CN114464009A - Intelligent parking lot system with robot - Google Patents
Intelligent parking lot system with robot Download PDFInfo
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- CN114464009A CN114464009A CN202210088569.2A CN202210088569A CN114464009A CN 114464009 A CN114464009 A CN 114464009A CN 202210088569 A CN202210088569 A CN 202210088569A CN 114464009 A CN114464009 A CN 114464009A
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- parking
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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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
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
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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
- G08G1/149—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
Abstract
The invention provides a robot parking intelligent parking lot system, which comprises: the vehicle identification module is used for identifying the vehicle to be parked when the vehicle to be parked is in a preset transfer parking space and determining the vehicle information of the vehicle to be parked; the parking space matching module is used for matching a target parking space based on the vehicle information and generating a scheduling instruction when the vehicle information of the vehicle to be parked meets a specified standard; and the scheduling module is used for receiving the scheduling instruction based on the robot and conveying the vehicle to be parked to the target parking space. The vehicle to be parked is identified in the form of the Internet of things, and a scheduling instruction is generated to control the parking robot and the garage to work in a cooperative mode to complete the parking operation of the vehicle to be parked, so that the time is saved, and the use efficiency of the garage is improved.
Description
Technical Field
The invention relates to the technical field of intelligent parking, in particular to a robot parking intelligent parking lot system.
Background
At present, with the progress and development of society, the life style of people is deeply changed. The number of vehicles in a city is continuously increased, the parking is difficult, and the parking problem of a parking lot is endless;
the prior art has the defects of manual parking and manual operation of the parking garage. When the first layer parking space is provided with vehicles, the second layer parking space needs to manually move the vehicles parked on the first layer, then the simple parking garage is operated to descend, and the vehicles on the second layer are driven away. And then the first vehicle is stopped to the second floor of the original position, and the vehicle is stopped to the second floor by the manual operation lifting platform. The defects of low use efficiency, high labor cost, long time consumption and the like are caused;
therefore, the invention provides the intelligent parking lot system with the robot for parking, which is used for identifying the vehicle to be parked in the form of the Internet of things and generating the scheduling instruction to control the parking robot and the garage to work cooperatively to complete the parking operation of the vehicle to be parked, so that the time is saved and the use efficiency of the garage is improved.
Disclosure of Invention
The invention provides a robot parking intelligent parking lot system which is used for identifying a vehicle to be parked in the form of the Internet of things and generating a scheduling instruction to control a parking robot and a garage to work cooperatively to complete parking operation of the vehicle to be parked, so that time is saved and the use efficiency of the garage is improved.
Preferably, a robot parking intelligent parking lot system includes:
the vehicle identification module is used for identifying the vehicle to be parked when the vehicle to be parked is in a preset transfer parking space and determining the vehicle information of the vehicle to be parked;
the parking space matching module is used for matching a target parking space based on the vehicle information and generating a scheduling instruction when the vehicle information of the vehicle to be parked meets a specified standard;
and the scheduling module is used for receiving the scheduling instruction based on the robot and conveying the vehicle to be parked to the target parking space.
Preferably, a robot parking intelligent parking lot system, the scheduling module further includes:
the data management unit is used for acquiring the conveying information of the robot for conveying the vehicle to be stopped and uploading the conveying information to the intelligent terminal for data management;
wherein the shipping information comprises: the robot model, the vehicle information of the vehicle to be parked, the parking space number and the robot electricity utilization condition;
the intelligent terminal is used for carrying out data management on data in the parking lot system, wherein the managed data comprise: the number of the current vacant parking spaces, the positions of the vacant parking spaces, the parking time of each parking vehicle, the working time of each robot, the task executed by each robot, the power consumption data of each robot, the charging data of each robot, and the vehicle access data.
Preferably, the vehicle identification module includes:
the monitoring unit is used for monitoring the vehicles in the preset transfer parking space and generating an information identification instruction when the vehicle to be stopped enters the preset transfer parking space;
the identification unit is used for identifying the vehicle to be parked based on the information identification instruction and determining vehicle information data of the vehicle to be parked;
and the information management unit is used for receiving the vehicle information data and performing information management on the vehicle information data.
Preferably, a robot is berthed wisdom parking place system, the parking stall matching module still includes:
the information reading unit is used for reading the vehicle information of the vehicle to be parked and determining the license plate number of the vehicle to be parked;
the data matching unit is used for matching the license plate number with a license plate number in a preset license plate database and determining whether the license plate number of the vehicle to be parked is a sensitive number or not;
when the license plate number is matched with the license plate number in the preset license plate database, judging that the license plate number of the vehicle to be stopped is not a sensitive number;
otherwise, judging the license plate number of the vehicle to be parked as a sensitive number;
and the stopping refusing unit is used for determining that the vehicle information of the vehicle to be stopped does not accord with the specified standard when the license plate number of the vehicle to be stopped is a sensitive number, and refusing to drive the vehicle to be stopped into a parking lot.
