CN117373260B - Parking correction system and method for vehicle warehouse entry of stereo garage - Google Patents
Parking correction system and method for vehicle warehouse entry of stereo garage Download PDFInfo
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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
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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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
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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
- E04H6/426—Parking guides
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B3/00—Audible signalling systems; Audible personal calling systems
- G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
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- Traffic Control Systems (AREA)
Abstract
The application discloses a parking correction system and a method for a vehicle in a stereo garage during warehouse entry, and relates to the technical field of parking assistance, wherein the method comprises a central controller, an infrared sensing module and a voice prompt module, wherein the central controller is respectively connected with the infrared sensing module and the voice prompt module; the infrared sensing module comprises a plurality of infrared sensing units which are distributed in the parking area of the warehousing platform at intervals, infrared light emitted by the plurality of infrared sensing units forms a virtual parking frame on the ground of the warehousing platform, and the virtual parking frame is matched with the parking area frame of the warehousing platform; the plurality of infrared sensing units are used for sensing real-time parking positions of the vehicles in the parking area frame; the central controller is used for determining parameters to be corrected of the vehicle according to the real-time parking position of the vehicle and the position of the parking area frame, and controlling the voice prompt module to carry out voice prompt correction when the parameters to be corrected of the vehicle meet preset correction conditions. The parking correction device has the effects of assisting the driver in parking correction and facilitating the driver to park.
Description
Technical Field
The application relates to the technical field of parking assistance, in particular to a parking correction system and method for a vehicle in a stereo garage.
Background
The mechanical stereo garage is one of parking equipment, and is a solution for solving the problems that vehicles are more and parking areas are smaller at present. The stereo garage mainly comprises a plurality of parking spaces arranged in a stereo space in a displaying way, vehicles need to be parked on a transfer mechanism after being put in storage, and then the vehicles are transferred into the parking spaces of the stereo garage one by the transfer mechanism.
When a vehicle is put in storage, after the driver accurately places the vehicle in a designated temporary parking area such as a storage platform and the like, the vehicle can be transferred from the storage platform to a stereo garage by a transfer mechanism, corners are often arranged at the designated parking area and a garage entrance so that the driver still needs to carry out parking posture correction at a parking position when driving the vehicle in storage, retaining walls and the like are generally arranged at two sides of the periphery of the entrance of the storage platform, so that the distance between the periphery of the vehicle is limited to a certain extent, the driving and parking operation technology of the driver of the vehicle has higher requirements, and the driver with an inaccurate parking operation technology often needs to spend more time for carrying out vehicle correction; thus, there is a disadvantage in that it is inconvenient for the driver of the vehicle to perform parking correction, and improvement is required.
Disclosure of Invention
In order to provide a system capable of assisting a driver in correcting parking, and facilitating the driver of a vehicle to correct parking, the application provides a system and a method for correcting parking when a vehicle in a stereo garage enters a warehouse.
In a first aspect, the object of the present application is achieved by the following technical solutions:
parking correction system for when stereo garage vehicle goes into storage, includes: the central controller is respectively connected with the infrared sensing module and the voice prompt module;
the infrared sensing modules comprise a plurality of infrared sensing units which are distributed in a parking area of the warehousing platform at intervals, infrared light emitted by the infrared sensing units forms a virtual parking frame on the ground of the warehousing platform, and the virtual parking frame is matched with the parking area frame of the warehousing platform; the plurality of infrared induction units are used for sensing real-time parking positions of the vehicles in the parking area frame;
the central controller is used for determining parameters to be corrected of the vehicle according to the real-time parking position of the vehicle and the position of the parking area frame, and controlling the voice prompt module to conduct voice prompt correction when the parameters to be corrected of the vehicle meet preset correction conditions.
By adopting the technical scheme, the central controller senses the distance between the real-time parking position and the correct parking position (namely the parking area frame) of the vehicle through the infrared sensing unit, and then compares the distances between the four sides of the vehicle and the four sides of the parking area frame one by one; determining whether the current real-time parking position needs to be corrected or not and the direction of the correction is needed, so that whether a vehicle driver needs to carry out parking correction or not can be judged conveniently; specifically, when a vehicle driver needs to park the vehicle in the stereo garage, the vehicle is driven into a warehouse platform for warehouse entry, infrared rays are emitted from a virtual parking frame formed by a plurality of infrared sensing units, the central controller calculates different distances of shielding emission of the infrared rays through the vehicle or a wall (or other shielding objects), if the vehicle parking position is set, the vehicle does not shield the infrared rays, and if the vehicle parking position is not set, the edge of the virtual parking frame is shielded; the central controller determines parameters to be corrected of the vehicle (the parameters to be corrected comprise the quantity to be corrected and the direction to be corrected) according to the reflection condition of the obtained infrared rays, and carries out correction voice prompt on a driver of the vehicle, so that the driver can be assisted in parking correction; the method is beneficial to the correct correction of the parking posture of the vehicle for the vehicle driver, and saves the parking correction time.
In a preferred example, the present application: the system also comprises a top plate arranged above the warehouse-in platform, wherein the top plate is provided with an image acquisition device capable of lifting along the vertical direction, and the image acquisition device is connected with the central controller; the image acquisition device is used for acquiring a vehicle top view of a vehicle positioned on the warehouse-in platform at the current moment;
the image acquisition device sends different vehicle top views to the central controller, and the central controller is used for carrying out correction analysis on the vehicle top views to obtain parameters to be corrected of the vehicle at the current moment.
