CN212782318U - Optical projection auxiliary parking and warehousing system - Google Patents

Abstract

The utility model discloses an optical projection assists parking warehouse entry system relates to the supplementary guide technical field of vehicle for on assisting the driver to stop the vehicle to the transfer apparatus in mechanical type garage, include: the vehicle information acquisition device is installed at the entrance of the transfer equipment, the optical projection indicating device and the computer control module. The driver can be guided to park the vehicle in the garage quickly and accurately.

Description

Optical projection auxiliary parking and warehousing system

Technical Field

The utility model relates to a supplementary guide technical field of vehicle especially relates to an supplementary parking of optical projection system of putting in storage.

Background

With the continuous improvement of automobile holding capacity, the problems of difficult parking and traffic jam in cities are increasingly prominent, and the development of the automobile industry is influenced. The construction of a three-dimensional garage with small floor area and high automation in modern cities with large and small dimensions is an effective way for relieving traffic jam and parking difficulty. At present, many of various buildings, underground multi-storey parking garages and mechanical parking garages need drivers to drive vehicles to enter freight elevator equipment or transfer equipment such as transfer platforms, and therefore the transfer of the upper and lower floors of the vehicles or the transfer of the mechanical equipment can be completed. Due to the fact that the space of the transfer equipment is relatively narrow, the visual field of a driver is limited, the experience is insufficient and the like, the driver is difficult to accurately judge the posture of the vehicle body and the distance between the driver and the transfer equipment, and the vehicle and the transfer equipment are damaged due to the fact that the vehicle body is easy to rub and touch.

Although some parking garage equipment manufacturers install a reflector or a camera monitoring device at the entrance of the transfer equipment and inside the transfer equipment, a driver can judge the distance between the vehicle and the transfer equipment through images in the reflector or on a display, and operate the vehicle to make adjustment so as to avoid rubbing. However, because of limited space, the driver needs to observe the front, back, left and right conditions of the vehicle and operate the vehicle adjustment accurately in time, so that the vehicle is difficult to avoid rubbing and colliding. In addition, the garage manager commands the parking in place, but the garage manager can only command the parking outside the equipment due to safety reasons, and human factors such as insufficient command experience, judgment errors, command errors and the like easily cause accidents. And the entrances and exits of some garages are more, so that hands are limited, and potential safety hazards of mixed running of people and vehicles also exist.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an optics projection assists parking warehouse entry system and implementation method can guide the driver with the vehicle safety quick park to the transfer apparatus in garage with optics auxiliary device on.

In order to solve the above problem, an aspect of the utility model provides an optical projection assists parking garage entry system for on the transfer apparatus of supplementary driver with the vehicle stop to mechanical type garage, include: the vehicle information acquisition device is installed at the entrance of the transfer equipment, the optical projection indicating device and the computer control module. And the vehicle information acquisition device is used for acquiring vehicle appearance data and vehicle posture and running track data and sending the acquired data to the computer control module. The computer control module is used for storing a map at an entrance of the transfer equipment of the mechanical garage; generating a mathematical model of the vehicle by the vehicle appearance data acquired by the vehicle information acquisition device, and calculating an ideal warehousing route of the vehicle; and comparing the ideal warehousing route of the vehicle with the attitude and running track data of the vehicle, calculating the deviation, generating the projection position of the optical projection indicating device according to the deviation, and sending a control signal to the optical projection indicating device. And the optical projection indicating device is used for receiving the control signal of the computer control module and projecting the guide information on the windshield of the vehicle so as to guide the vehicle which enters. Wherein the vehicle information collecting device may include: one or more of a vision sensor, a laser scanner, a photosensor, a magnetic field sensor, a pressure sensor. The computer control module may be an industrial controller or a computer that prestores a variety of mathematical models of commonly available vehicles. Generating a mathematical model of the vehicle may be accomplished by: firstly, performing image recognition on appearance characteristics such as a heat dissipation grid, a car lamp and a car logo of a vehicle through a vision sensor, and then inquiring a pre-stored brand and car type database to obtain data such as the brand, the car type, the appearance size, the outline and the part position of the vehicle; when the required data cannot be identified or inquired, the required data is detected independently or jointly through one or more of a visual sensor, a laser scanner, a photoelectric sensor, a magnetic field sensor and a pressure sensor, the detected data is processed through a computer control module to obtain the overall dimension, the outline and the component position data of the vehicle, and then the data is transmitted to the computer control module to generate a mathematical model of the vehicle. The position information of the parking spaces at the entrance of the transfer equipment and on the transfer equipment is directly collected through length measurement and mapping and then sent to the computer control module for storage, and the position information is used for planning an ideal warehousing route.