Preferably, the intelligent parking lot system with robot comprises the parking space matching module,
an information generating unit configured to generate first feedback information when vehicle information of the vehicle to be parked does not meet the prescribed standard;
the information generating unit is further used for determining whether the vehicle to be parked is conveyed to the target parking space based on the robot when the vehicle information of the vehicle to be parked meets the specified standard, and generating second feedback information when the vehicle to be parked is conveyed to the target parking space based on the robot;
and the interaction unit is used for feeding the first feedback information or the second feedback information back to the client terminal of the vehicle to be parked for information interaction.
Preferably, a robot parking intelligent parking lot system, the vehicle identification module further includes:
the image acquisition unit is used for acquiring a vehicle image of the vehicle to be parked when the vehicle to be parked is in the preset transfer parking space, wherein the vehicle image comprises a top view, a front view and a side view of the vehicle to be parked;
the image reading unit is used for determining the contour points of the vehicle to be parked based on the vehicle image, transmitting the contour points of the vehicle to be parked into a preset neural network model for contour recognition, and determining the vehicle type of the vehicle to be parked according to the recognition result;
the image reading unit is further used for determining the image vehicle width of the vehicle to be parked according to the top view of the vehicle to be parked, determining the image vehicle height of the vehicle to be parked according to the front view of the vehicle to be parked, and determining the image vehicle length of the vehicle to be parked according to the side view of the vehicle to be parked;
a vehicle characteristic confirming unit for calculating the actual vehicle width, the actual vehicle height and the actual vehicle length of the vehicle to be parked according to the image vehicle width, the image vehicle height and the image vehicle length based on a reference proportion;
the vehicle characteristic confirming unit is further used for determining the body type characteristic of the vehicle to be parked based on the vehicle type, the actual vehicle width, the actual vehicle height and the actual vehicle length of the vehicle to be parked.
Preferably, a robot is berthed wisdom parking place system, the parking stall matching module still includes:
the vehicle characteristic confirming unit is used for reading the vehicle information of the vehicle to be parked and determining the vehicle type and body type characteristics of the vehicle to be parked;
the parking space matching unit is used for inputting the vehicle type of the vehicle to be parked into the intelligent terminal for matching and determining a target candidate parking space matched with the vehicle type of the vehicle to be parked in the vacant parking spaces in the current parking lot;
the parking space matching unit is further used for determining matching degrees of the target candidate parking spaces and the vehicles to be parked one by one based on the body type characteristics of the vehicles to be parked, selecting the parking space with the highest matching degree with the vehicles to be parked from the target candidate parking spaces, and taking the parking space as the target parking space;
the position confirmation unit is used for confirming the specific position of the target parking space and generating first position data of the target parking space;
the route planning unit is used for acquiring second position data of the preset transfer parking spaces, third position data of the robots and parking space distribution characteristics of a parking lot;
the route planning unit is further used for constructing a robot transportation route scheme based on the first position data, the second position data and the third position data and by combining with the parking space distribution characteristics of the parking lot;
the vehicle characteristic confirmation unit is further used for determining the vehicle weight of the vehicle to be parked based on the vehicle information of the vehicle to be parked;
a route selection unit that selects an optimal path route for a robot to transport the vehicle to be parked in the robot transport route scheme based on a vehicle weight of the vehicle to be parked;
an instruction parameter confirmation unit for determining an action parameter of the robot for transporting the vehicle to be parked and an operation parameter of the robot based on the optimal path route and the vehicle weight of the vehicle to be parked;
an instruction file generating unit, configured to configure a target instruction file based on the motion parameters of the vehicle to be parked conveyed by the robot and the operation parameters of the robot;
and the instruction confirming unit is used for compiling the target instruction file and generating a scheduling instruction for the robot.
Preferably, the robot parking intelligent parking lot system further includes:
a route confirmation subunit, configured to read the robot transportation route scheme, where the transportation route scheme includes a path route;
the route confirmation subunit is further configured to obtain the length of each route and the number of turns corresponding to each route;
a time estimation subunit configured to estimate, based on the weight of the vehicle to be parked and the length of each path route, a transport period in which the robot transports the vehicle to be parked in each path route, respectively;
and the route evaluation subunit is used for comprehensively evaluating each path route based on the length of each path route, the number of turns corresponding to each path route and the conveying time of the robot for conveying the vehicle to be stopped in each path route, and determining the optimal path route based on the evaluation result.
Preferably, the robot parking smart yard system comprises:
the instruction reading unit is used for reading the scheduling instruction, determining the instruction content of the scheduling instruction, and meanwhile determining the parking space position of the target parking space according to the instruction content, wherein the parking space position of the target parking space comprises: the parking lot comprises the positions of parking places in a parking lot and the number of layers of the parking places, wherein the number of the layers of the parking places is less than or equal to two;
the execution unit is used for determining an optimal path route based on the scheduling instruction, controlling the robot to convey the vehicle to be parked according to the optimal path route based on the scheduling instruction, and determining the number of layers of the target parking space when the vehicle is conveyed to the position of the target parking space in the parking lot;
when the number of layers of the target parking space is a first layer, the target vehicle is conveyed to a first layer parking space 2 based on the robot 1, wherein the first layer parking space 2 is the target parking space;
when the number of layers of the target parking space is the second layer, judging whether a vehicle exists in the first layer;
when a vehicle exists in a first layer, the vehicle in the first layer is moved out of the parking space based on the robot, the vehicle to be parked is conveyed to a parking space 2 in the first layer, the vehicle to be parked is conveyed to a parking space 3 in a second layer through a lifting mechanism 4, wherein the parking space 3 in the second layer is the target parking space, and meanwhile, the vehicle in the first layer is conveyed to the parking space 2 in the first layer based on the robot;
when no vehicle exists in the first layer, the vehicle to be parked is conveyed to the parking space in the first layer based on the robot, and the vehicle to be parked is conveyed to the parking space in the second layer through the lifting mechanism, wherein the parking space in the second layer is the target parking space.