By adopting the technical scheme, the image acquisition device is used for acquiring the real-time panoramic vehicle top view of the vehicle, and the central controller calculates the parameters to be corrected of the vehicle at the current moment based on the distance between the real-time acquired vehicle top view and the parking area frame of the warehouse-in platform, so that the metering accuracy of the amount to be corrected of the vehicle is improved; by measuring the posture correction of the vehicle in various modes, whether the vehicle is placed correctly or not is conveniently monitored.
In a preferred example, the present application: the parking correction system further comprises a crash pad for providing crash protection to the periphery of the vehicle and a driving member for driving the crash pad to reciprocally slide in a horizontal direction; the anti-collision pad is arranged on the side wall of the warehouse-in platform; the central controller is connected with the driving piece;
The central controller is connected with a distance measuring module for measuring the distance between the vehicle and the side wall of the warehouse-in platform in the vehicle correction process, and sends an anti-collision starting instruction to the driving piece when the distance reaches a preset anti-collision triggering threshold value;
the driving piece drives the anti-collision pad to slide when receiving the anti-collision starting instruction so as to provide anti-collision protection for the vehicle.
By adopting the technical scheme, as the walls are arranged on the two sides of the periphery of the warehouse-in platform, when a vehicle driver carries out vehicle placement correction, the situation that the vehicle impacts the walls due to improper operation can occur; the distance measuring modules are arranged on the walls on the two sides of the warehouse-in platform and used for measuring the distance between the vehicle and the walls on the side, when the distance measuring modules detect that the vehicle is about to collide with the walls or is close to the walls, namely the distance between the vehicle and the warehouse-in platform reaches an anti-collision triggering threshold value, the central controller sends an anti-collision starting instruction to the driving piece at the moment, so that the driving piece drives the anti-collision pad to slide out of the walls to provide anti-collision protection for the vehicle, the protection of the vehicle is facilitated, and the safety performance of vehicle correction is improved; and the anti-collision pad can slide reciprocally along the horizontal direction to be far away from or close to a vehicle, and slide out when anti-collision protection is needed, and when the vehicle distance is far, the anti-collision pad moves to retract to be close to the wall body to provide a larger vehicle correction space for a vehicle driver, so that the multifunctional parking correction system is provided.
In a preferred example, the present application: the infrared sensing unit comprises an infrared emission unit and an infrared receiving unit; the infrared emission unit is arranged corresponding to the infrared receiving unit;
the infrared transmitting unit is arranged on the ground of the warehouse-in platform, and the infrared receiving unit is arranged on the top plate;
or, infrared transmitting unit installs in the roof, infrared receiving unit installs in the ground of warehouse entry platform.
By adopting the technical scheme, the infrared receiving unit is used for receiving infrared light emitted by the infrared emitting unit, and the infrared emitting unit and the infrared receiving unit respectively detect whether the infrared light is blocked from the positions of the top and the bottom of the warehouse-in platform; after a vehicle driver drives a vehicle into a warehouse-in platform, two situations exist: one situation is that the vehicle is correctly placed, and the vehicle does not need to be corrected, so that the infrared light emitted by the infrared emission unit is completely received by the infrared receiving unit; the second situation is that the vehicle is placed askew and needs to be corrected, then part of red light emitted by the infrared emission unit is shielded outside the vehicle, if the tail of the vehicle is askew to the right side, then the right side part of the virtual parking frame of the infrared light mapping is shielded, and therefore the offset direction and the direction to be corrected of the vehicle can be judged through the shielding part, and the measurement is more convenient.
In a second aspect, the object of the present application is achieved by the following technical solutions:
the parking correction method for the vehicle warehouse entry of the stereo garage is applied to the parking correction system for the vehicle warehouse entry of the stereo garage,
when a vehicle enters a parking area for parking, a plurality of infrared sensing units emit infrared light and form a virtual parking frame on the ground of a warehouse-in platform;
the central controller determines parameters to be corrected of the vehicle according to the real-time parking position of the vehicle and the position of the parking area frame, and sends a correction voice instruction to the voice prompt module when the parameters to be corrected of the vehicle meet preset correction conditions, and the voice prompt module outputs a correction voice message based on the correction voice instruction.
By adopting the technical scheme, when a vehicle driver drives the vehicle into the warehouse-in platform for warehouse-in, the parking area frame formed by the plurality of infrared sensing units emits infrared rays, the central controller calculates different distances of shielding emission of the infrared rays through the vehicle or a wall (or other shielding objects), if the parking position of the vehicle is set, the vehicle does not shield the infrared rays, and if the parking position of the vehicle is not set, the edge of the parking area frame is shielded; the central controller determines the quantity to be corrected and the direction to be corrected of the vehicle according to the reflection condition of the obtained infrared rays, and carries out correction voice prompt on a vehicle driver, so that the vehicle driver can be assisted in parking correction; the method is beneficial to the correct correction of the parking posture of the vehicle for the vehicle driver, and saves the parking correction time.
In a preferred example, the present application: the central controller is connected with a remote central control platform; the method further comprises the steps of:
the central controller acquires position sensing data of the plurality of infrared sensing units on the vehicle of the warehouse-in platform, acquires different position sensing data and associates corresponding position identifiers;
different position sensing data are sent to a preset correction judgment model, and a position threshold interval corresponding to the corresponding position sensing data is identified and acquired;
judging whether the position sensing data is positioned in a corresponding position threshold value interval or not to obtain a vehicle position judging result;
when at least one position sensing data is not in the corresponding position threshold interval, generating an information acquisition instruction based on a position identifier corresponding to the position sensing data and sending the information acquisition instruction to the remote central control platform;
when correction parameters corresponding to the position identification are received from the remote central control platform, correction information is generated and sent to the vehicle user terminal, and the correction information comprises parameters to be corrected and environment sensing data.
