CN115126312A - Intelligent stereo garage and unmanned parking and warehousing method - Google Patents
Intelligent stereo garage and unmanned parking and warehousing method Download PDFInfo
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- CN115126312A CN115126312A CN202210371732.6A CN202210371732A CN115126312A CN 115126312 A CN115126312 A CN 115126312A CN 202210371732 A CN202210371732 A CN 202210371732A CN 115126312 A CN115126312 A CN 115126312A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
-
- 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
Abstract
The application relates to an intelligent stereo garage and an intelligent parking and warehousing system, and also relates to an unmanned vehicle parking and warehousing method. The intelligent stereo garage at least comprises a two-layer parking layer structure, each parking layer at least comprises 2 parking bearing plates, and specifically, the intelligent stereo garage further comprises a plurality of 3D detectors, a communication device and a path generator, wherein the 3D detectors are arranged on the outer surface of a building where the intelligent stereo garage is located, and the 3D detectors are used for generating 3D parking environment data according to the parking postures and the current positions of a plurality of unmanned vehicles to be parked on a parking square; the path generator generates a plurality of parking paths according to the parking environment 3D data generation processor; the communication device is used for transmitting the matched parking path to the corresponding unmanned automobile to be parked; the parking level allows multiple unmanned vehicles to be parked in/out simultaneously.
Description
Technical Field
The invention belongs to the technical field of intelligent parking, and particularly relates to an intelligent stereo garage and an intelligent parking garage entering system, and also relates to an unmanned vehicle parking garage entering method.
Background
With the development of science and technology, the number of unmanned vehicles is increasing, and in the prior art, the unmanned vehicles can park one-shaped parking spaces, T-shaped parking spaces and/or v-shaped parking spaces on a road independently, but for a large number of three-dimensional parking garages, the unmanned vehicles have limited capability, especially for the three-dimensional parking garages with parking floors of more than 2 vehicles, the unmanned vehicles are still parked, the deep reason is that during parking of one unmanned vehicle, a plurality of dynamic objects are detected, and for safety, the unmanned driving system usually selects parking waiting based on a safety mechanism, so that the parking efficiency is greatly reduced.
Therefore, as can be seen from the above current situation, the existing automatic parking and warehousing technologies are independent intelligent warehousing methods based on respective vehicles, and it is difficult to perform a unified coordinated scheduling reaction on the surrounding environment.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an intelligent stereo garage and an intelligent parking and warehousing system, and also relates to an unmanned vehicle parking and warehousing method.
In order to solve the above technical problems, the present invention is solved by the following technical solutions.
The intelligent stereo garage at least comprises a two-layer parking layer structure, each parking layer at least comprises 2 parking bearing plates, specifically, the intelligent stereo garage further comprises a plurality of 3D detectors, a communication device and a path generator, wherein the 3D detectors are arranged on the outer surface of a building where the intelligent stereo garage is located, and the 3D detectors are used for generating parking environment 3D data according to the parking postures and the current positions of a plurality of unmanned vehicles to be parked on a parking square; the path generator generates a plurality of parking paths according to the parking environment 3D data generation processor; the communication device is used for transmitting the matched parking path to the corresponding to-be-parked unmanned automobile; the parking level allows multiple unmanned vehicles to be parked in/out simultaneously.
In a preferred embodiment, the parking carrier plate moves up and down in the intelligent stereo garage according to a lifting mechanism, and 2 empty parking spaces of the parking floor allow parking and warehousing to be performed simultaneously.
In a preferred embodiment, the intelligent stereo garage at least comprises a 3-layer structure, the parking layer at least comprises 3 parking bearing plates, the parking bearing plates move clockwise or anticlockwise in the intelligent stereo garage according to the 'return' word, and 3 empty parking spaces of the parking layer allow parking and warehousing to be performed simultaneously.
In a preferred embodiment, the generated 3D data of the parking environment includes the monitored obstacles in the parking lot.
In a preferred embodiment, the intelligent stereo garage transmits the lifting information of the lifting mechanism in the intelligent stereo garage and the acquired dynamic parking process on the parking square to the unmanned automobile in real time through the communication device, so as to perform data transmission and overall coordination.
In a preferred embodiment, the parking path extends from an empty parking space on a parking floor to the parking lot, the parking path is divided into multiple levels of parking paths, and the multiple levels of parking paths finally extend to a position where a plurality of unmanned vehicles to be parked are located at present.