Preferably, a robot parking intelligent parking lot system, the scheduling module further includes:
the electric quantity acquisition unit is used for reading the current electric quantity of the robot and determining the target electric quantity consumed by the robot for conveying the vehicle to be stopped;
the electric quantity comparison unit is used for comparing the current electric quantity of the robot with the target electric quantity consumed by the vehicle to be stopped and judging whether the robot can finish a conveying task;
when the current electric quantity of the robot is smaller than or equal to the target electric quantity consumed by the amount to be stopped, judging that the robot cannot complete the conveying task;
otherwise, judging that the conveying task can be completed;
and the alarm unit is used for carrying out alarm operation when the robot cannot complete the conveying task, charging the robot and reselecting the robot to complete the conveying task of the vehicle to be stopped.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a diagram of a system for parking a robot in an intelligent parking lot according to an embodiment of the present invention;
FIG. 2 is a diagram of a vehicle identification module in a parking lot system of a robot in accordance with an embodiment of the present invention;
fig. 3 is a car bitmap of a parking lot according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example 1:
the present embodiment provides a robot parking intelligent parking lot system, as shown in fig. 1, including:
the vehicle identification module is used for identifying the vehicle to be parked when the vehicle to be parked is in a preset transfer parking space and determining the vehicle information of the vehicle to be parked;
the parking space matching module is used for matching a target parking space based on the vehicle information and generating a scheduling instruction when the vehicle information of the vehicle to be parked meets a specified standard;
and the scheduling module is used for receiving the scheduling instruction based on the robot and conveying the vehicle to be parked to the target parking space.
In this embodiment, can contain in the parking lot and predetermine the transfer parking stall, before waiting to park the vehicle and get into to park in the wisdom parking lot and park, stop earlier and wait to park the vehicle and discern in predetermineeing the transfer parking stall to confirm the vehicle information of waiting to park the vehicle.
In this embodiment, the vehicle information includes: the model of the vehicle to be parked, such as: SUVs, cars, etc., license plate numbers of vehicles to be parked, colors of vehicles to be parked, etc.
In this embodiment, the specified standard may be a standard automatically set by the system, and in order to determine whether the vehicle to be parked in the transfer slot meets the specified standard, when the vehicle does not meet the specified standard, the vehicle may not be parked in the parking lot, where the specified standard may be, for example: the license plate number of the vehicle to be parked is determined according to the vehicle information, so that the license plate number is read, and whether the vehicle to be parked is a illegal vehicle or not is determined through a preset license plate database, whether the vehicle to be parked is in a license plate blacklist or not, whether the vehicle to be parked is a fixed vehicle of a vehicle park or not can be determined.
In the embodiment, when the vehicle to be parked needs to be driven out, a driving-out scheduling instruction is generated, and the robot is controlled to convey the vehicle to be parked to the preset transfer parking space.
In this embodiment, the yard may be a double-deck storage underground garage.
The beneficial effects of the above technical scheme are: the vehicle to be parked is identified in the form of the Internet of things, and a scheduling instruction is generated to control the parking robot and the garage to work in a cooperative mode to complete the parking operation of the vehicle to be parked, so that the time is saved, and the use efficiency of the garage is improved.
Example 2:
on the basis of embodiment 1, this embodiment provides a robot parking intelligent parking lot system, the scheduling module further includes:
the data management unit is used for acquiring the conveying information of the robot for conveying the vehicle to be stopped and uploading the conveying information to the intelligent terminal for data management;
wherein the shipping information comprises: the robot model, the vehicle information of the vehicle to be parked, the parking space number and the robot electricity utilization condition;
the intelligent terminal is used for carrying out data management on data in the parking lot system, wherein the managed data comprise: the number of the current vacant parking spaces, the positions of the vacant parking spaces, the parking time of each parking vehicle, the working time of each robot, the task executed by each robot, the power consumption data of each robot, the charging data of each robot, and the vehicle access data.
The beneficial effects of the above technical scheme are: the delivery information is uploaded to the intelligent terminal for data management, so that accurate management of the system on the data is facilitated, the rigor of the operation of the parking lot system is improved, and the system management efficiency is improved.