By adopting the technical scheme, the infrared sensing unit detects the vehicle according to the mounting position of the infrared sensing unit so as to obtain position sensing data, such as the right rear side position, the left rear side position and the like of the vehicle; the position mark is convenient for subsequent analysis of the direction to be corrected of the vehicle; different position sensing data are sent to the correction judgment model and are compared with the corresponding position threshold intervals, the position threshold intervals are parking position ranges under the condition that the parking posture of the vehicle is correct, and whether the parking position of the vehicle is in a correctly placed range can be obtained through comparison; when detecting that the position sensing data of at least one position is not in the position threshold interval, transmitting correction parameters to be corrected of the current vehicle to the vehicle user terminal so as to facilitate the vehicle driver to timely adjust the vehicle placement posture and achieve the function of assisting the driver in parking correction.
In a preferred example, the present application: the method further comprises the steps of:
the central controller collects a correction guidance request sent by a vehicle user terminal and acquires a vehicle identifier based on the correction guidance request;
formulating a vehicle correction scheme based on correction parameters of the vehicle to be corrected and the vehicle identification; the vehicle correction scheme comprises correction actions corresponding to the correction links, and a correction state model is formulated according to the flow of the correction actions;
and carrying out visual scene simulation on the vehicle correction process based on the current parking state of the vehicle and the correction state model, obtaining a simulation result and sending the simulation result to the vehicle user terminal.
By adopting the technical scheme, the vehicle identifier comprises information such as the vehicle model, the vehicle size, the height and the like; when a correction instruction request sent by a vehicle driver through a vehicle user terminal is obtained, a vehicle correction scheme is formulated corresponding to the quantity to be corrected and the direction to be corrected of the vehicle, wherein the vehicle correction scheme comprises a plurality of correction links and operation flows such as turning a steering wheel rightwards, moving forwards, adjusting leftwards, moving backwards in the leftwards turning direction, stopping and the like when the tail of the vehicle is rightwards; based on expert knowledge experience and actual vehicle deviation (namely correction parameters of the vehicle to be corrected), visual scene simulation is carried out so as to guide correction of a vehicle driver, and the vehicle driver can watch simulation results of a vehicle user terminal and sequentially carry out vehicle correction operation; thereby improving the assistance guidance effect for the vehicle driver and being more friendly for novice drivers.
In a preferred example, the present application: the central controller acquires corresponding vehicle identifications, position sensing data and simulation results based on the acquired history correction guidance request; and generating a record list;
the central controller inputs the obtained new vehicle identification and the corresponding simulation result into the record list; inputting a new simulation result of the same vehicle identifier in the obtained record list into the record list;
the record list is sent to a remote central control platform;
when the new correction guidance request is sent by the vehicle user terminal, the corresponding simulation result is obtained by combining the record list and sent to the corresponding vehicle user terminal.
By adopting the technical scheme, the record list is used for recording and storing the history simulation result; when the quantity to be corrected corresponding to the currently detected position sensing data is the same as the direction to be corrected, the simulation result can be directly and rapidly obtained and sent to the vehicle user terminal under the condition of the same vehicle size or the same vehicle type, the calculation quantity of the simulation result is favorably reduced, and the functions of the parking correction system are more flexible and faster.
In a preferred example, the present application: the central controller calculates the minimum correction difference value required by the position sensing data reaching the position threshold interval according to the record list;
Comparing the minimum correction difference value with a preset critical difference value and a limit difference value respectively:
when the minimum correction difference value is smaller than the critical difference value and larger than the limit difference value, continuing to send correction information to the vehicle user terminal;
and when the minimum correction difference value is smaller than or equal to the limit difference value, a collision prompt message is sent to the vehicle user terminal, and the central controller sends a collision starting instruction.
By adopting the technical scheme, the parking correction system judges whether to send correction information or collision prompt information to the vehicle user terminal by comparing the minimum correction difference with the critical difference and comparing the minimum correction difference with the limit difference; when the minimum correction difference is smaller than the critical difference, the parking position of the vehicle is deviated at the moment and correction is needed, and the central controller terminal prompts correction information for the driver of the vehicle; when the minimum correction difference value is smaller than or equal to the limit difference value, the position of the vehicle at the moment is too close to the wall distance at the side edge of the warehouse-in platform, at the moment, the central controller terminal prompts a collision message to the vehicle driver and sends a collision starting instruction to the driving piece, so that the driving piece drives the collision pad to slide out to prevent the vehicle from collision, and the safety is higher.
