sharing cost according to a preset charging rule;
the vehicle taking access control unit is used for identifying the license plate number of the vehicle which is about to leave the vehicle taking exchange position;
the master controller is used for matching the license plate number sent by the vehicle position confirmation unit with the license plate numbers of the parking place tenants sending the parking place sharing parking request or the parking place sharing car taking request or the license plate numbers of all the parking place owners; the system is used for controlling a vehicle starting position confirmation unit, a timing unit to start timing and stop timing, a charging unit to charge, a parking robot controller to start and a vehicle taking access control unit to open and close; the parking space sharing system is also used for inquiring the parking space number a and the unoccupied parking space number b which can be used for parking space sharing, judging the size of the parking space number a and the unoccupied parking space number b, and inquiring whether the parking space of the parking space owner is in the parking space sharing time period or not; the parking space sharing terminal is used for controlling the parking space sharing terminal to prompt that the relevant information is not found; the system is also used for inquiring the parking exchange area/parking space number/area vehicle exchange space number and the wheel base information of the vehicle parking corresponding to the license plate number, and calling the time information of the vehicle parking this time;
the parking space sharing information comprises parking numbers which can be used for parking space sharing, and the parking numbers which can be used for parking space sharing are obtained by subtracting the parking numbers of the parked car lessee cars from the parking numbers of all the current parking spaces in the parking space sharing time period and then subtracting the parking numbers for stopping sharing timing.
2. The rapid parking space sharing system based on parking robots as claimed in claim 1, wherein the parking space sharing terminal is further configured to receive an emergency checking request from a parking space owner; prompting the parking place lessee that the vehicle is parked in the temporary parking place and/or punishment money needs to be paid; prompting the parking stall owner to store the car again;
the master controller is also used for inquiring the unoccupied vehicle taking exchange digit c and judging the size of the unoccupied vehicle taking exchange digit c; inquiring the information of the parked vehicles in the parking exchange area, and selecting the position information of one vehicle and the wheelbase information of the vehicle according to a preset rule; the parking lot is also used for inquiring the parking time information of the vehicles of the carport in the parking lot, judging that the vehicles of the carport which exceed the preset carport sharing time and are not relegated exist, confirming the longest overtime carport and inquiring the parking space exchange area/parking space number/vehicle taking exchange space number and the wheel base information of the parked carport; the parking space sharing terminal is also used for controlling the parking space sharing terminal to prompt that the parking robot carries the vehicle and please wait slightly, that the parking space is full and that the parking space is parked in the temporary parking space.
3. The rapid parking space sharing system based on the parking robot as claimed in claim 1, wherein the master controller is further configured to match license plate numbers sent by the car taking access control unit with license plate numbers of all parking space owners; the system is used for inquiring the time of the last operation of the license plate number, calculating the time difference between the time and the time sent by the vehicle taking access control unit, and comparing the time with the preset time difference.
4. A control method for a rapid parking space sharing system based on parking robots as claimed in any one of claims 1 to 3, characterized in that the control method comprises the following steps:
the management method comprises a parking process and a vehicle taking process;
the parking process comprises the following steps:
s1.1: after receiving a parking space sharing parking request sent by a parking space lessee, a parking space sharing parking request and a license plate number of the parking space lessee are sent to a master controller by a parking space sharing terminal;
or after receiving a parking space owner parking request sent by a parking space owner, the parking space sharing terminal sends the parking space owner parking request and the license plate number of the parking space owner to the master controller;
or the vehicle position confirmation unit identifies the license plate number of the vehicle entering the parking exchange area, tracks and confirms the position of the vehicle and sends the position to the master controller;
s1.2: the master controller matches the license plate number sent by the vehicle position confirmation unit with the license plate numbers of the parking place tenants sending the parking place sharing parking requests or license plate numbers of all parking place owners sent by the parking place sharing terminals, and if the matching fails or the matching succeeds with the license plate numbers of the parking place tenants sending the parking place sharing parking requests, a parking place sharing parking program is started; if the matching with the parking place owner is successful, starting a parking procedure of the parking place owner;