In a preferred embodiment, the unmanned vehicle to be parked which meets the condition of the low-level parking route first acquires the route parameters and the environment information, and executes parking movement under a vehicle-mounted driving system; the unmanned vehicle to be parked which accords with the middle-level parking path condition acquires path parameters and environment information, and executes parking movement after adjusting parking spaces and vehicle postures under the vehicle-mounted driving system; the unmanned vehicle to be parked which accords with the high-level parking path condition obtains path parameters and environment information, moves under a vehicle-mounted driving system to avoid obstacles, adjusts the parking space and the vehicle posture, and finally executes parking movement.
In a preferred embodiment, the obstacles are divided into immovable obstacles and movable obstacles, in particular vehicles, pedestrians or small animals entering the parking square.
In a preferred embodiment, the parking lot further comprises an infrared detector for identifying the pedestrian or the small animal in the parking lot.
In a preferred embodiment, the vehicle informs its driver of the departure by broadcasting, or transmits the parking route to the driverless vehicle to guide its departure.
In a preferred embodiment, the 3D detector comprises a TOF camera, a binocular camera, an ultrasonic radar, a millimeter wave radar or a laser radar.
The intelligent stereo garage is characterized in that the intelligent stereo garage comprises a three-dimensional (3D) detector, a communication device, a path generator and other intelligent equipment, the intelligent equipment is communicated with an operation system of the unmanned automobile, the intelligent stereo garage can be linked, intelligent parking of the automobile can be comprehensively conducted, the traditional independent intelligent storage method of the automobile is changed, the intelligent parking efficiency is greatly improved, and congestion and accidents are avoided.
The intelligent parking garage entering system comprises an intelligent three-dimensional garage and a vehicle-mounted terminal, wherein the intelligent three-dimensional garage comprises a plurality of 3D detectors, a path generator communication device and a path generator, and the 3D detectors are used for generating parking environment 3D data according to vehicle postures and current positions of a plurality of unmanned vehicles to be parked on a parking square; the path generator generates a plurality of parking paths according to the parking environment 3D data generation processor; the communication device is used for transmitting the matched parking path to the corresponding vehicle-mounted terminal of the unmanned vehicle to be parked; the parking layer of the intelligent stereo garage allows a plurality of unmanned vehicles to be parked in/out simultaneously.
In a preferred embodiment, a plurality of 3D detectors are also provided on the parking lot.
In a preferred embodiment, the intelligent parking garage system further includes a local data processing server, and the local data processing server is configured to generate parking environment 3D data according to vehicle postures and current positions of a plurality of unmanned vehicles to be parked on a parking square, generate a plurality of parking paths according to the parking environment 3D data generation processor, and finally transmit the matched parking paths to the corresponding vehicle-mounted terminals of the unmanned vehicles to be parked.
In a preferred embodiment, the intelligent parking garage system further includes a network data processing server, and the network data processing server obtains vehicle postures and current positions of the plurality of unmanned vehicles to be parked on the parking square through the 3D detector to generate 3D data of a parking environment, or obtains the vehicle postures and the current positions of the plurality of unmanned vehicles to be parked on the parking square according to a sensor of the unmanned vehicles to be parked.
According to the intelligent parking and warehousing system, intelligent parking of vehicles can be comprehensively carried out through communication cooperation between the stereo garage and the vehicle-mounted terminal, the conventional independent intelligent warehousing method of the respective vehicles is changed, the intelligent parking efficiency is greatly improved, and congestion and accidents are avoided.
The unmanned vehicle parking and warehousing method comprises the following steps: s100: building 3D data of a parking environment on a parking square; s200: identifying a plurality of unmanned vehicles to be parked; s300: further identifying the posture and the current position of the unmanned vehicle to be parked; s400: generating a plurality of parking paths according to the empty parking spaces of the parking layer, and matching the unmanned automobile to be parked; s500: and transmitting the parking path successfully matched to the corresponding to-be-parked unmanned automobile.
Specifically, the S200 includes any one of the following steps: s210: identifying and constructing the position and occupied space of the immovable barrier; s220: identifying small animals and repelling them through a noise device; s230: identifying pedestrians and informing avoidance through a loudspeaker; s240: recognizing a manned vehicle and informing a driver to avoid the parking path; s250: and identifying the unmanned automobile and transmitting the parking path to avoid the unmanned automobile.