In summary, the present application includes at least one of the following beneficial technical effects:
1. after the central controller senses the distance between the real-time parking position and the correct parking position (namely the parking area frame) of the vehicle through the infrared sensing unit, the distances between the four sides of the vehicle and the four sides of the parking area frame are compared one by one; determining whether the current real-time parking position needs to be corrected or not and the direction of the correction is needed, so that whether a vehicle driver needs to carry out parking correction or not can be judged conveniently; specifically, when a vehicle driver needs to park the vehicle in the stereo garage, the vehicle is driven into a warehouse platform for warehouse entry, infrared rays are emitted from a virtual parking frame formed by a plurality of infrared sensing units, the central controller calculates different distances of shielding emission of the infrared rays through the vehicle or a wall (or other shielding objects), if the vehicle parking position is set, the vehicle does not shield the infrared rays, and if the vehicle parking position is not set, the edge of the virtual parking frame is shielded; the central controller determines parameters to be corrected of the vehicle (the parameters to be corrected comprise the quantity to be corrected and the direction to be corrected) according to the reflection condition of the obtained infrared rays, and carries out correction voice prompt on a driver of the vehicle, so that the driver can be assisted in parking correction; the method is beneficial to the correct correction of the parking posture of the vehicle by the vehicle driver, and saves the parking correction time;
2. Because the walls are arranged on two sides of the periphery of the warehouse-in platform, when a vehicle driver carries out vehicle placement correction, the situation that the vehicle impacts the walls due to improper operation can occur; the distance measuring modules are arranged on the walls on the two sides of the warehouse-in platform and used for measuring the distance between the vehicle and the walls on the side, when the distance measuring modules detect that the vehicle is about to collide with the walls or is close to the walls, namely the distance between the vehicle and the warehouse-in platform reaches an anti-collision triggering threshold value, the central controller sends an anti-collision starting instruction to the driving piece at the moment, so that the driving piece drives the anti-collision pad to slide out of the walls to provide anti-collision protection for the vehicle, the protection of the vehicle is facilitated, and the safety performance of vehicle correction is improved; the anti-collision pad can slide back and forth along the horizontal direction to be far away from or close to a vehicle, and slide out when anti-collision protection is needed, and when the vehicle distance is far, the anti-collision pad moves back and closes to the wall body to provide a larger vehicle correction space for a vehicle driver, so that a multifunctional parking correction system is provided;
3. when a correction instruction request sent by a vehicle driver through a vehicle user terminal is obtained, a vehicle correction scheme is formulated corresponding to the quantity to be corrected and the direction to be corrected of the vehicle, wherein the vehicle correction scheme comprises a plurality of correction links and operation flows such as turning a steering wheel rightwards, moving forwards, adjusting leftwards, moving backwards in the leftwards turning direction, stopping and the like when the tail of the vehicle is rightwards; based on expert knowledge experience and actual vehicle deviation (namely correction parameters of the vehicle to be corrected), visual scene simulation is carried out so as to guide correction of a vehicle driver, and the vehicle driver can watch simulation results of a vehicle user terminal and sequentially carry out vehicle correction operation; thereby improving the assistance guidance effect for the vehicle driver and being more friendly for novice drivers.
Drawings
FIG. 1 is a schematic diagram of an application of modules in a parking correction system for a vehicle in a stereo garage according to an embodiment of the present application;
FIG. 2 is a flow chart of a method for parking correction for a vehicle in a stereo garage according to one embodiment of the present disclosure;
FIG. 3 is a flow chart of a parking correction method for a vehicle in a stereo garage according to an embodiment of the present disclosure;
FIG. 4 is a flow chart of a parking correction method for a vehicle in a stereo garage according to an embodiment of the present disclosure;
FIG. 5 is a flow chart of one of the parking correction methods for parking a vehicle in a stereo garage according to an embodiment of the present disclosure;
fig. 6 is another flowchart of a parking correction method for a vehicle in a stereo garage according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the accompanying drawings.
In an embodiment, as shown in fig. 1, the application discloses a parking correction system for a stereo garage vehicle during warehouse entry, which comprises a central controller, an infrared sensing module and a voice prompt module, wherein the central controller is respectively connected with the infrared sensing module and the voice prompt module. The infrared sensing module comprises a plurality of infrared sensing units (not shown in the figure) which are distributed in a parking area of the warehousing platform at intervals, wherein infrared light emitted by the plurality of infrared sensing units forms a virtual parking frame on the ground of the warehousing platform, and the virtual parking frame is a rectangular frame; the virtual parking frame is matched with a parking area frame of the warehouse-in platform; the plurality of infrared sensing units are used for sensing real-time parking positions of the vehicles in the parking area frame; the infrared sensing unit comprises an infrared sensor, and the voice prompt module comprises a voice chip and a loudspeaker; the central controller is used for determining parameters to be corrected of the vehicle according to the real-time parking position of the vehicle and the position of the parking area frame, wherein the parameters to be corrected comprise a quantity to be corrected and a direction to be corrected; and when the parameters to be corrected of the vehicle meet preset correction conditions, controlling the voice prompt module to carry out correction voice prompt.
When a vehicle driver needs to park the vehicle in the stereo garage, the vehicle is driven into a warehouse-in platform for warehouse-in, infrared rays are emitted from a virtual parking frame formed by a plurality of infrared sensing units, and a central controller calculates different distances of shielding emission of the infrared rays through the vehicle or a wall (or other shielding objects); the central controller senses the distance between the real-time parking position and the correct parking position (i.e. the parking area frame) of the vehicle through the infrared sensing unit, for example, the distances between the four sides of the vehicle and the four sides of the parking area frame are compared one by one, namely, the distance between the right side of the vehicle and the right side of the parking area frame is compared; determining whether the current real-time parking position needs to be corrected or not and the direction of the correction needs to be corrected: if the parking position of the vehicle is set, the vehicle does not shade infrared rays, and if the parking position of the vehicle is not set, the edge of the virtual parking frame is shielded; the central controller determines parameters to be corrected of the vehicle according to the obtained reflection condition of the infrared rays, and carries out correction voice prompt on a vehicle driver, so that the vehicle driver can be assisted in parking correction; the method is beneficial to the correct correction of the parking posture of the vehicle for the vehicle driver, and saves the parking correction time.
