CN116935690A - Automatic parking method and system - Google Patents

Automatic parking method and system Download PDF

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Publication number
CN116935690A
CN116935690A CN202310837114.0A CN202310837114A CN116935690A CN 116935690 A CN116935690 A CN 116935690A CN 202310837114 A CN202310837114 A CN 202310837114A CN 116935690 A CN116935690 A CN 116935690A
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China
Prior art keywords
parking
vehicle
user
carrying
entrance
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CN202310837114.0A
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陈竹西
吴欢
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Yangzhou University
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Yangzhou University
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Priority to CN202310837114.0A priority Critical patent/CN116935690A/en
Publication of CN116935690A publication Critical patent/CN116935690A/en
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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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • 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

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Business, Economics & Management (AREA)
  • Human Resources & Organizations (AREA)
  • Physics & Mathematics (AREA)
  • Structural Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Economics (AREA)
  • Civil Engineering (AREA)
  • Strategic Management (AREA)
  • Marketing (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Operations Research (AREA)
  • Quality & Reliability (AREA)
  • Tourism & Hospitality (AREA)
  • Game Theory and Decision Science (AREA)
  • General Business, Economics & Management (AREA)
  • Development Economics (AREA)
  • Theoretical Computer Science (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

The invention discloses an automatic parking method, which is used for reading task types to be transacted by a user according to information provided by the user; the automatic parking system matches the task type of the user with the parking data in the system according to the information of the database; planning an optimal carrying path of the vehicle according to the matching result, carrying out autonomous carrying on the vehicle and monitoring the whole process; and transmitting new data generated after the carrying is completed to a database of the self-body for updating and storing. The invention also discloses a parking system applied to the parking method. The invention improves the utilization rate of the parking space except for the necessary gaps among vehicles. In one parking layer of the jigsaw-based storage system, the vacant position can be in any one of four directions, and the continuous conveying device is arranged to realize movement between the vacant position and the adjacent parking space, so that the parking is convenient and effective, and the parking experience of a user can be greatly improved.

