KR101703651B1 - Method for controlling parking using robotic trolley and Apparatus thereof - Google Patents

Method for controlling parking using robotic trolley and Apparatus thereof Download PDF

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Publication number
KR101703651B1
KR101703651B1 KR1020150114670A KR20150114670A KR101703651B1 KR 101703651 B1 KR101703651 B1 KR 101703651B1 KR 1020150114670 A KR1020150114670 A KR 1020150114670A KR 20150114670 A KR20150114670 A KR 20150114670A KR 101703651 B1 KR101703651 B1 KR 101703651B1
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South Korea
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vehicle
mobile device
moving device
moving
lifting
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KR1020150114670A
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Korean (ko)
Inventor
고석원
정재종
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시마텍인터내셔널 주식회사
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Priority to KR1020150114670A priority Critical patent/KR101703651B1/en
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks

Abstract

The present invention relates to a parking control method and apparatus, and more particularly, to a method and apparatus for safely and automatically parking a vehicle using a pair of robot moving apparatuses. More particularly, the present invention relates to a control apparatus for a vehicle, which, when a vehicle movement signal is input, includes a start portion for determining a position and existence of a vehicle, a setting portion for setting an initial position of the first and second movement devices, A lifting control unit for controlling the lifting device configured to each of the first and second lifting devices to control the lifting device to lift the vehicle, And an error processing unit for monitoring an occurrence of an operation error of the apparatus and performing an emergency control operation when an error occurs.

Figure R1020150114670

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot trolley parking control method,

The present invention relates to a parking control method and apparatus, and more particularly, to a method and apparatus for safely and automatically parking a vehicle using a pair of robot moving apparatuses.

As the industry develops and the number of vehicles increases dramatically, parking problems in vehicles are also in serious condition, and measures are needed to cope with them. Accordingly, in order to park a large number of vehicles in a narrow space, three-dimensional automatic parking facilities have been increasing in recent years.

For example, in the automatic parking facility, a pallet, which is a transporting means, is placed, and then the pallet is moved in a state in which the vehicle is loaded on the pallet, so that a plurality of vehicles can be safely and easily parked. However, It is necessary to provide the same number of pallets as the number of vehicles. Therefore, the space for storing the pallet is reduced by the utilization of the space and the cost of the maintenance is increased, and the installation cost of the parking facility and the parking cost of the user Resulting in a rise.

In addition, in order to park the vehicle in the elevator type automatic parking facility, the driver must put the vehicle in the receiving position and the gear of the vehicle in the neutral position so that the vehicle can be moved normally. However, when the gear of the vehicle is not positioned in the neutral position due to carelessness of the driver, it is impossible to move the vehicle for parking or the vehicle may be damaged due to forced movement.

In addition, in order to prevent the above-described problem from occurring, the driver must place the key of the vehicle inside the vehicle. In this case, if the vehicle is automatically converted into parking parking after a predetermined period of time, And the like. In particular, in the case of overseas countries, the practice of placing the key of the vehicle inside the vehicle is often unacceptable.

In the background described above, the present invention proposes a method and an apparatus which can set a gear of a vehicle to a parking position even when using an automatic parking facility, and can normally enter the vehicle into a parking space even if the vehicle does not have a key.

In addition, the present invention proposes a method and an apparatus that can move a vehicle from a room to a parking room quickly and safely using a robot trolley.

According to an aspect of the present invention, there is provided a vehicle navigation system including a start unit for determining a position and presence of a vehicle, a setting unit for setting an initial position of a first mobile device and a second mobile device, A lifting control unit for controlling the lifting device configured to each of the first and second lifting devices to control lifting of the vehicle, And an error processing unit for monitoring occurrence of an operation error of the second mobile device and performing an emergency control operation when an error occurs.

The present invention also provides a method of controlling a vehicle, comprising the steps of: determining, when a vehicle movement signal is input, determining a position and presence of a vehicle; setting a first position of the first and second positions; There is provided a robot parking control method including a mobile device control step of controlling the device to be moved to a vehicle position and a lifting control step of controlling the lifting device configured to each of the first mobile device and the second mobile device to lift the vehicle .