In an embodiment, the parking correction system for the stereo garage vehicle during warehouse entry further comprises a top plate arranged above the warehouse entry platform, and the infrared sensing unit comprises an infrared emission unit and an infrared receiving unit; the infrared emission unit is arranged corresponding to the infrared receiving unit; the infrared transmitting unit is arranged on the ground of the warehouse-in platform, and the infrared receiving unit is arranged on the top plate; in practical application, the infrared transmitting unit can be arranged on the top plate, and the infrared receiving unit is arranged on the ground of the warehouse-in platform.
The infrared transmitting unit and the infrared receiving unit respectively detect whether infrared light is blocked from the positions of the top and the bottom of the warehouse-in platform; after a vehicle driver drives a vehicle into a warehouse-in platform, two situations exist: one situation is that the vehicle is correctly placed, and the vehicle does not need to be corrected, so that the infrared light emitted by the infrared emission unit is completely received by the infrared receiving unit; the second situation is that the vehicle is placed askew and needs to be corrected, then part of red light emitted by the infrared emission unit is shielded outside the vehicle, if the tail of the vehicle is askew to the right side, then the right side part of the virtual parking frame of the infrared light mapping is shielded, and therefore the offset direction and the direction to be corrected of the vehicle can be judged through the shielding part, and the measurement is more convenient.
The top plate is provided with an image acquisition device which can be lifted along the vertical direction, and the image acquisition device is connected with the central controller; the image acquisition device is used for acquiring a vehicle top view of the vehicle positioned on the warehouse-in platform at the current moment; the image acquisition device comprises a variable-focus high-definition camera and a stepping electric cylinder for driving the high-definition camera to rise and fall, the stepping electric cylinder is fixedly arranged on the top plate, and an output shaft of the stepping electric cylinder is connected with the high-definition camera; because the vehicle heights and the sizes of different vehicle types are different, the photographing height of the high-definition camera can be adjusted according to actual use requirements by controlling the stepping electric cylinder through the central controller for photographing and collecting the real-time panoramic view of the vehicle, and the applicability of the image collecting device is improved.
The image acquisition device sends different vehicle top views to the central controller, and the central controller is used for correcting and analyzing the vehicle top views to obtain parameters to be corrected of the vehicle at the current moment; the central controller calculates the distance between the real-time parking position of the warehouse-in platform and the parking area frame based on the real-time obtained vehicle top view, namely, compares the distances between the two sides of the vehicle and the corresponding frame of the virtual parking frame, calculates the parameters to be corrected of the vehicle at the current moment, and is beneficial to improving the metering accuracy of the amount to be corrected of the vehicle; by measuring the posture correction of the vehicle in various modes, whether the parking posture of the vehicle is correct or not can be conveniently monitored.
As shown in fig. 1, the parking correction system further includes a crash pad for providing crash protection to the periphery of the vehicle and a driving member for driving the crash pad to reciprocate in a horizontal direction; the driving piece comprises a driving motor, the driving motor is arranged on a side wall of the warehouse-in platform, and an output shaft of the driving motor is fixedly connected with the side wall of the anti-collision pad; the anti-collision pad is arranged on the side wall of the warehouse-in platform, and the installation height of the anti-collision pad is level with the height of the vehicle; the central controller is in wireless communication connection with the driving motor; in actual installation, a plurality of groups of driving parts and anti-collision pads can be installed on the walls on two sides of the warehouse-in platform at intervals respectively; the central controller is connected with a distance measuring module for measuring the distance between the vehicle and the side wall of the warehouse-in platform in the vehicle correcting process.
The distance measuring module comprises a plurality of distance measuring instruments which are arranged in two rows and are respectively arranged on the side walls of the warehouse-in platform; the central controller sends an anti-collision starting instruction to the driving motor when the distance reaches an anti-collision triggering threshold value; the driving motor drives the anti-collision pad to slide when receiving an anti-collision starting instruction so as to provide anti-collision protection for the vehicle; when the distance meter detects that the vehicle is about to strike the wall or is close to the wall, the central controller sends an anti-collision starting instruction to the driving motor, so that the driving motor drives the anti-collision pad to slide out of the wall to provide anti-collision protection for the vehicle, and the protection for the vehicle is facilitated; the anti-collision pad can slide reciprocally along the horizontal direction to be far away from or close to a vehicle, and slide out when anti-collision protection is needed, and when the vehicle distance is far away, the anti-collision pad moves to retract to be close to the wall body so as to provide a larger vehicle correction space for a vehicle driver.
In an embodiment, a method for correcting parking of a vehicle in a stereo garage is provided, and the method for correcting parking of the vehicle in the stereo garage is applied to the system for correcting parking of the vehicle in the stereo garage in the embodiment.
In one embodiment, as shown in fig. 2, the parking correction method for a vehicle in a stereo garage includes:
s1: when a vehicle enters a parking area for parking, the plurality of infrared sensing units emit infrared light and form a virtual parking frame on the ground of the warehouse-in platform.
S2: the central controller determines parameters to be corrected of the vehicle according to the real-time parking position of the vehicle and the position of the parking area frame, and sends a correction voice instruction to the voice prompt module when the parameters to be corrected of the vehicle meet preset correction conditions, and the voice prompt module outputs correction voice information based on the correction voice instruction.
In this embodiment, the parameters to be corrected include a to-be-corrected amount and a to-be-corrected direction, and the correction condition is that the position of the vehicle at the current moment is far away from the position of the virtual parking frame, for example, when the vehicle is biased to the right, the distance between the right side of the vehicle and the right side of the virtual parking frame is far, which indicates that the parking posture of the vehicle is askew at this moment, and the driver of the vehicle needs to correct the parking posture.