Example 3:
on the basis of embodiment 1, this embodiment provides a robot parking intelligent parking lot system, as shown in fig. 2, the vehicle identification module includes:
the monitoring unit is used for monitoring the vehicles in the preset transfer parking space and generating an information identification instruction when the vehicle to be stopped enters the preset transfer parking space;
the identification unit is used for identifying the vehicle to be parked based on the information identification instruction and determining vehicle information data of the vehicle to be parked;
and the information management unit is used for receiving the vehicle information data and performing information management on the vehicle information data.
In this embodiment, the information identification instruction may be an instruction for automatically generating an instruction for identifying vehicle information of a vehicle to be parked when the vehicle enters a preset transfer slot.
In this embodiment, the vehicle information data includes: the model, license plate number, size, color and other data of the vehicle to be parked.
The beneficial effects of the above technical scheme are: the vehicle to be parked is automatically identified by generating the information identification instruction, so that the vehicle information data of the vehicle to be parked is quickly acquired, the intelligence of the system is improved, and the parking efficiency of a parking lot is improved.
Example 4:
on the basis of embodiment 1, this embodiment provides a robot intelligent parking lot system that parks, the parking stall matching module still includes:
the information reading unit is used for reading the vehicle information of the vehicle to be parked and determining the license plate number of the vehicle to be parked;
the data matching unit is used for matching the license plate number with a license plate number in a preset license plate database and determining whether the license plate number of the vehicle to be parked is a sensitive number or not;
when the license plate number is matched with the license plate number in the preset license plate database, judging that the license plate number of the vehicle to be stopped is not a sensitive number;
otherwise, judging the license plate number of the vehicle to be parked as a sensitive number;
and the stopping refusing unit is used for determining that the vehicle information of the vehicle to be stopped does not accord with the specified standard when the license plate number of the vehicle to be stopped is a sensitive number, and refusing to drive the vehicle to be stopped into a parking lot.
In this embodiment, the sensitive number may be an illegal vehicle, a fake number plate, a black list of license plates, and the like.
In this embodiment, the preset license plate database may be configured to collect and record one legal license plate in the preset license plate database through the internet of things, so that when a license plate number is not in the preset license plate database, it is determined that the license plate number of the vehicle to be parked is a sensitive number.
The beneficial effects of the above technical scheme are: whether the license plate number of the vehicle to be parked is a sensitive number is determined through recognition and matching of the license plate number, and when the license plate number is the sensitive number, the vehicle to be parked is refused to be parked into the parking lot, so that management and monitoring of the parking lot are greatly improved, and the safety of the parking lot is improved.
Example 5:
on the basis of embodiment 1, this embodiment provides a robot parking intelligent parking lot system, the parking space matching module further includes,
an information generating unit configured to generate first feedback information when vehicle information of the vehicle to be parked does not meet the prescribed standard;
the information generating unit is further used for determining whether the vehicle to be parked is conveyed to the target parking space based on the robot when the vehicle information of the vehicle to be parked meets the specified standard, and generating second feedback information when the vehicle to be parked is conveyed to the target parking space based on the robot;
and the interaction unit is used for feeding the first feedback information or the second feedback information back to the client terminal of the vehicle to be parked for information interaction.
In this embodiment, the first feedback information may be feedback information generated when the vehicle information of the vehicle to be parked does not meet the prescribed standard, and the content may be: the garage cannot receive the vehicle to be parked.
In this embodiment, the second feedback information may be feedback information generated after the vehicle to be parked is parked in the target parking space when the vehicle information of the vehicle to be parked meets the predetermined standard, and the content may be: the position of the parking space in which the vehicle to be parked is parked, the time point when the vehicle is parked in the parking space, and the like.
The beneficial effects of the above technical scheme are: by determining the first feedback information and the second feedback information and performing information interaction on the first feedback information or the second feedback information and the client terminal, a user can accurately determine the vehicle state of the vehicle to be parked, and the intelligence of a parking lot system is improved.
Example 6:
on the basis of embodiment 1, this embodiment provides a robot parking intelligent parking lot system, the vehicle identification module further includes:
the image acquisition unit is used for acquiring a vehicle image of the vehicle to be parked when the vehicle to be parked is in the preset transfer parking space, wherein the vehicle image comprises a top view, a front view and a side view of the vehicle to be parked;
the image reading unit is used for determining the contour points of the vehicle to be parked based on the vehicle image, transmitting the contour points of the vehicle to be parked into a preset neural network model for contour recognition, and determining the vehicle type of the vehicle to be parked according to the recognition result;
the image reading unit is further used for determining the image vehicle width of the vehicle to be parked according to the top view of the vehicle to be parked, determining the image vehicle height of the vehicle to be parked according to the front view of the vehicle to be parked, and determining the image vehicle length of the vehicle to be parked according to the side view of the vehicle to be parked;
a vehicle characteristic confirming unit for calculating the actual vehicle width, the actual vehicle height and the actual vehicle length of the vehicle to be parked according to the image vehicle width, the image vehicle height and the image vehicle length based on a reference proportion;
the vehicle characteristic confirming unit is further used for determining the body type characteristic of the vehicle to be parked based on the vehicle type, the actual vehicle width, the actual vehicle height and the actual vehicle length of the vehicle to be parked.
In this embodiment, the preset neural network model may be a model obtained by deep learning and training a vehicle type based on a target training set, and is used to recognize the vehicle type of the vehicle through contour points of the vehicle.