Still further technical scheme is, vehicle information acquisition device includes: the vehicle appearance recognition submodule and the vehicle dynamic detection submodule. And the vehicle shape recognition submodule is used for obtaining the shape size, the wheel track and the wheel base parameters of the vehicle when the vehicle drives into the entrance of the parking area and sending the parameters to the computer control module for generating the mathematical model of the vehicle. And the vehicle dynamic detection submodule is used for detecting the position, the posture and the running track of the vehicle in real time and sending the position, the posture and the running track of the vehicle to the computer control module, and the computer control module calculates the steering angle of the wheel and the ideal warehousing route according to the position, the posture, the running track of the vehicle and the mathematical model of the vehicle. The vehicle dynamic detection submodule can be installed at a fixed position and can also dynamically monitor the vehicle through a sliding track or a mechanical arm, and comprises one or more of a visual sensor, a laser scanner, a magnetic sensor and a pressure sensor. The sensors of the vehicle dynamic detection submodule are arranged on the servo tracking device, and the vehicle can be kept within the sensor monitoring range of the vehicle dynamic detection submodule all the time according to the movement of the vehicle. When the vehicle runs to the front of an inlet of the transfer equipment of the mechanical garage, the vehicle dynamic detection submodule detects the position change of the vehicle in real time, and the computer control module guides the posture and the running track of the vehicle into a mathematical model of the vehicle and calculates to obtain an ideal warehousing route. The calculation method of the ideal warehousing route comprises the following steps: and a trajectory planning algorithm connecting the Reeds-Shepp curve and the Dubins curve of the initial position, the attitude and the parking space of the transfer equipment of the vehicle. Wherein the Reeds-Shepp curve is a route planning method. Assuming that the vehicle can turn at a fixed radius and the vehicle can move forward and backward, the Reeds-Shepp curve is the shortest path from the starting point to the ending point of the vehicle under the above conditions. The curve can not only ensure that the vehicle can reach the terminal, but also ensure that the angle of the vehicle can reach the expected angle at the terminal, for example, in the process of vertical parking, the vehicle is parallel to the road at the beginning, and the terminal requires that the vehicle is perpendicular to the road, which puts requirements on the terminal position and the terminal angle of the vehicle.

The dynamic monitoring of the vehicle can be realized by one or more of a visual sensor, a laser scanner, a magnetic sensor and a pressure sensor, the driving posture and speed of the vehicle and the position change of the vehicle body and wheels are detected in real time, the driving track of the vehicle and the position of the vehicle body are obtained through calculation, and then the real-time optimal warehousing route is calculated through a computer control module.

The vehicle shape recognition sub-module includes: the method comprises the following steps that a shape recognition visual sensor, a rear wheel recognition pressure sensor, a front wheel recognition pressure sensor and a contour scanning laser scanner are used for recognizing the shape of a vehicle, wherein the visual sensor is used for carrying out image recognition on the shape characteristics of a heat dissipation grid, a vehicle lamp, a vehicle logo and the like of the vehicle, and then a pre-stored brand and vehicle type database is inquired to obtain data of the brand, the vehicle type, the shape size, the contour, the part position and the like of the vehicle; if the required data cannot be identified or inquired, the appearance of the vehicle is subjected to image identification through the vision sensor, and data such as the appearance size, the outline and the component position of the vehicle are obtained. The vehicle can be scanned by the laser scanner, and the scanned data is processed by the computer control module to obtain the data of the external dimension, the outline, the component position and the like of the vehicle. The front wheel identification pressure sensor and the rear wheel identification pressure sensor detect the pressure of the wheels to obtain the relative position of each wheel, and detect the wheelbase and the wheelbase of the vehicle. The visual sensor also has the function of recognizing the number of the license plate, binding the number with the obtained parameters, mathematical models and other information, and storing the number into a database for use when the vehicle arrives at the entrance of the parking garage for guiding calculation and calling when the vehicle enters the parking garage next time.