s1.3 parking stall sharing procedure of parking specifically includes:
s1.3.1 the carport sharing terminal sends the information of the carport renter to the master controller after receiving the information of confirming that the car is parked;
the master controller sends a detection control instruction to the vehicle position confirmation unit;
the vehicle position confirming unit confirms the position of the vehicle and detects the wheel base information of the vehicle, and sends the wheel base information to the master controller;
s1.3.2 Total controller queries the number of parking positions a available for parking space sharing:
if a is not less than 1, go to step S1.3.3 directly;
② if a is 0, repeating the step S1.3.2 after a predetermined time interval;
s1.3.3, the master controller sends the position and wheel base information of the vehicle to the parking robot controller and sends the control command of the transport vehicle to the parking robot controller;
the parking robot controller carries the vehicle from the parking exchange position where the vehicle is parked to any unoccupied parking position in the parking lot and sends the serial number of the parking position where the vehicle is parked to the master controller;
s1.4 owner' S flow of parking in parking stall specifically includes:
s1.4.1 the carport sharing terminal sends the information confirming the parking of the vehicle sent by the carport owner to the master controller after receiving the information;
the master controller sends a detection control instruction to the vehicle position confirmation unit;
the vehicle position confirmation device confirms a unit of the vehicle and detects wheel base information of the vehicle, and sends the wheel base information to the master controller;
s1.4.2 Total controller inquires the number of unoccupied parking positions b:
if b is greater than or equal to 1, go directly to step S1.4.3;
② if b is 0, repeating the step S1.4.2 after a predetermined time interval;
s1.4.3 the master controller judges whether the current time is in the parking space sharing time period registered by the owner, if yes, it sends out the control instruction to the timing unit to stop the sharing timing, if not, it maintains the current state;
s1.4.4, the master controller sends the position and wheel base information of the vehicle to the parking robot controller and sends the control command of the transport vehicle to the parking robot controller;
the parking robot controller carries the vehicle from the parking exchange position where the vehicle is parked to any unoccupied parking position in the parking lot and sends the serial number of the parking position where the vehicle is parked to the master controller;
the vehicle taking process comprises the following steps:
s2.1, after receiving a parking space sharing and car taking request sent by a parking space lessee, the parking space sharing and car taking request and a license plate number of the parking space lessee are sent to a master controller by a parking space sharing terminal;
or after receiving a parking space owner vehicle taking request sent by a parking space owner, the parking space sharing terminal sends the parking space owner vehicle taking request and the license plate number of the parking space owner to the master controller;
s2.2, the master controller inquires the parking space number, the parking space exchange area position, the vehicle taking exchange area number and the axle distance information corresponding to the parking of the vehicle according to the license plate number, the parking space lessee and the parking space owner sent by the parking space sharing terminal, sends a control instruction for stopping timing to the timing unit and calls the time information of the current parking of the vehicle;
s2.3, if the vehicle is a parking space lessee vehicle, the master controller sends the time information of the current parking of the vehicle to a charging unit and sends a charging control instruction to the charging unit;
the charging unit calculates the charge according to a preset charging rule and sends the result to the master controller;
the master controller sends the charging result to the parking space sharing terminal and sends a control instruction of fee settlement to the parking space sharing terminal;
after receiving the information of successful expense settlement, the parking space sharing terminal sends the information to the master controller;
s2.4, if the serial number of the vehicle taking exchange position for parking the vehicle is inquired, directly entering the step S2.5;
if the number of the parking space where the vehicle is parked/the vehicle taking exchange area is inquired, the master controller sends the number of the parking space where the vehicle is parked/the information of the vehicle position and the wheel base to the parking robot controller and sends a vehicle carrying control instruction to the parking robot controller;
the parking robot controller carries the vehicle to any unoccupied vehicle taking exchange position from a parking space or a vehicle position where the vehicle is parked, and sends the serial number of the vehicle taking exchange position where the vehicle is parked to the master controller;
s2.5, the master controller sends the vehicle taking exchange position number of the vehicle parking to the parking space sharing terminal;
the parking space sharing terminal prompts a parking space lessee or a parking space owner to take a car to exchange a space number and/or information of driving away as soon as possible.