Description

Automatic parking method and system
Technical Field
The invention belongs to the technical field of automatic parking lots, and particularly relates to an automatic parking method and a parking system thereof.
Background
With the continuous enhancement of comprehensive economy and the increasing of living standard of people in China, the automobile industry is rapidly developed, the urban automobile storage capacity is rapidly increased, the burden of urban traffic is increased, and the problem of insufficient parking spaces is also aggravated. The demand for parking spaces is increasing, and the problem of "parking difficulty" is increasing, however, the parking space in urban areas is limited and the land cost is high. Thus, the existing space must be used with maximum efficiency, the most efficient way being to maximize storage density. The jigsaw automatic parking system has the characteristic of high-density storage, so that the jigsaw automatic parking system with the characteristics of high volume rate, automation, intellectualization and the like is designed by applying the design to the technical field of parking systems and improving the parking position to the greatest extent under the condition of not increasing the area of a parking lot.
The traditional parking lot has the existing problems: in order to ensure the running between vehicles, a parking lot must be provided with a passageway for the entry and exit of vehicles, and the space waste is serious; the parking spaces are distributed in disorder, so that a vehicle owner is difficult to find an empty parking space in a parking lot, and the situation that the parking space is not parked exists.
The existing intensive parking system can increase the storage density of the system to a certain extent, but the system still has an operation passageway, the storage space of a parking lot is not utilized to the greatest extent, vehicles are required to start and move to cooperate in the process of taking the vehicles, certain loss is caused to the endurance mileage of the vehicles, and the problem of overlong time length of the vehicles is stored, so that the vehicle taking experience of users is seriously affected.
Disclosure of Invention
The invention aims to: the invention aims to provide an automatic parking method with convenient parking and taking; another object of the present invention is to provide an automatic parking system with high space utilization and low cost.
The technical scheme is as follows: the automatic parking method of the invention comprises the following steps:
step 1, reading task types to be transacted by a user according to information provided by the user;
step 2, the automatic parking system matches the task type of the user with the parking data in the system according to the information of the database;
step 3, planning an optimal carrying path of the vehicle according to the matching result, and carrying out autonomous carrying on the vehicle while monitoring the whole process;
and step 4, transmitting the new data generated after the carrying is completed to a database of the self-body for updating and storing.
The task type in the step 1 comprises extraction and storage of vehicles, a parking lot for placing the vehicles comprises parking spaces arranged at intervals and an inlet and an outlet arranged at corners of the parking lot, and bearing units for moving and carrying the vehicles are arranged on the parking spaces and the inlet and the outlet and drive the vehicles to move on adjacent parking spaces.
The self database information comprises the number of parking spaces in the parking lot and corresponding positions, and the corresponding parking spaces are matched according to the task types of the users.
Wherein, the storage of the vehicle comprises the following steps: the user arrives near the entrance and the exit, the user selects a storage task through the user system, the system checks own data, and if the entrance and the exit are in a working state, the user is reminded to wait for the completion of the work; if the entrance and the exit are in an idle state, the identity of the user is verified, the user is matched with the parking space, and the user carries the parking space through an optimal path to finish parking.
Wherein, the extraction of the vehicle comprises the following steps: when the user arrives near the import and export, selecting an extraction task through a user system, checking own data by the system, and reminding the user to wait for the completion of the work if the import and export is in a working state; if the entrance and the exit are in an idle state, carrying out identity verification on the user, carrying out vehicle carrying through an optimal path, and carrying out extraction to the entrance and the exit.
The optimal carrying path in the step 3 is generated by using an a-heuristic algorithm, and the method comprises the following steps:
step 31, an Open table and a Close table are established, the searched nodes are stored by the Open table, and the nodes which are not searched are stored by the Close table;
step 32, setting X as an initial node, Y as a specified target node, and placing the initial node in an Open table;
step 33, accessing nodes near the initial node, placing non-obstacle nodes in an Open table, calculating the estimated distance by using a heuristic function, and storing the initial node in a Close table;
step 34, according to the optimal selection strategy, placing the next expansion point n in a Close table, if n is a designated target node, after path planning is completed, smoothly running the algorithm, and if not, executing the following steps;
step 35, continuing to access the node n, searching for adjacent nodes of the node n, and adding adjacent child nodes which are not in the Close table to the Open table to perform cost calculation;
step 36, returning to step 34 until the target node is reached;
and 37, successfully running the algorithm, and storing the node and the expanded node, wherein the backtracking connection is the final optimal path.
The vehicle is carried by the vehicle, wherein an empty space closest to the vehicle is used for carrying the vehicle when the vehicle is carried, the empty space moves by using an A heuristic algorithm when the vehicle is close to the vehicle to be extracted, and the empty space is moved to a position corresponding to the vehicle to be carried by using the shortest path.
When the empty parking space is close to the vehicle to be transported, the vehicle to be transported is stopped towards one side of the target point to carry out first movement, and when the first movement is completed, the empty parking space is moved to one side of the vehicle to be transported, close to the target point, to carry out second transportation until the vehicle to be transported reaches the target point.
The parking system of the automatic parking method comprises a database module, a transmission control module and a control module, wherein the database module is used for reading, storing and updating parking space information and user information of the parking system and providing data support for task matching of the transmission control module; the transmission control module plans an optimal carrying path according to the information provided by the database module, does not send a carrying task to the carrying module, and monitors the carrying process and returns the carrying process to the database; and the conveying module realizes autonomous conveying of the vehicle through the parking space and the bearing units on the inlet and the outlet.
The parking lot is used for placing vehicles, and all spaces of the parking lot are used for parking the vehicles.