In this embodiment, the contour points may represent pixel points of an edge contour of the vehicle to be parked.
In this embodiment, the image vehicle height, the image vehicle width, and the image vehicle length may be the height, width, and length of the vehicle to be parked in the vehicle image.
In this embodiment, the reference ratio may be determined in advance, for example, may be a reference ratio determined based on a ratio of the image size to the actual size, and by using the reference ratio, the actual vehicle width, the actual vehicle height, and the actual vehicle length of the vehicle to be parked may be accurately obtained.
The beneficial effects of the above technical scheme are: the vehicle image of the vehicle to be parked is determined and analyzed, so that accurate acquisition of the vehicle type, the actual vehicle width, the actual vehicle height and the actual vehicle length of the vehicle to be parked is improved, the body type characteristics of the vehicle to be parked are accurately mastered, and the accuracy of matching the target parking spaces is improved.
Example 7:
on the basis of embodiment 1, this embodiment provides a robot intelligent parking lot system that parks, the parking stall matching module still includes:
the vehicle characteristic confirming unit is used for reading the vehicle information of the vehicle to be parked and determining the vehicle type and body type characteristics of the vehicle to be parked;
the parking space matching unit is used for inputting the vehicle type of the vehicle to be parked into the intelligent terminal for matching and determining a target candidate parking space matched with the vehicle type of the vehicle to be parked in the vacant parking spaces in the current parking lot;
the parking space matching unit is further used for determining matching degrees of the target candidate parking spaces and the vehicles to be parked one by one based on the body type characteristics of the vehicles to be parked, selecting the parking space with the highest matching degree with the vehicles to be parked from the target candidate parking spaces, and taking the parking space as the target parking space;
the position confirmation unit is used for confirming the specific position of the target parking space and generating first position data of the target parking space;
the route planning unit is used for acquiring second position data of the preset transfer parking spaces, third position data of the robots and parking space distribution characteristics of a parking lot;
the route planning unit is further used for constructing a robot transportation route scheme based on the first position data, the second position data and the third position data and by combining with the parking space distribution characteristics of the parking lot;
the vehicle characteristic confirmation unit is further used for determining the vehicle weight of the vehicle to be parked based on the vehicle information of the vehicle to be parked;
a route selection unit that selects an optimal path route for a robot to transport the vehicle to be parked in the robot transport route scheme based on a vehicle weight of the vehicle to be parked;
an instruction parameter confirmation unit for determining an action parameter of the robot for transporting the vehicle to be parked and an operation parameter of the robot based on the optimal path route and the vehicle weight of the vehicle to be parked;
an instruction file generating unit, configured to configure a target instruction file based on the motion parameters of the vehicle to be parked conveyed by the robot and the operation parameters of the robot;
and the instruction confirming unit is used for compiling the target instruction file and generating a scheduling instruction for the robot.
In this embodiment, the intelligent terminal includes parking information of the current garage.
In this embodiment, the target candidate parking space may be a parking space selected from the vacant parking spaces, the parking space being matched with the vehicle type of the vehicle to be parked.
In this embodiment, the size of the vehicle to be parked, which is the size of the vehicle to be parked, is automatically matched with the parking space with the highest matching degree as the target parking space according to the size of the vehicle to be parked.
In this embodiment, the first position data may be position data of the target parking space, the second position data may be position data of the transit parking space, and the second position data may be position data of the robot.
In this embodiment, the parking space distribution feature of the parking lot may be, for example, a parking space map of the parking lot.
In this embodiment, the robot transport route plan is constructed based on the first position data, the second position data, and the third position data in combination with the parking space distribution characteristics of the yard, and is used to confirm the path route of the robot, and the straight line segment, the turning segment, and the like during the operation of the robot can be accurately determined by the robot transport route plan.
In this embodiment, the optimal path route may be a route in which the robot can safely transport the vehicle to be parked to the target parking space, and meanwhile, the robot consumes less power and less time.
In this embodiment, the action parameters may be parameters of the robot such as straight walking, turning around, and the like, and the operation parameters may be parameters of the robot such as vehicle taking and placing.
In this embodiment, the determination of the vehicle weight of the vehicle to be parked is to determine whether the robot is convenient to operate when operating, for example, the robot turns more badly when turning as the vehicle weight of the vehicle to be parked is heavier, and therefore, the running path with a larger number of turns is not selected when selecting the running path.
The beneficial effects of the above technical scheme are: the robot transport route scheme can be well determined by acquiring the first position data, the second position data and the third position data and combining the parking space distribution characteristics of a parking lot, so that the optimal path route is selected in the robot transport route scheme according to the weight of the vehicle to be parked, a target instruction file is configured by determining action parameters and operation parameters, a final scheduling instruction is accurately determined, and the working accuracy and the working efficiency of the robot are greatly improved.