Still further, according to a further aspect, an optical projection pointing device includes: the optical projection device and the electric holder are driven to horizontally rotate and vertically pitch; the optical projection device can be a small projector, an animation laser lamp, 1 or more single-beam emitters driven by a servo device to independently rotate and tilt, and can also be other similar light projection devices capable of controllably changing colors, lines, symbols and animations. The optical projection indicating device receives the control signal and then controls the electric holder to enable the optical projection device to emit two light spots projected on a vehicle windshield, wherein one light spot is used as a reference point and represents a calculated ideal position relative to the position of a vehicle body; the other light spot is used as a correction point to represent the actual position of the vehicle; and displaying the deviation of the actual position of the vehicle from the ideal warehousing route through the position relation between the correction point and the reference point. And the computer control module simulates and calculates the actual running track of the vehicle according to the real-time position, speed and wheel direction information of the vehicle detected by the vehicle dynamic detection submodule, compares the actual running track of the vehicle with an ideal warehousing line to obtain the deviation of the actual running track of the vehicle, converts the deviation into a control signal for the optical projection indicating device and sends the control signal to the optical projection indicating device. The optical projection indicating device controls the electric holder to horizontally rotate and vertically pitch according to the control signal, and drives the optical projection device to project a guide instruction which can be observed by a driver on the vehicle. In the process of guiding the vehicle, the vehicle dynamic detection submodule collects the attitude information of the vehicle in real time and sends the attitude information to the computer control module, the computer control module compares the attitude of the vehicle with an ideal warehousing route to obtain deviation, then the deviation is converted into the projection position of a correction point on a vehicle windshield relative to a reference point, a control signal is sent to the optical projection indicating device, and the electric cradle head rotates horizontally and moves up and down in a pitching manner to enable the optical projection device to move, so that the position of the correction point moves.

And the deviation of the actual position of the vehicle from the ideal warehousing route is displayed by the position relation between the correction point and the reference point. In one embodiment as follows: when the vehicle needs to move to the left to reach the ideal warehousing line, the correction point is projected to the left of the reference point, and the shape of the correction point light spot can be an arrow to the left. And the straight-line distance between the vehicle and the ideal warehousing route is reflected in proportion to the straight-line distance between the correction point and the reference point.

According to a further technical scheme, the optical projection indicating devices are arranged on a plurality of routes where vehicles enter parking spaces respectively, and the computer control system performs switching control on the optical projection indicating devices according to vehicle position information acquired by the vehicle dynamic detection submodule. The plurality of optical projection indicating devices are used for guiding the vehicles on the route, and the computer control module performs switching control to prevent the vehicles from being unguided when moving. The vehicle guiding scheme can be preset when the vehicle guiding device is installed at a fixed position, and the vehicle guiding device can be used for guiding the vehicle more conveniently and quickly.

Still further technical solution is that the optical projection indicating device further includes: the servo tracking device comprises a servo driving device and an image sensor; the image sensor and the optical projection indicating device are arranged on a servo driving device, and the servo driving device is arranged on a guide rail hung above a route of a vehicle entering a parking space; the computer control module controls the servo driving device to carry the movable optical projector to move on the guide rail according to the vehicle position information acquired by the vehicle information acquisition device and controls the movable optical projector to emit projection light spots to guide the vehicle. The servo tracking device can extract the central coordinate of the detection range of the sensor and the central coordinate of the vehicle windshield through the sensor information; and calculating the coordinate difference value of the center of the detection range and the center of the vehicle windshield, and calculating the moving distance of the servo driving device according to the coordinate difference value to track the vehicle windshield if the vehicle windshield is positioned in the stable area of the detection range of the sensor. The optical projection indicating device can be projected on the windshield.

The further technical scheme is that the vehicle dynamic detection submodule is also used for detecting a light signal of the vehicle and sending the light signal to the computer control module for man-machine interaction. The computer control module may pre-store the activation conditions, detect via sensors of the vehicle dynamics detection sub-module, and activate the guidance mode upon detection of the driver performing such operations. As in one embodiment, the driver needs manual assistance and may horn a prolonged sound. And flashing the headlights or the horns for two times, and sounding for two times, and opening the whole-course guide warehousing mode.

The voice prompt module is used for receiving the voice prompt signal sent by the computer control module and sending voice prompt to the driver. The voice prompt is combined, so that the driver can conveniently understand the meaning of the guide light spot, and the driver can conveniently carry out warehousing operation. The computer control module can also prompt a driver through voice prompt according to the safety condition between the vehicle and the barrier monitored by the vehicle dynamic detection submodule, so that potential safety hazards are reduced.

The further technical scheme is that the color of the reference point light spot is used for representing different meanings, and when the reference point light spot is green, the reference point light spot represents that: keeping constant speed running; yellow indicates that: decelerating; red indicates that: and (5) parking. The optical projection indicating device also projects a steering indicating spot for indicating steering of the steering wheel and a steering angle of the steering wheel on the vehicle.