According to the present invention, there is provided an effect of providing a method and an apparatus which can set a gear of a vehicle to a parking position even when using an automatic parking facility, have.

In addition, the present invention provides a method and an apparatus capable of moving a vehicle from a room to a parking room quickly and safely using a robot.

1 is a block diagram of a robot parking control apparatus according to an embodiment of the present invention.
2 is a view for explaining the operation of the mobile device controller according to an embodiment of the present invention.
3 is a view for explaining positions of mobile devices and a vehicle according to an embodiment of the present invention.
4 is a flowchart illustrating an operation of the robot parking control apparatus according to an embodiment of the present invention.
5 is a view for explaining the operation of the lifting apparatus according to an embodiment of the present invention.
6 is a flowchart for explaining a brake operation of the mobile device in the control of the lifting device operation according to an embodiment of the present invention.
7 is a flowchart for explaining an operation in which a mobile device moves and mounts a vehicle according to an embodiment of the present invention.
8 is a view for explaining an operation of lifting a vehicle in contact with a lifting device according to an embodiment of the present invention.
9 is a flowchart illustrating a robot parking control method according to an embodiment of the present invention.

The present invention discloses a robot parking control apparatus and a robot parking control method for performing a parking operation of a vehicle by using a robot.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In describing the components of the present invention, the terms first, second, A, B, (a), (b), and the like can be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

Hereinafter, a robot parking control apparatus and a robot parking control method according to an embodiment of the present invention will be described with reference to the drawings.

1 is a block diagram of a robot parking control apparatus according to an embodiment of the present invention.

The robot parking control apparatus according to an embodiment of the present invention includes a start unit for determining a position and existence of a vehicle when a vehicle movement signal is input, a setting unit for setting an initial position of the first and second movement devices, A lifting control part for controlling the lifting device configured to each of the first and second lifting devices to control the lifting device to lift the vehicle, And an error processing unit for monitoring an occurrence of an operation error of the device and the second mobile device and performing an emergency control operation when an error occurs.

Referring to FIG. 1, the robot parking control apparatus of the present invention may include a start unit 110 for determining the position and existence of a vehicle according to an input of a vehicle movement signal. For example, the start unit 100 can determine the position and existence of the vehicle to be parked according to reception of an input signal input from an external sensor or an external input device. For example, if the vehicle movement signal includes the stocking information, the initiator 110 may determine whether the robot is parked or not by determining the existence and position of the vehicle. As another example, if the vehicle movement signal includes the departure information, the initiator 110 may check parking room information where the vehicle is located, and determine whether or not the robot is parked by determining whether or not the vehicle exists. That is, the start unit 110 can determine whether the input signal includes information to put the vehicle in, or whether to release the parked vehicle.

That is, in the case of a parking tower using a robot, when the vehicle is put on the cargo room, the robot is moved to the designated parking room and parked. On the contrary, in the case of a vehicle departure, when a departure signal for the vehicle is inputted, the vehicle is delivered from the parked parking room where the vehicle is parked to the warehouse to control the vehicle to be delivered. Accordingly, the initiator 110 can determine the position of the vehicle, the presence or absence of the vehicle, and the information of the parking room where the corresponding vehicle is located, depending on whether the input vehicle motion signal is a signal for goods receipt or a signal for goods issue.

The position and existence of the vehicle are necessary to determine whether to start the operation of the mobile device, which will be described later. That is, it is possible to judge whether the vehicle for goods receipt exists in the goods receipt room or accurately located at a predetermined position of the goods receipt room and judge whether or not the robot parking system is started. In the case of the robot parking system, since the system moves the vehicle automatically using the robot moving device without the help of a person, if the vehicle is located outside the predetermined position or does not exist, an error or accident may occur. Accordingly, the initiator 110 of the present invention can confirm the necessary information and determine whether to start the operation before the operation of the robot parking system starts to prevent such errors or accidents. On the other hand, the position of the vehicle or the presence of the vehicle can be confirmed through a sensor provided in the mobile device, which will be described later, or through a sensor installed in the loading room or the parking space.