Specifically, the S400 includes any one of the following steps: s410: and generating a plurality of low-level parking paths, middle-level parking paths or high-level parking paths.
Specifically, the step S500 includes any one of the following steps: s510: the unmanned automobile to be parked, which accords with the low-level parking path conditions, firstly acquires path parameters and environmental information, and executes parking movement under a vehicle-mounted driving system; s520: the unmanned vehicle to be parked, which accords with the middle-level parking path conditions, acquires path parameters and environmental information, and executes parking movement after adjusting the parking position and the vehicle posture under the vehicle-mounted driving system; s530: the unmanned vehicle to be parked which accords with the high-level parking path condition obtains path parameters and environment information, moves under a vehicle-mounted driving system to avoid obstacles, adjusts the parking space and the vehicle posture, and finally executes parking movement.
Specifically, the step S500 includes the following steps: s600: and transmitting the lifting information of the lifting mechanism in the intelligent stereo garage and the acquired dynamic parking process on the parking square to the unmanned automobile in real time.
Compared with the prior art, the invention has the following beneficial effects: the utility model provides an intelligent stereo garage and intelligent parking garage system, still relate to an unmanned vehicle parking garage method simultaneously. The traditional independent intelligent storage method of the respective vehicles is changed, the communication cooperation between the stereo garage and the vehicle-mounted terminal is realized, the intelligent parking of the vehicles can be comprehensively carried out, the intelligent parking efficiency is greatly improved, and the congestion and the accident are avoided.
Drawings
Fig. 1 is a schematic view of an intelligent stereo garage with a 2-layer lifting structure according to the present invention.
Fig. 2 is a schematic view of an intelligent stereo garage with a 2-layer "hui" structure according to the present invention.
Fig. 3 is a schematic view of a 3-layer lifting structure intelligent stereo parking garage in the invention.
Fig. 4 is a schematic view of an intelligent three-dimensional parking garage with a 3-layer "loop" structure in the invention.
Fig. 5 is a schematic diagram of a parking path based on 2 empty parking spaces of a parking level according to the present invention.
Fig. 6 is a schematic diagram of a parking path based on 3 empty parking spaces of a parking level in the present invention.
Reference numerals: 1-intelligent three-dimensional parking garage; a 2-3D detector; 51-parking space 51; 52-parking space 52; 53-parking space 53; 41-unmanned vehicle 41; 42-unmanned vehicle 42; 9-axis of rotation.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
The embodiments described below by referring to the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout, are exemplary only for explaining the present invention, and are not construed as limiting the present invention.
In describing the present invention, it is to be understood that the terms: the terms center, longitudinal, lateral, length, width, thickness, up, down, front, back, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing and simplifying the description, and thus, should not be construed as limiting the present invention. Furthermore, the terms: first, second, etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features shown. In the description of the present invention, unless explicitly specified or limited otherwise, the terms: mounting, connecting, etc. should be understood broadly, and one of ordinary skill in the art can understand the specific meaning of the above terms in the present application based on the specific situation.
Referring to fig. 1 to 6, in the present application, the intelligent stereo garage at least includes a two-layer parking layer structure, each parking layer at least includes 2 parking bearing plates, specifically, the intelligent stereo garage further includes a plurality of 3D detectors, a communication device and a path generator, where the 3D detectors are arranged on the outer surface of a building where the intelligent stereo garage is located, and the 3D detectors are used for generating 3D data of a parking environment according to the vehicle postures and current positions of a plurality of unmanned vehicles to be parked on a parking square; the path generator generates a plurality of parking paths according to the parking environment 3D data generation processor; the communication device is used for transmitting the matched parking path to the corresponding to-be-parked unmanned automobile; the parking level allows multiple unmanned vehicles to be parked in/out simultaneously.
The intelligent parking garage entering system comprises an intelligent three-dimensional garage and a vehicle-mounted terminal, wherein the intelligent three-dimensional garage comprises a plurality of 3D detectors, a path generator communication device and a path generator, and the 3D detectors are used for generating parking environment 3D data according to vehicle postures and current positions of a plurality of unmanned vehicles to be parked on a parking square; the path generator generates a plurality of parking paths according to the parking environment 3D data generation processor; the communication device is used for transmitting the matched parking path to a corresponding vehicle-mounted terminal of the unmanned vehicle to be parked; the parking layer of the intelligent stereo garage allows a plurality of unmanned vehicles to be parked in/out simultaneously.