Specifically, when a vehicle driver drives a vehicle into a warehouse-in platform for warehouse-in, a parking area frame formed by a plurality of infrared sensing units emits infrared rays, a central controller calculates different distances of shielding emission of the infrared rays through the vehicle or a wall (or other shielding objects), if the parking position of the vehicle is set, the vehicle does not shield the infrared rays, and if the parking position of the vehicle is not set, the edge of the parking area frame is shielded; the central controller determines the quantity to be corrected and the direction to be corrected of the vehicle according to the reflection condition of the obtained infrared rays, and carries out correction voice prompt on a vehicle driver, so that the vehicle driver can be assisted in parking correction; the method is beneficial to the correct correction of the parking posture of the vehicle for the vehicle driver, and saves the parking correction time.
In one embodiment, as shown in fig. 3, the parking correction method for the stereo garage vehicle in storage further includes:
s10: the central controller acquires position sensing data of the plurality of infrared sensing units on the vehicle of the warehouse-in platform, obtains different position sensing data and associates corresponding position identifiers.
In the embodiment, the central controller is connected with a remote central control platform; the position mark is an installation position mark of the infrared induction unit, such as the infrared induction unit is installed at the lower right side of the parking area frame and used for detecting the tail part and the like at the right side of the vehicle; so as to identify whether the vehicle is biased to the right or the left through the position identification of the infrared sensing unit.
S20: and sending the different position sensing data to a preset correction judgment model, and identifying and acquiring a position threshold interval corresponding to the corresponding position sensing data.
In this embodiment, the central controller is provided with a correction judgment model; the correction judgment model stores position threshold value intervals when the parking area frames of vehicles of various vehicle types and different height sizes are placed at correct positions; the position threshold interval is a parking position range in which the vehicle accurately centers in the parking area frame, and vehicles with different vehicle types correspond to different parking position ranges; if the distance between the right side edge of the car model A in the parking area frame and the same right side edge of the virtual parking frame is 10cm-35cm, the car model A is considered to be correctly placed; further, the horizontal widths of the head and the tail of the same vehicle are different, so that the intervals at different positions based on the same vehicle model are slightly different, for example, the correct placement distance of the head of the vehicle model A is 10cm-35cm, and the correct placement distance of the tail of the vehicle is 15cm-30cm; the large vehicle model with the model B is correctly placed when the distance between the right side edge in the parking area frame and the same right side edge of the virtual parking mine is 15cm-30 cm.
Specifically, the obtained position sensing data of different vehicle types are sent to a correction judgment model, and the correction judgment model performs the next comparison step by identifying the source of the position sensing data and matching the corresponding position threshold interval.
S30: and judging whether the position sensing data is positioned in the corresponding position threshold value interval or not to obtain a vehicle position judging result.
Specifically, the judging result includes that the position sensing data is within the corresponding position threshold interval and the position sensing data is outside the position threshold interval.
S40: when at least one position sensing data is not in the corresponding position threshold value interval, an information acquisition instruction is generated and sent to a remote central control platform based on a position identifier corresponding to the position sensing data.
Specifically, the information acquisition instruction is an instruction for sending to a remote central control platform to acquire sensing data of a plurality of infrared sensing units located at the position; the remote central control platform is used for acquiring and displaying data acquired by the central controller, the infrared sensing module, the voice prompt module, the ranging module and the image acquisition device and controlling the central controller and the voice prompt module based on user operation instructions.
Specifically, when one position sensing data is not in the corresponding position threshold interval, the parking posture of the vehicle is represented to be placed askew or other abnormal conditions exist; an information acquisition instruction is generated to acquire corresponding position information.
S50: when correction parameters corresponding to the position identification are received from the remote central control platform, correction information is generated and sent to the vehicle user terminal, and the correction information comprises parameters to be corrected and environment sensing data.
Specifically, the infrared sensing unit can also sense the environment of the warehouse-in platform, namely, detect whether personnel are positioned in the warehouse-in platform at the periphery of the vehicle to shield the infrared sensing unit, so as to ensure the parking safety of a driver of the vehicle; when the position sensing data is not in the corresponding position threshold value interval, the environment sensing data is acquired by sending an information acquisition instruction, so that the situation that personnel are hidden in a vehicle visual angle blind area to cause potential safety hazards of the personnel and the vehicle is reduced; the vehicle driver can check the environment sensing data and the parameters to be corrected through the vehicle user terminal in the vehicle, and the operation is more convenient.
Further, when the surrounding environment of the warehouse-in platform is noisy, the vehicle driver needs to correct and instruct according to the voice prompt signal, so that the voice of the vehicle driver is easy to influence the receiving of the voice prompt signal, and at the moment, the vehicle driver can send a correction message to a display screen of a vehicle user terminal through the remote central control platform to display, thereby being beneficial to assisting the vehicle driver in carrying out vehicle parking correction operation and improving the applicability of the parking correction system.
In an embodiment, as shown in fig. 4, the parking correction method for the stereo garage vehicle in storage further includes:
s101: the central controller collects the correction guidance request sent by the vehicle user terminal, and obtains the vehicle identification based on the correction guidance request.
In the present embodiment, the vehicle identification contains vehicle model number, vehicle size, and height information.
S102: formulating a vehicle correction scheme based on the correction parameters and the vehicle identification of the vehicle to be corrected; the vehicle correction scheme comprises correction actions corresponding to the correction links, and a correction state model is formulated according to the flow of the correction actions.