The beneficial effects are that: compared with the prior art, the invention has the following remarkable progress: according to the invention, the high efficiency of parking and taking the movement of the vehicle is realized by carrying the vehicle and the target point, the optimal storing and extracting path is provided, and the energy consumption of the system is reduced; the intelligent vehicle entering and exiting can be realized by operating the system, and a user can complete the parking operation without entering the system only by parking the vehicle on the parking platform, so that the parking efficiency is improved, and the influence of human factors on the safety of the human and the vehicle in the parking process is reduced; secondly, the invention relates to a parking lot designed by matching with an automatic parking method, a passage for running a vehicle is not provided, and the space utilization rate of the parking lot is increased under a limited area.
Drawings
FIG. 1 is a schematic view of a parking lot of the present invention;
FIG. 2 is a schematic diagram of a path plan according to the present invention;
FIG. 3 is a schematic diagram of movement of an empty parking space according to the present invention;
FIG. 4 is a schematic diagram of the movement of an empty parking space (II);
FIG. 5 is a flow chart of the optimal path planning of the present invention;
FIG. 6 is a schematic flow chart of the parking according to the present invention;
FIG. 7 is a schematic flow chart of the vehicle taking method according to the invention;
fig. 8 is a schematic diagram of a module structure of the present invention.
Detailed Description
As shown in fig. 1, the parking lot in the present invention includes parking spaces 102 and an access garage 101, in this embodiment, the parking lot has 100 parking spaces arranged in a square shape, the first parking space in the lower left corner is set as the access garage (101), the access garage 101 and the parking spaces 102 are provided with carrying units for carrying vehicles, the carrying units can move from one parking space 102 to the parking space 102 in four basic directions by using a conveyor, in the tile-based storage system, the parking space 102 can move in any one of the four directions, and in the present invention, the movement of the carrying units is realized by installing a continuous conveying device; when the carrying unit is extracted, the empty space is operated in an iterative manner in the horizontal direction to extract the goods to the input/output position of the system, and the operation is completed through steps similar to the box turning operation; in the vertical direction by means of an elevator. Specific embodiments and implementation details of the bearing unit can refer to Chinese patent invention with the patent number of 200510049398.9 named as a longitudinal and transverse conversion device of a warehouse type stereo garage.
Based on the above structure, the automatic parking method of the present invention comprises the steps of: according to the information provided by the user, reading the task type to be transacted by the user; the automatic parking system matches the task type of the user with the parking data in the system according to the information of the database; planning an optimal carrying path of the vehicle according to the matching result, carrying out autonomous carrying on the vehicle and monitoring the whole process; and transmitting new data generated after the carrying is completed to a database of the self-body for updating and storing. As shown in fig. 2, the vehicle is carried from the parking space 202 to the entrance 101 through the optimal path, in this embodiment, the carrying of the vehicle by the empty parking space 102 includes approaching the vehicle to be carried, whether parking or picking up, and according to the position of the target point, the empty parking space 102 is always moved to the side of the vehicle to be carried approaching the target point, and in the moving process, there are two basic movement types: the first is a 3-step move as shown in FIG. 3; and 5 steps as shown in fig. 4. The specific step of 3 steps of moving is to move the empty space to the adjacent position on the left side or the lower side of the requested goods, at this time, the vehicle can move to the empty space, then a new empty space is formed at the initial position of the vehicle to be extracted, and the new empty space moves to the adjacent position on the left side or the lower side of the retrieved goods through two steps of right-down (or down-left) operation. The actual 3 movements are the superposition of one vehicle movement and two vacancy movements. In general, when a vehicle to be extracted moves to a first row or a first column, a 5-step movement operation is performed, after one vehicle movement is completed, a new empty space needs to be moved to a left side position of a requested vehicle in a next operation, at this time, the empty space needs to be moved four times, after one 3-step movement or 5-step movement is completed, the vehicle and the empty space perform a transposition operation, then the empty space starts to move next, and the vehicle is repeatedly transposed and carried out until the vehicle reaches a target point.
As shown in fig. 5, in the present invention, the optimal conveyance path is generated by using a×heuristic algorithm, and includes the following steps: an Open table and a Close table are established, the searched nodes are stored by the Open table, and the nodes which are not searched are stored by the Close table; setting X as an initial node, Y as a specified target node, and placing the initial node in an Open table; accessing nodes near the initial node, placing non-obstacle nodes in an Open table, calculating the estimated distance by using a heuristic function, and storing the initial node in a Close table; according to the optimal selection strategy, placing the next expansion point n in a Close table, if n is a designated target node, smoothly running an algorithm after path planning is completed, and if not, executing the following steps; continuing to access the node n, searching for adjacent nodes of the node n, and adding adjacent child nodes which are not in the Close table to the Open table to perform cost calculation; returning to step 34 until expansion to the target node; and the algorithm successfully runs and stores the nodes and the expanded nodes, and the backtracking connection is the final optimal path.
Based on the above movement action and the optimal path of the empty parking space, the specific implementation process is as follows, as shown in fig. 6, and the vehicle storage includes the following steps: the user arrives near the inlet and outlet 101, the system checks the data of the user by selecting a storage task through the user system, and if the inlet and outlet 101 is in a working state, the user is reminded to wait for the completion of the work; if the entrance 101 is in an idle state, the user is authenticated, the user is matched with the parking space 102, and the user is transported through an optimal path, so that the vehicle is stored. As in fig. 7, the extraction of the vehicle, comprising the steps of: when the user arrives near the inlet and outlet 101, selecting an extraction task through a user system, checking own data by the system, and reminding the user to wait for the completion of the work if the inlet and outlet 101 is in a working state; if the entrance 101 is in an idle state, the user is authenticated, and the vehicle is carried through an optimal path to the entrance 101 for extraction.
As shown in fig. 8, a parking system of an automatic parking method includes a database module for reading, storing and updating parking space information and user information of the parking system, and providing data support for task matching of a transmission control module; the transmission control module plans an optimal carrying path according to the information provided by the database module, does not send a carrying task to the carrying module, and monitors the carrying process and returns the carrying process to the database; and the conveying module is used for realizing autonomous conveying of the vehicle through the parking space 102 and the bearing units on the inlet and outlet 101, and is used for placing a parking lot of the vehicle, and all spaces of the parking lot are used for parking the vehicle.