Example 8:
on the basis of embodiment 7, this embodiment provides a robot parking intelligent parking lot system, where the route selection unit further includes:
a route confirmation subunit, configured to read the robot transportation route scheme, where the transportation route scheme includes a path route;
the route confirmation subunit is further configured to obtain the length of each route and the number of turns corresponding to each route;
a time estimation subunit configured to estimate, based on the weight of the vehicle to be parked and the length of each path route, a transport period in which the robot transports the vehicle to be parked in each path route, respectively;
and the route evaluation subunit is used for comprehensively evaluating each path route based on the length of each path route, the number of turns corresponding to each path route and the conveying time of the robot for conveying the vehicle to be stopped in each path route, and determining the optimal path route based on the evaluation result.
In this embodiment, the comprehensive evaluation of each route may be to determine whether the robot can safely send the robot to a target parking space (safety means that the vehicle is not dropped or the vehicle is not slid, etc.), evaluate the power consumption of the robot during the transportation process and the time consumed on each route, generate an evaluation score, and set the route with the highest evaluation score as the optimal route.
The beneficial effects of the above technical scheme are: by acquiring each path route for comprehensive evaluation, the optimal path route of the robot can be objectively selected, so that the intelligence of the system is improved, and the use efficiency of the garage is improved.
Example 9:
based on embodiment 1, this embodiment provides a robot parking intelligent parking lot system, as shown in fig. 3, the scheduling module includes:
the instruction reading unit is used for reading the scheduling instruction, determining the instruction content of the scheduling instruction, and meanwhile determining the parking space position of the target parking space according to the instruction content, wherein the parking space position of the target parking space comprises: the parking lot comprises the positions of parking places in a parking lot and the number of layers of the parking places, wherein the number of the layers of the parking places is less than or equal to two;
the execution unit is used for determining an optimal path route based on the scheduling instruction, controlling the robot to convey the vehicle to be parked according to the optimal path route based on the scheduling instruction, and determining the number of layers of the target parking space when the vehicle is conveyed to the position of the target parking space in the parking lot;
when the number of layers of the target parking space is a first layer, the target vehicle is conveyed to a first layer parking space 2 based on the robot 1, wherein the first layer parking space 2 is the target parking space;
when the number of layers of the target parking space is the second layer, judging whether a vehicle exists in the first layer;
when a vehicle exists in a first layer, the vehicle in the first layer is moved out of the parking space based on the robot, the vehicle to be parked is conveyed to the parking space 2 in the first layer, the vehicle to be parked is conveyed to a parking space 3 in a second layer through a lifting mechanism 4, wherein the parking space 3 in the second layer is the target parking space, and meanwhile, the vehicle in the first layer is conveyed to the parking space 2 in the first layer based on the robot;
when no vehicle exists in the first layer, the vehicle to be parked is conveyed to the parking space in the first layer based on the robot, and the vehicle to be parked is conveyed to the parking space in the second layer through the lifting mechanism, wherein the parking space in the second layer is the target parking space.
The beneficial effects of the above technical scheme are: the robot replaces manual parking, and a vehicle to be parked is automatically parked to the target parking space by the dispatching robot based on cooperative work of the garage, so that the time cost is greatly saved, and the use efficiency of the garage is improved.
Example 10:
on the basis of embodiment 1, this embodiment provides a robot parking intelligent parking lot system, the scheduling module further includes:
the electric quantity acquisition unit is used for reading the current electric quantity of the robot and determining the target electric quantity consumed by the robot for conveying the vehicle to be stopped;
the electric quantity comparison unit is used for comparing the current electric quantity of the robot with the target electric quantity consumed by the vehicle to be stopped and judging whether the robot can finish a conveying task;
when the current electric quantity of the robot is smaller than or equal to the target electric quantity consumed by the amount to be stopped, judging that the robot cannot complete the conveying task;
otherwise, judging that the conveying task can be completed;
and the alarm unit is used for carrying out alarm operation when the robot cannot complete the conveying task, charging the robot and reselecting the robot to complete the conveying task of the vehicle to be stopped.
In this embodiment, the target amount of power may be an amount of power that the robot needs to consume to transport the vehicle to be parked.
In this embodiment, the alarm operation may be a combined alarm by sound and light.
The beneficial effects of the above technical scheme are: through the monitoring to the robot electric quantity to can effectively acquire the current electric quantity of robot, and then can ensure that the robot leads to midway to have a power failure and can't accomplish the task of transporting when transporting and waiting to stop the vehicle, thereby be favorable to improving the work efficiency of system.