Another aspect of the utility model provides a realization method of supplementary parking garage entry system of optical projection, including following step:

s1: establishing a three-dimensional coordinate system map of the transfer equipment and an entrance of the transfer equipment, and importing position information into a computer control module; and mathematical models of different vehicle types are stored in the computer control module.

S2: the vehicle passes through the transfer equipment entrance, and vehicle information acquisition device gathers the overall dimension, the track, the wheel base information of vehicle to send the parameter to computer control module, computer control module generates or calls the mathematical model of this vehicle.

S3: before the vehicle runs to the transfer equipment, the vehicle information acquisition device detects the position of the vehicle in real time, and the computer control module calculates to obtain an ideal warehousing track of the vehicle according to the posture and the running track of the vehicle and a mathematical model of the vehicle; and then generating a real-time control signal for the optical projection indicating device according to the warehousing track.

S4: the optical projection indicating device projects a light spot which is unchanged relative to the position of the vehicle body on the vehicle windshield as a reference point according to the real-time control signal; projecting a correction point calculated according to the ideal track and the actual driving track on the vehicle windshield; the vehicle travels on the ideal trajectory when the reference point coincides with the correction point. The optical projection indicating device can also send out light beam to control the contents of projected graphics, images and the like according to the instruction sent by the computer control module, and receives the instruction of the computer control system to control the projection light beam to move along with the vehicle and project the projection light beam on the determined position of the vehicle, such as the positions of a front windshield, a rear view mirror and the like.

S5: and the vehicle keeps the reference point and the correction point coincident according to the light beam guide until the vehicle is stopped on the transfer equipment.

The further technical scheme is that the method further comprises the following steps:

and SS: the driver is given voice guidance while optically guiding the vehicle.

The further technical scheme is that the method further comprises the following steps:

s0: when the vehicle passes through the entrance of the transfer equipment, the vehicle dynamic detection submodule detects light and sound of the vehicle to carry out man-machine interaction.

The utility model discloses a principle is elucidated: and storing the geographic position information of the transfer equipment and the entrance of the mechanical garage and the common vehicle mathematical model into a computer control module. When a vehicle needs to be guided to the transfer equipment, the vehicle shape is recognized through the vehicle information acquisition device block, a vehicle mathematical model is matched or generated in the computer control module, a guided ideal warehousing route is calculated through the computer control module, the posture of the vehicle is monitored through the vehicle information acquisition device, a projection position signal for controlling the optical projection indicating device to implement on the vehicle is obtained through calculation of the computer control module and is sent to the optical projection indicating device, the optical projection indicating device projects guide information into a light beam to be projected on a vehicle windshield after receiving the control signal, and a driver accurately and quickly drives the vehicle to park in place under the assistance of light spots on the windshield.

The above technical scheme of the utility model has following profitable technological effect: can lead the driver to stop the vehicle into the transfer equipment according to the optimal orbit through the light beam, make things convenient for the driver that experiences inadequately to park the warehouse entry, reduce the collision that causes when parkking. The vehicle can be prevented from colliding with the obstacle by giving a prompt by sound. The work of drivers and guide personnel is reduced, and the parking efficiency is improved.

Drawings

Fig. 1 is a schematic structural view according to embodiment 1 of the present invention;

fig. 2 is a schematic structural diagram according to embodiment 2 of the present invention;

fig. 3 is a schematic view of a primary parking guidance route according to the present invention;

FIG. 4 is a schematic view of the guided light beam projection on the windshield with the vehicle at point a in FIG. 3;

FIG. 5 is a schematic view of the guided light beam projection on the windshield with the vehicle at point b in FIG. 3;

FIG. 6 is a schematic view of the guided light beam projection on the windshield with the vehicle at point c in FIG. 3;

FIG. 7 is a schematic view of the guided beam projection on the windshield with the vehicle at point d in FIG. 3.