Claims (10)

1. An automatic parking method, characterized by comprising the following steps:
step 1, reading task types to be transacted by a user according to information provided by the user;
step 2, the automatic parking system matches the task type of the user with the parking data in the system according to the information of the database;
step 3, planning an optimal carrying path of the vehicle according to the matching result, and carrying out autonomous carrying on the vehicle while monitoring the whole process;
and step 4, transmitting the new data generated after the carrying is completed to a database of the self-body for updating and storing.
2. The automatic parking method according to claim 1, wherein the task type in step 1 includes extraction and storage of vehicles, the parking lot for placing vehicles includes parking spaces (102) arranged at intervals, and an entrance (101) arranged at corners of the parking lot, and carrying units for moving the transport vehicles are arranged on the parking spaces (102) and the entrance (101), and the carrying units drive the vehicles to move on adjacent parking spaces.
3. An automatic parking invention according to claim 1, characterized in that said own database information comprises the number of parking spaces in the parking lot and the corresponding positions for which the corresponding parking spaces (102) are matched according to the task type of the user.
4. An automatic parking method according to claim 2, wherein said storing of the vehicle comprises the steps of: the user arrives near the entrance (101), the system checks the data of the user by selecting a storage task through the user system, and if the entrance (101) is in a working state, the user is reminded to wait for the completion of the work; if the entrance (101) is in an idle state, the user is authenticated, the user is matched with the parking space (102), and the vehicle is transported through an optimal path, so that the vehicle is stored.
5. An automatic stopping method according to claim 2, characterized in that the extraction of the vehicle comprises the steps of: the user arrives near the entrance (101), the user selects an extraction task through the user system, the system checks own data, and if the entrance (101) is in a working state, the user is reminded to wait for the completion of the work; if the entrance (101) is in an idle state, the user is authenticated, the vehicle is carried through an optimal path, and the vehicle is carried to the entrance (101) to finish extraction.
6. An automatic parking method according to claim 1, wherein the optimal transportation path in step 3 is generated by using a-heuristic algorithm, and the method comprises the following steps:
step 31, an Open table and a Close table are established, the searched nodes are stored by the Open table, and the nodes which are not searched are stored by the Close table;
step 32, setting X as an initial node, Y as a specified target node, and placing the initial node in an Open table;
step 33, accessing nodes near the initial node, placing non-obstacle nodes in an Open table, calculating the estimated distance by using a heuristic function, and storing the initial node in a Close table;
step 34, according to the optimal selection strategy, placing the next expansion point n in a Close table, if n is a designated target node, after path planning is completed, smoothly running the algorithm, and if not, executing the following steps;
step 35, continuing to access the node n, searching for adjacent nodes of the node n, and adding adjacent child nodes which are not in the Close table to the Open table to perform cost calculation;
step 36, returning to step 34 until the target node is reached;
and 37, successfully running the algorithm, and storing the node and the expanded node, wherein the backtracking connection is the final optimal path.
7. The automatic parking method according to claim 6, wherein an empty space closest to the vehicle is used for the vehicle during the vehicle transportation, and the empty space is moved by using an a-x heuristic algorithm when approaching the vehicle to be extracted, so that the empty space is moved to a corresponding position of the vehicle to be transported in a shortest path.
8. The automatic parking method according to claim 7, wherein the empty space is moved for the first time while being stopped toward the target point side when approaching the vehicle to be carried, and the empty space is moved again to the target point side of the vehicle to be carried when the first movement is completed, and the second carrying is performed until the vehicle to be carried reaches the target point.
9. The automatic parking system corresponding to the method of any one of claims 1 to 8, comprising a database module for reading, storing and updating parking space information and user information of the parking system, and providing data support for task matching of the transmission control module; the transmission control module plans an optimal carrying path according to the information provided by the database module, does not send a carrying task to the carrying module, and monitors the carrying process and returns the carrying process to the database; and the conveying module realizes autonomous conveying of the vehicle through the parking space (102) and the bearing units on the inlet and outlet (101).
10. The parking system of claim 9, further comprising a parking area for placing vehicles, wherein all of the space of the parking area is for parking vehicles.
CN202310837114.0A 2023-07-10 2023-07-10 Automatic parking method and system Pending CN116935690A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310837114.0A CN116935690A (en) 2023-07-10 2023-07-10 Automatic parking method and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310837114.0A CN116935690A (en) 2023-07-10 2023-07-10 Automatic parking method and system

Publications (1)

Publication Number Publication Date
CN116935690A true CN116935690A (en) 2023-10-24

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310837114.0A Pending CN116935690A (en) 2023-07-10 2023-07-10 Automatic parking method and system

Country Status (1)

Country Link
CN (1) CN116935690A (en)

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