Example 11:
on the basis of embodiment 1, the scheduling module further includes:
the obstacle monitoring unit is used for monitoring whether an obstacle exists in a running path in real time based on the robot when the robot transports the vehicle to be parked;
the pose confirming unit is used for establishing a target coordinate system related to the position of the robot when the robot monitors that an obstacle exists in a running path, and determining the current pose of the robot in the coordinate system;
A＝(Xδ,Yδ,θδ)；
wherein A represents a representation of the robot's current pose; δ represents a current position of the robot; xδAn abscissa value representing the robot in a target coordinate system; y isδA longitudinal coordinate value representing the robot in a target coordinate system; thetaδRepresenting the included angle between the advancing direction of the robot and the horizontal axis of the target coordinate system;
a polar coordinate conversion unit, configured to express the current pose of the robot as a formula (1) by using polar coordinates:
wherein X, y and theta are all Xδ、Yδ、θδChange in polar coordinates of (a); Δ y represents the amount of change in unit ordinate, and is taken as 1;
an obstacle position acquisition unit for acquiring a position (l, μ) of an obstacle, where l represents a distance from the robot to the obstacle; μ represents a relative direction of the obstacle and the robot;
the polar coordinate conversion unit is also used for expressing the position (l, mu) of the obstacle as a formula (2) by using a polar coordinate;
wherein a and b are horizontal and vertical coordinates of the obstacle after the polar coordinates are changed;
a coordinate relation confirming unit for determining a coordinate relation between the robot and the obstacle according to expressions (1) and (2);
and the obstacle avoidance unit is used for generating an obstacle avoidance instruction based on the coordinate relationship between the robot and the obstacle, and controlling the robot to carry out obstacle avoidance operation on the obstacle based on the obstacle avoidance instruction.
The beneficial effects of the above technical scheme are: the distance between the obstacle and the robot is determined, so that the robot can perfectly avoid the obstacle, and the efficiency of conveying the vehicle to be parked by the robot is improved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A robot parking intelligent parking lot system is characterized by comprising:
the vehicle identification module is used for identifying the vehicle to be parked when the vehicle to be parked is in a preset transfer parking space and determining the vehicle information of the vehicle to be parked;
the parking space matching module is used for matching a target parking space based on the vehicle information and generating a scheduling instruction when the vehicle information of the vehicle to be parked meets a specified standard;
and the scheduling module is used for receiving the scheduling instruction based on the robot and conveying the vehicle to be parked to the target parking space.
2. The system of claim 1, wherein the dispatch module further comprises:
the data management unit is used for acquiring the conveying information of the robot for conveying the vehicle to be stopped and uploading the conveying information to the intelligent terminal for data management;
wherein the shipping information comprises: the robot model, the vehicle information of the vehicle to be parked, the parking space number and the robot electricity utilization condition;
the intelligent terminal is used for carrying out data management on data in the parking lot system, wherein the managed data comprise: the number of the current vacant parking spaces, the positions of the vacant parking spaces, the parking time of each parking vehicle, the working time of each robot, the task executed by each robot, the power consumption data of each robot, the charging data of each robot, and the vehicle access data.
3. The system of claim 1, wherein the vehicle identification module comprises:
the monitoring unit is used for monitoring the vehicles in the preset transfer parking space and generating an information identification instruction when the vehicle to be stopped enters the preset transfer parking space;
the identification unit is used for identifying the vehicle to be parked based on the information identification instruction and determining vehicle information data of the vehicle to be parked;
and the information management unit is used for receiving the vehicle information data and performing information management on the vehicle information data.
4. The system of claim 1, wherein the parking space matching module further comprises:
the information reading unit is used for reading the vehicle information of the vehicle to be parked and determining the license plate number of the vehicle to be parked;
the data matching unit is used for matching the license plate number with a license plate number in a preset license plate database and determining whether the license plate number of the vehicle to be stopped is a sensitive number;
when the license plate number is matched with the license plate number in the preset license plate database, judging that the license plate number of the vehicle to be stopped is not a sensitive number;
otherwise, judging the license plate number of the vehicle to be parked as a sensitive number;
and the stopping refusing unit is used for determining that the vehicle information of the vehicle to be stopped does not accord with the specified standard when the license plate number of the vehicle to be stopped is a sensitive number, and refusing to drive the vehicle to be stopped into a parking lot.
5. The system of claim 1, wherein the parking space matching module further comprises,
an information generating unit configured to generate first feedback information when vehicle information of the vehicle to be parked does not meet the prescribed standard;
the information generating unit is further used for determining whether the vehicle to be parked is conveyed to the target parking space based on the robot when the vehicle information of the vehicle to be parked meets the specified standard, and generating second feedback information when the vehicle to be parked is conveyed to the target parking space based on the robot;
and the interaction unit is used for feeding the first feedback information or the second feedback information back to the client terminal of the vehicle to be parked for information interaction.
6. The system of claim 1, wherein the vehicle identification module further comprises:
the image acquisition unit is used for acquiring a vehicle image of the vehicle to be parked when the vehicle to be parked is in the preset transfer parking space, wherein the vehicle image comprises a top view, a front view and a side view of the vehicle to be parked;
the image reading unit is used for determining the contour points of the vehicle to be parked based on the vehicle image, transmitting the contour points of the vehicle to be parked into a preset neural network model for contour recognition, and determining the vehicle type of the vehicle to be parked according to the recognition result;
the image reading unit is further used for determining the image vehicle width of the vehicle to be parked according to the top view of the vehicle to be parked, determining the image vehicle height of the vehicle to be parked according to the front view of the vehicle to be parked, and determining the image vehicle length of the vehicle to be parked according to the side view of the vehicle to be parked;
a vehicle characteristic confirming unit for calculating the actual vehicle width, the actual vehicle height and the actual vehicle length of the vehicle to be parked according to the image vehicle width, the image vehicle height and the image vehicle length based on a reference proportion;
the vehicle characteristic confirming unit is further used for determining the body type characteristic of the vehicle to be parked based on the vehicle type, the actual vehicle width, the actual vehicle height and the actual vehicle length of the vehicle to be parked.