Reference numerals: 1: a transfer device; 2: a vehicle information acquisition device; 3: an optical projection pointing device; 4: a computer control module; 5: an ideal warehousing route; 6: directing a light beam; 211: a shape recognition vision sensor; 212: a rear wheel identification pressure sensor; 213: a front wheel identification pressure sensor; 214: a profile scanning laser scanner; 221: detecting a laser scanner; 222: detecting a vision sensor; 31: a front optical projector; 32: a medium optical projector; 33: an internal optical projector; 34: a servo tracking device; 35: a guide rail; c1: correcting points; c2: a reference point; c3: steering the light spot; c4: an auxiliary light spot.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the description is intended to be illustrative only and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

Example 1

An optical projection assisted parking garage entry system for assisting a driver in parking a vehicle onto a transfer device (1) of a mechanical garage, comprising: the system comprises a vehicle information acquisition device (2) arranged in front of an entrance of the transfer equipment (1), an optical projection indicating device (3) arranged above the vehicle information acquisition device (2), and a computer control module (4); the vehicle information acquisition device (2) and the optical projection indicating device (3) are connected to the computer control module (4); the vehicle information acquisition device (2) includes: the system comprises an entrance and exit identification device and a vehicle dynamic detection device, wherein the entrance and exit identification device comprises a vehicle identification visual sensor arranged above a vehicle entrance and exit and a wheel identification pressure sensor arranged on the road surface of the vehicle entrance and exit, the vehicle dynamic detection device comprises a detection visual sensor arranged above the front area of the entrance and exit of a mechanical garage, and the optical projection indicating device (3) comprises a plurality of optical projectors which are respectively arranged above the front area of the entrance and exit of the mechanical garage, above the entrance and exit of the garage and in the garage; the vehicle identification vision sensor, the wheel identification pressure sensor, the detection vision sensor and the optical projector are all connected to the computer control module (4).

Preferably, the vehicle identification vision sensor comprises a first appearance identification vision sensor arranged above a vehicle entrance and exit and second appearance identification vision sensors arranged at the left end and the right end of the entrance of the garage where the transfer equipment (1) is arranged; and two profile scanning laser scanners respectively installed on two sides below the garage entrance and exit.

Preferably, the wheel identification pressure sensors include a rear wheel identification pressure sensor and a front wheel identification pressure sensor which are installed in the entrance and exit area of the mechanical garage and distributed in the front and back directions.

Preferably, the optical projector includes a front optical projector installed above a region in front of the entrance of the mechanical garage, an intermediate optical projector above the entrance of the mechanical garage, and an inner optical projector in the garage.

Preferably, the optical projection indicating device (3) further comprises: a servo tracking device (34), the servo tracking device (34) comprising a servo drive and an image sensor; the image sensor and the optical projection indicating device (3) are mounted on the servo drive device, which is mounted on a guide rail (35) suspended above the path of a vehicle entering a parking space of the transfer apparatus (1); the computer control module (4) controls the servo driving device to carry the movable optical projector to move on the guide rail (35) according to the vehicle position information acquired by the vehicle information acquisition device (2), and controls the movable optical projector to emit projection light spots to guide the vehicle.

The following detailed description is provided for the implementation method of the present invention, and it should be particularly described in advance that the technical solution provided by the present invention is a guiding structure device used for assisting a driver to stop a vehicle to a transfer device of a mechanical garage; the utility model is designed for the structure of hardware equipment which is relied on for providing vehicle guiding technology, and aims to solve the problem that the vehicle guiding technology has better implemented hardware structure foundation, i.e. a connection relation of hardware structure, in the utility model, electronic devices are used, but the electronic devices are all prior art products, how to connect and assemble is also the prior art, the structure provided by the utility model solves the problem of providing an arrangement scheme of how to arrange the guiding equipment in the parking lot, the communication and connection between the hardware devices are the prior art, but the hardware structure and the connection mode provided by the utility model are the same, make the guide vehicle realize, the event does not exist the technical scheme of the utility model need use computer program could realize, the relation of connection between its structure and hardware accords with the utility model protection object. In order to make the present invention detailed and satisfy the principles of sufficient disclosure, the following embodiments may relate to the technology of computer program control, but as mentioned above, the computer program control method in this section is not the object of the present invention, and is only an application description that can be further understood by the skilled person.

In the following, how to operate by means of the hardware structure of the present invention is described with reference to the guiding technique:

an optical projection assisted parking garage entry system for assisting a driver in parking a vehicle onto a transfer device 1 of a mechanical garage, comprising: the vehicle information acquisition device 2, the optical projection indicating device 3 and the computer control module 4 are installed at the entrance of the transfer equipment 1.

As shown in fig. 1, a vehicle shape recognition sub-module of a vehicle information collection device 2 is installed at an entrance of a transfer device 1 of a mechanical garage, and is composed 214 of a shape recognition vision sensor 211, a rear wheel recognition pressure sensor 212, a front wheel recognition pressure sensor 213, and a profile scanning laser scanner.