The unmanned vehicle parking and warehousing method comprises the following steps: s100: building 3D data of a parking environment on a parking square; s200: identifying a plurality of unmanned vehicles to be parked; s300: further identifying the posture and the current position of the unmanned vehicle to be parked; s400: generating a plurality of parking paths according to the empty parking spaces of the parking layer, and matching the unmanned automobile to be parked; s500: and transmitting the parking path successfully matched to the corresponding to-be-parked unmanned automobile.
The following detailed description and examples are to be read in connection with the accompanying drawings.
The first embodiment is as follows: low-level parking paths, as shown in fig. 1 or 3, the intelligent stereo parking garage has a2 or 3-layer lifting structure, and 2 or 3 vehicles can be parked in/out at the same time in 1F parking layer. Referring to fig. 5, a parking path extending to a segment a3 on the parking square is a low-level path starting from an empty parking space of 51; the low-level parking path refers to a parking path in which the unmanned vehicle can stop at one time. The intelligent stereo garage with more than 3 layers or more than 3 empty parking spaces on the parking layer is also applicable.
Example two: the parking path of the middle level is as shown in fig. 2 or 4, the intelligent three-dimensional parking garage is of a2 or 3-layer rolling structure in a shape like a Chinese character hui, a rotating shaft is arranged at the center of the garage, a rolling crawler belt for driving a parking bearing plate is arranged on the inner wall of the garage, and 2 or 3 vehicles can be parked in/out at the 1F parking layer at the same time. Referring to fig. 6, a parking route extending from an empty parking space 52 to a parking square a1 or a2 is not a low-level route. The intelligent stereo garage outputs 52-A1-41 vehicle descending postures and parking paths of parking spaces to No. 41 unmanned vehicles. The intelligent stereo garage gives the 42-number car with an empty parking space of 52/51 as a start, outputs a parking path of 52-A2-B1-42 car current-falling postures and parking spaces and a parking path of 51-A3-B1-42 car current-falling postures and parking spaces, 2 parking paths can be analyzed and compared, then the parking paths of the 41-number car and the 42-number car are analyzed, and finally the parking path of the 42-number car is transmitted to the parking path of the corresponding 51-A3-B1-42 car current-falling postures and parking spaces by the intelligent stereo garage. The middle-level parking path refers to a parking path which can be stopped by the unmanned automobile only through two adjustments. The intelligent stereo garage with more than 3 layers or more than 3 empty parking spaces on the parking layer is also applicable.
Example three: as shown in fig. 5 or 6, the high-level parking route is a parking route that is not a section a and a section B and requires two or more adjustments to stop, and the high-level parking route also refers to a parking route that requires a complicated situation such as avoiding a fixed obstacle in the parking route.
Example four: and the high-level parking path also comprises a dynamic change data which is required to be detected in real time in the parking square by the intelligent stereo garage and is transmitted to the unmanned automobile. The dynamic data includes an unmanned vehicle moving in a parking lot or a pedestrian or a small animal accidentally penetrated, and the like.
Example five: the intelligent stereo garage system also comprises various detection devices which are arranged in the parking square and used for monitoring dynamic obstacles in the parking square in real time. The 3D detector comprises a TOF camera, a binocular camera, an ultrasonic radar, a millimeter wave radar or a laser radar. And mutually fusing various sensors to form 3D digital modeling of the parking square environment without dead angles.
Example six: if the intelligent stereo garage is a structure with 2 empty parking spaces on a 1F parking layer and more than 4 layers, or an intelligent stereo garage with a multi-layer underground hierarchical structure developed underground, the invention is also applicable.
In order to change the conventional independent intelligent storage method of respective vehicles, the communication cooperation between the stereo garage and the vehicle-mounted terminal can comprehensively carry out the intelligent parking of the vehicles, so that the intelligent parking efficiency is greatly improved, and the occurrence of congestion and accidents is avoided.
The scope of the present invention includes, but is not limited to, the above embodiments, and the present invention is defined by the appended claims, and any alterations, modifications, and improvements that may occur to those skilled in the art are all within the scope of the present invention.