Specifically, the vehicle correction scheme includes a plurality of correction links and operation flows such as turning the steering wheel rightward and moving forward, then adjusting the steering direction leftward and then moving the parking in the leftward turning direction when the tail of the vehicle is deviated to the right.
S103: and carrying out visual scene simulation on the vehicle correction process based on the current parking state and the correction state model of the vehicle, obtaining a simulation result and sending the simulation result to the vehicle user terminal.
Specifically, a visual vehicle correction scenario simulation video is generated based on a plurality of correction environments and operation flows, namely visual scenario simulation is performed; based on expert knowledge experience and actual vehicle deviation (namely correction parameters of the vehicle to be corrected), visual scene simulation is carried out so as to guide correction of a vehicle driver, and the vehicle driver can watch simulation results of a vehicle user terminal and sequentially carry out vehicle correction operation; thereby improving the assistance guidance effect for the vehicle driver and being more friendly for novice drivers.
In one embodiment, as shown in fig. 5, the parking correction method for the stereo garage vehicle in the warehouse further includes:
s201: the central controller acquires corresponding vehicle identification, position sensing data and simulation results based on the acquired history correction guidance request; and generates a record list.
In this embodiment, the record list records the vehicle identifications of the various vehicle types, the historical position sensing data results of the respective vehicles, and the corresponding simulation results.
S202: the central controller inputs the obtained new vehicle identification and the corresponding simulation result into a record list; and inputting a new simulation result of the same vehicle identifier in the obtained record list into the record list.
Specifically, a vehicle correction simulation result of a new vehicle model is recorded into a record list, and a new correction simulation result obtained by an existing vehicle model under new position sensing data is recorded into the record list.
S203: and sending the record list to a remote central control platform.
Specifically, the remote central control platform stores and updates the record list, and can call the data information stored in the record list.
S204: when the new correction guidance request is sent by the vehicle user terminal, the corresponding simulation result is obtained by combining the record list and sent to the corresponding vehicle user terminal.
Specifically, the correction guidance request is an assistance request transmitted by a vehicle driver, who is located on the warehouse-in platform and is performing parking correction, through the vehicle user terminal.
The record list is used for recording and storing the historical simulation results; when the quantity to be corrected corresponding to the currently detected position sensing data is the same as the direction to be corrected, the simulation result can be directly and rapidly obtained and sent to the vehicle user terminal under the condition of the same vehicle size or the same vehicle type, the calculation quantity of the simulation result is favorably reduced, and the functions of the parking correction system are more flexible and faster.
In one embodiment, as shown in fig. 6, the parking correction method for the stereo garage vehicle in the warehouse further includes:
s301: the central controller calculates the minimum correction difference value required by the position sensing data to reach the position threshold value interval by combining the record list.
In this embodiment, for example, the distance between the right side edge of the car model a in the parking area frame and the same right side edge of the virtual parking frame is 10cm-35cm, and the car model a is considered to be correctly placed; if the distance between the right side edge of the real-time parking position of the vehicle and the right side edge of the virtual parking frame is 65cm, the minimum correction difference value of the vehicle is 30cm.
S302: and comparing the minimum correction difference value with a preset critical difference value and a limit difference value respectively.
Specifically, the critical difference value is a distance difference value that the vehicle can correct, the critical difference value is a smaller distance between the vehicle correction time and the side wall of the warehouse-in platform, and parameters of the critical difference value and the limit difference value can be defined by a user according to actual application requirements; the limit difference value is the minimum distance between the vehicle and the warehouse-in platform to be collided; if the vehicle keeps backing up all the time to correct so as to reach the limit difference, the vehicle is too close to the side wall at the moment, and the backing up correction needs to be stopped in time to prevent wall collision.
Further, by comparing the minimum correction difference with the critical difference and the limit difference, the parking correction system judges whether to send correction information or collision prompt information to the vehicle user terminal.
S303: and when the minimum correction difference value is smaller than the critical difference value and larger than the limit difference value, continuing to send correction information to the vehicle user terminal.
Specifically, when the minimum correction difference is smaller than the critical difference, the parking position of the vehicle is deviated at the moment and correction is needed, and the central controller terminal prompts correction information to the driver of the vehicle.
S304: and when the minimum correction difference value is smaller than or equal to the limit difference value, a collision prompt message is sent to the vehicle user terminal, and the central controller sends a collision starting instruction.