A vehicle dynamic detection submodule of the vehicle information acquisition device 2 is arranged on a route of a transfer device 1 for a vehicle to enter a mechanical garage, and detection laser scanners 221 are respectively arranged at the left and right positions; and a detection vision sensor 222 is installed facing the entrance position of the transfer apparatus 1. The system is used for detecting the position, the posture and the running track of the vehicle in real time and sending the position, the posture and the running track to the computer control module 4.

The optical projection indicating devices 3 are three and respectively fixedly installed above the route of the vehicle entering the parking space, as shown in fig. 1, a front optical projector 31 is installed right above the entrance position of the transfer device 1, an intermediate optical projector 32 is installed above the entrance position of the transfer device 1, and an inner optical projector 33 is installed inside the transfer device 1. The optical projection indicating device 3 is used for receiving the control signal of the computer control module 4 and projecting the guide information on the windshield of the vehicle so as to guide the vehicle entering. Each optical projection pointing device 3 includes: the optical projection device and the electric cradle head which drives the optical projection device to horizontally rotate and vertically pitch. The optical projection device comprises a first projection lamp for projecting the reference point C2 and a second projection lamp for projecting the correction point C1, wherein the first projection lamp comprises three colors, namely green, which indicates that the vehicle keeps running at a constant speed; yellow, indicating deceleration; red, indicating parking. The optical projection device further comprises a third projection lamp indicating a steering spot C3 indicating steering of the steering wheel and a steering angle of the steering wheel. The optical projection device also includes a fourth projection lamp for directly displaying the steering angle of the steering wheel and the steering angle auxiliary spot C4 by characters.

The voice prompt device also comprises a voice prompt module, and comprises sound equipment and voice recording equipment. The voice prompt device is used for receiving the voice prompt signal sent by the computer control module 4 and sending a voice prompt to the driver. Or cooperate with the vehicle information acquisition device 2 to acquire the whistle information of the vehicle.

The computer control module 4 is arranged beside the transfer equipment 1, has the functions of storage and calculation, and is used for storing a map at the inlet of the transfer equipment 1 of the mechanical garage; generating a mathematical model of the vehicle by the vehicle appearance data acquired by the vehicle information acquisition device 2, and calculating an ideal warehousing route 5 of the vehicle; and comparing the ideal warehousing route 5 of the vehicle with the attitude and running track data of the vehicle, calculating the deviation, generating the projection position of the optical projection indicating device 3 according to the deviation, and sending a control signal to the optical projection indicating device 3.

Firstly, when a vehicle passes through an entrance of a mechanical garage, a vision sensor carries out image recognition on appearance characteristics of a heat dissipation grid, a vehicle lamp, a vehicle logo and the like of the vehicle, and then a pre-stored brand and vehicle type database is inquired to obtain data of the brand, the vehicle type, the appearance size, the outline, the component position and the like of the vehicle; if the required data cannot be identified or inquired, the appearance of the vehicle is subjected to image recognition through the vision sensor and the laser scanner, and data such as the appearance size, the outline and the component position of the vehicle are obtained. The front wheel identification pressure sensor 213 and the rear wheel identification pressure sensor 212 detect the relative position of each wheel by the action of the wheel on the pressure sensor, and detect the wheel base and the wheel track of the vehicle. The visual sensor also has the function of recognizing the number of the license plate, binding the number with the obtained parameters, mathematical models and other information, and storing the number into a database for use when the vehicle arrives at the entrance of the parking garage for guiding calculation and calling when the vehicle enters the parking garage next time. The data are transmitted to the computer control module 4 through the communication interface to generate a mathematical model of the vehicle.

Then, before the vehicle runs to the transfer device 1, the position detection visual sensor 222 identifies the license plate number of the vehicle, and the computer control module 4 calls the corresponding vehicle mathematical model. When the vehicle travels to the transfer device 1 and enters the parking space of the transfer device 1, the left position detection laser scanner 221 and the right position detection laser scanner 221 scan the vehicle within the scanning range, the traveling posture, the speed and the position change of the vehicle body of the vehicle are detected in real time, and the data are transmitted to the computer control module 4 through the communication interface. When the vehicle just enters the scanning range, the computer control module 4 calculates the ideal warehousing trajectory of the vehicle according to the entering position of the vehicle and the mathematical model. The ideal warehousing trajectory is planned by a Reeds-Shepp curve.