5. The method for controlling the rapid parking space sharing system based on the parking robot as claimed in claim 4, further comprising the parking space owner emergency parking program:
s1.5 parking stall owner emergency parking procedure specifically includes:
s1.5.1 the parking space sharing terminal sends the parking space owner emergency parking request to the master controller after receiving the parking space owner emergency parking request;
s1.5.2 Total controller queries the parking lot for the number of unoccupied parking spots b:
if b is more than or equal to 1, sending a control instruction for prompting that the parking robot carries the vehicle and please wait slightly to a parking space sharing terminal of the parking space owner, and executing steps S1.5.6-S1.5.9;
if b is equal to 0, inquiring the unoccupied vehicle taking exchange digit c, and if c is more than or equal to 2, executing steps S1.5.3 and S1.5.6-S1.5.9; if c is less than or equal to 1, executing steps S1.5.4-S1.5.5 and S1.5.6-S1.5.9;
s1.5.3 the master controller inquires the information of the parked vehicles in the parking exchange area, selects the position information of one vehicle and the wheel base information of the vehicle according to the preset rule, sends the position information and the wheel base information to the parking robot controller, and sends a control instruction of carrying the vehicle to the position for exchanging the vehicle for taking the vehicle to the parking robot controller;
the parking robot controller controls the parking robot to carry the vehicle from the parking position to any unoccupied vehicle taking exchange position and sends carrying completion information to the master controller;
s1.5.4 the general controller inquires the parking time information of all the carport lessee vehicles in the parking lot, and judges whether there is any carport lessee vehicle which exceeds the preset carport sharing time and is not relegated:
if not, sending a control instruction for prompting that the parking space is full and please park the vehicle in the temporary parking space to a parking space sharing terminal of the parking space owner; inquiring the number b of unoccupied parking positions in the parking lot after a preset time interval, if b is equal to 0, inquiring the number b of unoccupied parking positions in the parking lot again after the preset time interval, and if b is more than or equal to 1, sending a control instruction for prompting the parking lot owner to store the car again;
if yes, inquiring the parking space number of the parking space renter vehicle with the longest overtime parking space and the wheel base information of the vehicle, sending the number and the wheel base information to the parking robot controller, and sending a control instruction for carrying the vehicle to the temporary parking space to the parking robot controller;
the parking robot controller controls the parking robot to carry the car of the parking stall tenant from the parking stall parked by the parking robot to the temporary parking stall, and sends carrying completion information to the master controller;
the main controller sends the parking place lessee and the vehicle information thereof to the parking place sharing terminal, and sends a control instruction for prompting the parking place lessee to park the vehicle in the temporary parking place and/or pay penalty money to the vehicle;
s1.5.5 the master controller inquires the information of the parked vehicles in the parking exchange area, selects the position information of one vehicle and the wheel base information of the vehicle according to the preset rule, sends the information to the parking robot controller and sends a control instruction for carrying the vehicle to the parking space to the parking robot controller;
the parking robot controller controls the parking robot to carry the vehicle to any unoccupied parking space from the parking position of the vehicle, and sends carrying completion information to the master controller;
s1.5.6 the carport sharing terminal sends the information confirming the parking of the vehicle sent by the carport owner to the master controller after receiving the information;
the master controller sends a detection control instruction to the vehicle position confirmation device;
the vehicle position confirmation device confirms the position of the vehicle and detects the wheel base information of the vehicle, and sends the wheel base information to the master controller;
s1.5.7 Total controller inquires the number of unoccupied parking positions b:
if b is greater than or equal to 1, go directly to step S1.5.8;
② if b is 0, repeating the step S1.5.7 after a predetermined time interval;
s1.5.8 the master controller judges whether the current time is in the parking space sharing time period registered by the owner, if yes, it sends out the control instruction to the timing unit to stop the sharing timing, if not, it maintains the current state;
s1.5.9, the master controller sends the position and wheel base information of the vehicle to the parking robot controller and sends the control command of the transport vehicle to the parking robot controller;
the parking robot controller carries the vehicle from the parking exchange position where the vehicle is parked to any unoccupied parking space in the parking lot, and sends the serial number of the parking space where the vehicle is parked to the master controller.
6. The method for controlling the rapid parking space sharing system based on the parking robot as claimed in claim 4, wherein the car picking-up process further comprises:
s2.6, the vehicle taking access control unit identifies the license plate number of the vehicle which is about to leave the vehicle taking exchange position, and sends the license plate number and the time to the master controller;
the license plate that total controller will get the car entrance guard unit and send matches with all parking stall owner's license plate numbers:
if the matching is successful, sending a control instruction for opening the access control to a vehicle taking access control unit, judging whether the current time is in a parking space sharing time period of a parking space owner parking space, if so, sending a control instruction for stopping sharing timing suspension to a timing unit, and if not, maintaining the current situation;
if the matching is unsuccessful, inquiring the time of the last operation of the license plate number, and calculating the time difference between the time and the time sent by the vehicle taking access control unit:
if the time difference is smaller than or equal to the preset time difference, a control instruction for opening the access control is sent to the vehicle taking access control unit;
if the time difference is larger than the preset time difference, the time difference of the vehicle is sent to a charging unit, and a charging control instruction is sent to the charging unit;
the charging unit calculates the charge according to a preset charging rule and sends the result to the master controller;
the master controller sends the charging result to the parking space sharing terminal and sends a control instruction of delayed fee settlement to the parking space sharing terminal;
after receiving the information of successful expense settlement, the parking space sharing terminal sends the information to the master controller;
and the master controller sends a control instruction for opening the access control to the car taking access control unit.
CN202110085837.0A 2021-01-22 2021-01-22 Parking space sharing system and method based on parking robot rapidly Withdrawn CN112767737A (en)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110085837.0A CN112767737A (en) 2021-01-22 2021-01-22 Parking space sharing system and method based on parking robot rapidly

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