7. The system of claim 1, wherein the parking space matching module further comprises:
the vehicle characteristic confirmation unit is used for reading the vehicle information of the vehicle to be parked and determining the vehicle type and body type characteristics of the vehicle to be parked;
the parking space matching unit is used for inputting the vehicle type of the vehicle to be parked into the intelligent terminal for matching and determining a target candidate parking space matched with the vehicle type of the vehicle to be parked in the vacant parking spaces in the current parking lot;
the parking space matching unit is further used for determining matching degrees of the target candidate parking spaces and the vehicles to be parked one by one based on the body type characteristics of the vehicles to be parked, selecting the parking space with the highest matching degree with the vehicles to be parked from the target candidate parking spaces, and taking the parking space as the target parking space;
the position confirmation unit is used for confirming the specific position of the target parking space and generating first position data of the target parking space;
the route planning unit is used for acquiring second position data of the preset transfer parking spaces, third position data of the robots and parking space distribution characteristics of a parking lot;
the route planning unit is further used for constructing a robot transportation route scheme based on the first position data, the second position data and the third position data and by combining with the parking space distribution characteristics of the parking lot;
the vehicle characteristic confirmation unit is further used for determining the vehicle weight of the vehicle to be parked based on the vehicle information of the vehicle to be parked;
a route selection unit that selects an optimal path route for a robot to transport the vehicle to be parked in the robot transport route scheme based on a vehicle weight of the vehicle to be parked;
an instruction parameter confirmation unit for determining an action parameter of the robot for transporting the vehicle to be parked and an operation parameter of the robot based on the optimal path route and the vehicle weight of the vehicle to be parked;
an instruction file generating unit, configured to configure a target instruction file based on the motion parameters of the vehicle to be parked conveyed by the robot and the operation parameters of the robot;
and the instruction confirming unit is used for compiling the target instruction file and generating a scheduling instruction for the robot.
8. The system of claim 7, wherein the routing unit further comprises:
a route confirmation subunit, configured to read the robot transportation route scheme, where the transportation route scheme includes a path route;
the route confirmation subunit is further configured to obtain the length of each route and the number of turns corresponding to each route;
a time estimation subunit configured to estimate, based on the weight of the vehicle to be parked and the length of each path route, a transport period in which the robot transports the vehicle to be parked in each path route, respectively;
and the route evaluation subunit is used for comprehensively evaluating each path route based on the length of each path route, the number of turns corresponding to each path route and the conveying time of the robot for conveying the vehicle to be stopped in each path route, and determining the optimal path route based on the evaluation result.
9. The system of claim 1, wherein the dispatch module comprises:
the instruction reading unit is used for reading the dispatching instruction, determining the instruction content of the dispatching instruction, and meanwhile determining the parking space position of the target parking space according to the instruction content, wherein the parking space position of the target parking space comprises: the parking lot comprises the positions of parking places in a parking lot and the number of layers of the parking places, wherein the number of the layers of the parking places is less than or equal to two;
the execution unit is used for determining an optimal path route based on the scheduling instruction, controlling the robot to convey the vehicle to be parked according to the optimal path route based on the scheduling instruction, and determining the number of layers of the target parking space when the vehicle is conveyed to the position of the target parking space in the parking lot;
when the number of layers of the target parking space is a first layer, the target vehicle is conveyed to a first layer parking space 2 based on the robot 1, wherein the first layer parking space 2 is the target parking space;
when the number of layers of the target parking space is the second layer, judging whether a vehicle exists in the first layer;
when a vehicle exists in a first layer, the vehicle in the first layer is moved out of the parking space based on the robot, the vehicle to be parked is conveyed to a parking space 2 in the first layer, the vehicle to be parked is conveyed to a parking space 3 in a second layer through a lifting mechanism 4, wherein the parking space 3 in the second layer is the target parking space, and meanwhile, the vehicle in the first layer is conveyed to the parking space 2 in the first layer based on the robot;
when no vehicle exists in the first layer, the vehicle to be parked is conveyed to the parking space in the first layer based on the robot, and the vehicle to be parked is conveyed to the parking space in the second layer through the lifting mechanism, wherein the parking space in the second layer is the target parking space.
10. The system of claim 1, wherein the dispatch module further comprises:
the electric quantity obtaining unit is used for reading the current electric quantity of the robot and determining the target electric quantity consumed by the robot for conveying the vehicle to be stopped;
the electric quantity comparison unit is used for comparing the current electric quantity of the robot with the target electric quantity consumed by the vehicle to be stopped and judging whether the robot can finish a conveying task;
when the current electric quantity of the robot is smaller than or equal to the target electric quantity consumed by the amount to be stopped, judging that the robot cannot complete the conveying task;
otherwise, judging that the conveying task can be completed;
and the alarm unit is used for carrying out alarm operation when the robot cannot complete the conveying task, charging the robot and reselecting the robot to complete the conveying task of the vehicle to be stopped.
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