The driver operates the vehicle according to experience or prompt to ensure that the reference point C2 and the correction point C1 are overlapped as much as possible, and the vehicle can safely and accurately drive into the transfer equipment 1 under guidance. Because the visual indication and the voice prompt are provided, the driver has enough attention to keep monitoring the vehicle state and the surrounding environment and correctly controlling the vehicle, the efficiency, the accuracy and the safety of driving into the transfer equipment 1 are improved, and the difficulty is reduced.

And the vehicle dynamic detection submodule is also used for detecting a light signal of the vehicle and sending the light signal to the computer control module 4 for man-machine interaction. When a vehicle drives into a parking area, the width indicating lamp is turned on, and the vehicle dynamic detection subsystem detects a light signal through the position detection visual sensor 222 and the audio sensor to enhance the tracking of the vehicle posture and the running track. The driver can use the light and the horn of the vehicle according to the requirement and the rule, the vehicle dynamic detection subsystem uses the position detection visual sensor 222 and the audio sensor to detect the light flicker frequency and the horn ringing frequency, and the computer control module 4 judges and changes the operation mode of the whole system according to the corresponding rule. For example: the horn has long sound and needs manual assistance; and flashing the headlights or the horns for two times, and sounding for two times, and opening the whole-course guide warehousing mode.

If the deviation between the real-time running track of the vehicle and the ideal warehousing track exceeds the allowable range, or the computer control module 4 calculates and predicts that the vehicle keeps the current running speed and the trend exceeds the safety range according to the real-time running track, the speed, the wheel steering angle and the mathematical model of the vehicle, the computer control module 4 estimates the correction track, the steering angle and the speed returning to the ideal warehousing track, controls the optical projection indicating device 3 to change the color, the graphic symbol and the like of a projected image, controls the voice prompt subsystem to send out prompt tones to prompt a driver to brake, control the speed and rotate the angle of the steering wheel, and guides the driver to control the vehicle to return to the ideal warehousing track. If the vehicle can not be safely stored in the garage, the system prompts 'stopping and returning retry'. Of course, the safe storage of the vehicle can be guided in the whole process in the above mode.

In another mode, as shown in fig. 2, the optical projection pointing device 3 further includes: a servo tracking device 34, wherein the servo tracking device 34 comprises a servo driving device and an image sensor; the image sensor and the optical projection indicating device 3 are mounted on a servo driving device which is mounted on a guide rail 35 suspended above a route of the vehicle entering the parking space; the computer control module 4 controls the servo driving device to carry the mobile optical projector to move on the guide rail 35 according to the vehicle position information acquired by the vehicle information acquisition device 2, and controls the mobile optical projector to emit projection light spots to guide the vehicle.

The mobile optical projector is mounted on the servo tracking device 34; the servo tracking device 34 is mounted on a guide rail 35. The servo tracking device 34 is controlled by the computer control module 4 to carry the mobile optical projector to move on the guide rail 35 according to the position of the vehicle, and the mobile optical projector is controlled to emit the optical projection guiding light beam 6 to guide the vehicle. The optical projector and the inner optical projector 33 are composed of an electric pan-tilt and an optical projector or a laser transmitter mounted on the electric pan-tilt, and can control and send out the graphics, images and other contents of the optical projection guiding light beam 6 according to the instruction of the computer control module 4, and the electric pan-tilt is controlled by the computer module to horizontally rotate and vertically tilt, so that the projection light beam always moves along with the vehicle and is projected on the determined position of the vehicle in a certain range.

As shown in fig. 3, a vehicle is ready to start parking the vehicle at position a to the parking space of the transfer apparatus 1. At the position a, the optical projection indicating device 3 of the computer control module 4 emits the guide light beam 6 to project guide information on the windshield of the vehicle, as shown in fig. 4, a reference point C2 is a circular light spot with a short transverse line, a correction point C1 with the short transverse line pointing to the right side indicates that steering to the right is required, and a correction point C1 is a square and is positioned at the right of the reference point C2; while spot C3 is an arc with an arrow that is clockwise, indicating that the steering wheel needs to be rotated 360 degrees to the right, and spot C4 directly shows that 360 ° to the right can help the driver understand.