Specifically, when the minimum correction difference value is smaller than or equal to the limit difference value, the position of the vehicle at the moment is too close to the wall distance at the side edge of the warehouse-in platform, at the moment, the central controller terminal prompts a collision message to the vehicle driver and sends a collision starting instruction to the driving piece, so that the driving piece drives the collision pad to slide out to perform collision protection on the vehicle, and the safety is higher.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand; the technical scheme described in the foregoing embodiments can be modified or some of the features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (7)
1. Parking correction system for when stereo garage vehicle goes into storage, characterized in that includes: the central controller is respectively connected with the infrared sensing module and the voice prompt module;
the infrared sensing modules comprise a plurality of infrared sensing units which are distributed in a parking area of the warehousing platform at intervals, infrared light emitted by the infrared sensing units forms a virtual parking frame on the ground of the warehousing platform, and the virtual parking frame is matched with the parking area frame of the warehousing platform; the plurality of infrared induction units are used for sensing real-time parking positions of the vehicles in the parking area frame;
the central controller is used for determining parameters to be corrected of the vehicle according to the real-time parking position of the vehicle and the position of the parking area frame, and controlling the voice prompt module to carry out voice prompt correction when the parameters to be corrected of the vehicle meet preset correction conditions;
the parking correction system further comprises a top plate arranged above the warehouse-in platform, wherein the top plate is provided with an image acquisition device capable of lifting along the vertical direction, and the image acquisition device is connected with the central controller; the image acquisition device is used for acquiring a vehicle top view of a vehicle positioned on the warehouse-in platform at the current moment;
The image acquisition device sends different vehicle top views to the central controller, and the central controller is used for carrying out correction analysis on the vehicle top views to obtain parameters to be corrected of the vehicle at the current moment;
the parking correction system further comprises a crash pad for providing crash protection to the periphery of the vehicle and a driving member for driving the crash pad to reciprocally slide in a horizontal direction; the anti-collision pad is arranged on the side wall of the warehouse-in platform; the central controller is connected with the driving piece;
the central controller is connected with a distance measuring module for measuring the distance between the vehicle and the side wall of the warehouse-in platform in the vehicle correction process, and sends an anti-collision starting instruction to the driving piece when the distance reaches a preset anti-collision triggering threshold value;
the driving piece drives the anti-collision pad to slide when receiving the anti-collision starting instruction so as to provide anti-collision protection for the vehicle;
when the ranging module detects that the vehicle is about to strike a wall or is close to the wall, the central controller sends an anti-collision starting instruction to the driving piece, so that the driving piece drives the anti-collision pad to slide out of the wall to provide anti-collision protection for the vehicle; the anti-collision pad can slide reciprocally along the horizontal direction to be far away from or close to a vehicle, and slide out when anti-collision protection is needed, and when the vehicle distance is far away, the anti-collision pad moves to retract to be close to the wall body so as to provide a larger vehicle correction space for a vehicle driver.
2. The parking correction system for a stereo garage vehicle according to claim 1, wherein the infrared sensing unit includes an infrared transmitting unit and an infrared receiving unit; the infrared emission unit is arranged corresponding to the infrared receiving unit;
the infrared transmitting unit is arranged on the ground of the warehouse-in platform, and the infrared receiving unit is arranged on the top plate;
or, infrared transmitting unit installs in the roof, infrared receiving unit installs in the ground of warehouse entry platform.
3. A method for correcting parking in a vehicle in a stereo garage, applied to the parking correction system for a vehicle in a stereo garage according to any one of claims 1 to 2, the method comprising:
when a vehicle enters a parking area for parking, a plurality of infrared sensing units emit infrared light and form a virtual parking frame on the ground of a warehouse-in platform;
the central controller determines parameters to be corrected of the vehicle according to the real-time parking position of the vehicle and the position of the parking area frame, and sends a correction voice instruction to the voice prompt module when the parameters to be corrected of the vehicle meet preset correction conditions, and the voice prompt module outputs a correction voice message based on the correction voice instruction.
4. The method for correcting parking in a vehicle warehouse of claim 3, wherein the central controller is connected with a remote central control platform; the method further comprises the steps of:
the central controller acquires position sensing data of the plurality of infrared sensing units on the vehicle of the warehouse-in platform, acquires different position sensing data and associates corresponding position identifiers;
different position sensing data are sent to a preset correction judgment model, and a position threshold interval corresponding to the corresponding position sensing data is identified and acquired;
judging whether the position sensing data is positioned in a corresponding position threshold value interval or not to obtain a vehicle position judging result;
when at least one position sensing data is not in the corresponding position threshold interval, generating an information acquisition instruction based on a position identifier corresponding to the position sensing data and sending the information acquisition instruction to the remote central control platform;
when correction parameters corresponding to the position identification are received from the remote central control platform, correction information is generated and sent to the vehicle user terminal, and the correction information comprises parameters to be corrected and environment sensing data.
5. The method for parking correction when a stereo garage vehicle is in storage of claim 4, further comprising:
The central controller collects a correction guidance request sent by a vehicle user terminal and acquires a vehicle identifier based on the correction guidance request;
formulating a vehicle correction scheme based on correction parameters of the vehicle to be corrected and the vehicle identification; the vehicle correction scheme comprises correction actions corresponding to the correction links, and a correction state model is formulated according to the flow of the correction actions;
and carrying out visual scene simulation on the vehicle correction process based on the current parking state of the vehicle and the correction state model, obtaining a simulation result and sending the simulation result to the vehicle user terminal.
6. The method for parking correction when a stereo garage vehicle is in storage of claim 5, further comprising:
the central controller acquires corresponding vehicle identifications, position sensing data and simulation results based on the acquired history correction guidance request; and generating a record list;
the central controller inputs the obtained new vehicle identification and the corresponding simulation result into the record list; inputting a new simulation result of the same vehicle identifier in the obtained record list into the record list;
the record list is sent to a remote central control platform;
When the new correction guidance request is sent by the vehicle user terminal, the corresponding simulation result is obtained by combining the record list and sent to the corresponding vehicle user terminal.
7. The method for parking correction when a stereo garage vehicle is in storage of claim 6, further comprising:
the central controller calculates the minimum correction difference value required by the position sensing data reaching the position threshold interval according to the record list;
comparing the minimum correction difference value with a preset critical difference value and a limit difference value respectively:
when the minimum correction difference value is smaller than the critical difference value and larger than the limit difference value, continuing to send correction information to the vehicle user terminal;
and when the minimum correction difference value is smaller than or equal to the limit difference value, a collision prompt message is sent to the vehicle user terminal, and the central controller sends a collision starting instruction.
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