Claims (10)
1. The utility model provides an intelligence stereo garage, intelligence stereo garage includes two-layer parking layer structure at least, and every layer of parking layer includes 2 loading boards of parking at least, its characterized in that: the intelligent stereo garage further comprises a plurality of 3D detectors, a communication device and a path generator, wherein the 3D detectors are arranged on the outer surface of a building where the intelligent stereo garage is located, and the 3D detectors are used for generating parking environment 3D data according to the parking postures and the current positions of a plurality of unmanned vehicles to be parked on a parking square;
the path generator generates a plurality of parking paths according to the parking environment 3D data generation processor;
the communication device is used for transmitting the matched parking path to the corresponding unmanned automobile to be parked; the parking level allows multiple unmanned vehicles to be parked in/out simultaneously.
2. The intelligent stereo garage of claim 1, wherein the parking carrier plate moves up and down in the intelligent stereo garage according to a lifting mechanism, and the 2 empty parking spaces of the parking floor allow parking and warehousing to be performed simultaneously.
3. The intelligent stereo garage of claim 1, wherein the intelligent stereo garage comprises at least 3 layers, the parking layer comprises at least 3 parking carrier plates, a plurality of parking carrier plates move clockwise or counterclockwise in the intelligent stereo garage according to the shape of the Chinese character 'hui', and 3 empty parking spaces of the parking layer allow parking and warehousing to be performed simultaneously.
4. The intelligent stereo garage of claim 3, wherein the generated 3D parking environment data includes monitored obstacles in the parking lot.
5. The intelligent stereo garage of claim 3, wherein the intelligent stereo garage transmits the lifting information of the lifting mechanism in the intelligent stereo garage and the acquired dynamic parking process on the parking square to the unmanned automobile in real time through the communication device.
6. The intelligent parking and warehousing system of the unmanned vehicle is characterized by comprising an intelligent three-dimensional garage and an on-board terminal, wherein the intelligent three-dimensional garage comprises a plurality of 3D detectors, a path generator communication device and a path generator, and the 3D detectors are used for generating 3D data of a parking environment according to the vehicle postures and the current positions of a plurality of unmanned vehicles to be parked on a parking square;
the path generator generates a plurality of parking paths according to the parking environment 3D data generation processor;
the communication device is used for transmitting the matched parking path to the corresponding vehicle-mounted terminal of the unmanned vehicle to be parked; the parking layer of the intelligent stereo garage allows a plurality of unmanned vehicles to be parked in/out simultaneously.
7. The intelligent parking garage system of claim 6, wherein a plurality of said 3D probes are further provided on said parking lot.
8. The intelligent parking garage system of claim 6, further comprising a local data processing server, wherein the local data processing server is configured to generate parking environment 3D data according to vehicle postures and current positions of the plurality of unmanned vehicles to be parked on the parking square, generate a plurality of parking paths according to the parking environment 3D data generation processor, and finally transmit the matched parking paths to the vehicle-mounted terminal of the corresponding unmanned vehicle to be parked.
9. The unmanned vehicle parking and warehousing method is characterized by comprising the following steps:
s100: building 3D data of a parking environment on a parking square;
s200: identifying a plurality of unmanned vehicles to be parked;
s300: further identifying the posture and the current position of the unmanned vehicle to be parked;
s400: generating a plurality of parking paths according to the empty parking spaces of the parking layer, and matching the unmanned automobile to be parked;
s500: and transmitting the parking path successfully matched to the corresponding to-be-parked unmanned automobile.
10. The parking garage method of the unmanned vehicle according to claim 9, wherein S200 includes any one of the steps of:
s210: identifying and constructing the position and occupied space of the immovable barrier;
s220: identifying small animals and repelling them through a noise device;
s230: identifying pedestrians and informing avoidance through a loudspeaker;
s240: recognizing a manned vehicle and informing a driver to avoid the parking path;
s250: and identifying the unmanned automobile and transmitting the parking path to avoid the unmanned automobile.
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| CN202210371732.6A CN115126312A (en) | 2022-04-11 | 2022-04-11 | Intelligent stereo garage and unmanned parking and warehousing method |
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| CN202210371732.6A CN115126312A (en) | 2022-04-11 | 2022-04-11 | Intelligent stereo garage and unmanned parking and warehousing method |
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