When the vehicle finishes steering according to the guiding information projected on the windshield and reaches the position b, the vehicle dynamic detection submodule sends a vehicle posture change condition monitoring signal to the computer control module 4 for processing, the vehicle needs to be straightened and the steering wheel is straightened by calculation, the computer control module 4 sends a control signal to the optical projection indicating device 3, the optical projection indicating device 3 changes the guiding information projected on the windshield, as shown in fig. 5, the short transverse left direction of the reference point C2 points to the correction point C1 to indicate that the vehicle needs to be steered to the left, the correction is positioned at the left of the reference point C2, and the steering wheel is also indicated to be turned to the left; whereas the arrow for spot C3 is counterclockwise, the arc makes 1/4 more turns, indicating that the steering wheel needs to be rotated 480 degrees to the left, and spot C4 shows 480 ° directly to the left. Wherein the light spots C3 and C4 are moved to the right of the reference point C2, preventing the light spots from being crowded to cause difficulty in observation and facilitating display.

The vehicle returns to the right and then runs forwards for a distance to reach the position c, when the computer control module 4 processes the vehicle posture information of the vehicle dynamic detection submodule, the computer control module monitors that the position of the vehicle body deviates and needs to be corrected, calculates that the vehicle needs to rotate the steering wheel by 120 degrees to the right and runs for a certain distance. The computer control module 4 sends a control signal to the optical projection indicating device 3, the optical projection indicating device 3 adjusts the guiding light beam 6, as shown in fig. 6, the distance between the reference point C2 and the correction point C1 represents the lateral deviation distance reference of the vehicle returning to the ideal track at the current position, the light spot C3 is an arc of 1/3 clockwise of the arrow, and the light spot C4 displays 120 ° to the right. The driver can know that the steering wheel needs to be rotated 120 degrees to the right according to the projection of the guide light beam 6, the vehicle is driven to slowly drive forwards, the reference point C2 is overlapped with the correction point C1, as shown in fig. 7, at this moment, the position of the vehicle reaches the position d in fig. 3, the vehicle is put in a warehouse, and the vehicle is smoothly stopped on the transfer device 1.

The position points in fig. 3 are only schematic, and the actual operation is corrected and operated in real time according to the system period.

It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims (5)

1. An optical projection assisted parking garage entry system for assisting a driver in parking a vehicle onto a transfer device (1) of a mechanical garage, comprising: the system comprises a vehicle information acquisition device (2) arranged in front of an entrance of the transfer equipment (1), an optical projection indicating device (3) arranged above the vehicle information acquisition device (2), and a computer control module (4); the vehicle information acquisition device (2) and the optical projection indicating device (3) are connected to the computer control module (4);

the vehicle information acquisition device (2) includes: an inlet and outlet identification device and a vehicle dynamic detection device,

the inlet and outlet identification device comprises a vehicle identification vision sensor arranged above the vehicle inlet and outlet and a wheel identification pressure sensor arranged on the road surface of the vehicle inlet and outlet,

the vehicle dynamic detection device comprises a detection vision sensor which is arranged above the front area of the entrance and the exit of the mechanical garage,

the optical projection indicating device (3) comprises a plurality of optical projectors which are respectively arranged above the area in front of the entrance and the exit of the mechanical garage, above the entrance and the exit of the mechanical garage and in the garage;

the vehicle identification vision sensor, the wheel identification pressure sensor, the detection vision sensor and the optical projector are all connected to the computer control module (4).

2. The optical projection auxiliary parking garage system according to claim 1, wherein the vehicle identification visual sensors comprise a first appearance identification visual sensor installed above a vehicle entrance and exit, and second appearance identification visual sensors installed at the left end and the right end of an entrance of a garage where the transfer equipment (1) is located; and two profile scanning laser scanners respectively installed above the entrance and the exit of the vehicle at both sides of the vehicle.

3. The optical projection assisted parking garage entry system of claim 1, wherein the wheel identification pressure sensors comprise a rear wheel identification pressure sensor and a front wheel identification pressure sensor which are installed at an entrance area and an exit area of the mechanical garage and distributed front and back.

4. An optical projection assisted parking garage system as claimed in claim 1 in which the optical projectors include a front optical projector mounted over the area in front of the doorway of the mechanical garage, a middle optical projector above the doorway of the garage, and an internal optical projector within the garage.

5. An optical projection-assisted parking garage system according to claim 1, wherein said optical projection indication means (3) further comprises: a servo tracking device (34), the servo tracking device (34) comprising a servo drive and an image sensor; the image sensor and the optical projection indicating device (3) are mounted on the servo drive device, which is mounted on a guide rail (35) suspended above the path of a vehicle entering a parking space of the transfer apparatus (1); the computer control module (4) controls the servo driving device to carry the movable optical projector to move on the guide rail (35) according to the vehicle position information acquired by the vehicle information acquisition device (2), and controls the movable optical projector to emit projection light spots to guide the vehicle.

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