The sensors in the present specification are not limited to the types of ultrasonic sensors, radar sensors, rider sensors, and camera sensors, and may include functions necessary for each operation such as sensing an object, detecting a distance to an object, And includes various sensors to perform.

Meanwhile, the robot parking control apparatus according to an embodiment of the present invention may include a setting unit 120 for setting an initial position of the first mobile device and the second mobile device. The setting unit 120 can set the initial positions of the first mobile device and the second mobile device when the operation of the robot parking system is started. For example, the data of the encoder, which is a position control sensor mounted on a wheel configured for movement of each of the first and second moving devices, can be reset to the zero position. For example, the encoder can calculate the absolute position value of each mobile device moved at the initial position, and can calculate the gap between each mobile device at all times, thereby minimizing the error in the position control of each mobile device. Also, the robot parking control apparatus can store the initial position of the first mobile device and the second mobile device using a separate storage device. The stored initial position may move the vehicle to a set initial position when the first and second moving devices are loaded with the vehicle. For example, the first moving device and the second moving device can move the vehicle to a stored initial position, move the vehicle to the upper or lower position by using an elevator or the like, and put it in the parking space. In this case, the initial position can be the inside of the elevator in which the first moving device and the second moving device are initially located. In the above description, the initial position is set by using the encoder. However, the initial positions of the first and second moving devices can be set through various sensors.

On the other hand, the setting unit 120 may store an initial position of the first mobile device and the second mobile device, and may set a path for moving the first mobile device and the second mobile device to the position of the vehicle. For example, the setting unit 120 may set a path that the first mobile device and the second mobile device should move in order to move the vehicle by using the positional information of the vehicle and the initial position described above, It is possible.

In addition, the robot parking control device may include a mobile device controller 130 for controlling the first mobile device and the second mobile device to move to the vehicle position. For example, the mobile device controller 130 may control the first mobile device and the second mobile device to enter the lower portion of the vehicle. The mobile device control unit 130 may control movement by driving wheels of the first and second mobile devices, and may be controlled to move at equal intervals. Or the mobile device control unit 130 controls the first and second mobile devices to move at a high speed until they approach the vehicle and decelerates control when the distance is within a predetermined distance from the vehicle, . Alternatively, the mobile device control unit 130 may control the first mobile device to be located between the front wheels of the vehicle, and the second mobile device may be located between the rear wheels of the vehicle. Of course, conversely, the first moving device may be controlled to be located between the rear wheels of the vehicle, or the second moving device may be controlled to be located between the front wheels of the vehicle. In this case, the mobile device control unit 130 can recognize the position facing the front of the vehicle, and can set the target position where the first mobile device is to be positioned based on the position of the mobile device and the position information facing the front of the vehicle.

Further, the mobile device control unit 130 may control the first mobile device to move to a predetermined reference position, and the second mobile device may be located between the front wheel or the rear wheel of the vehicle. That is, the first moving device controls to move to a preset position in the loading room or the parking room, and the second moving device can control to stop at the position when the front wheel or the rear wheel of the vehicle enters the lower portion of the vehicle . In this case, the second moving device can use the sensor configured near the lifting device of the second moving device to determine whether the second moving device is located between the wheels of the vehicle. That is, the mobile device control unit 130 can control the movement of each mobile device based on the sensing information input from the sensors configured in the first mobile device and the second mobile device. On the other hand, as described above, the mobile device controller 130 can control the first mobile device and the second mobile device to move while maintaining a preset distance. In this case, the predetermined distance between the first mobile device and the second mobile device may be a distance stored according to the type of the vehicle. That is, since the distance between the front wheel and the rear wheel is fixed according to the type of vehicle, information on the distance is stored as a table, and the mobile device controller 130 calculates the distance information of the table according to an external signal, The above-described separation distance can be set. The mobile device controller 130 may control the movement of the first mobile device and the second mobile device so that the set distance is maintained. In this way, when the first moving device is located between front wheels, it is possible to obtain an effect of automatically controlling the second moving device to be located between the rear wheels. On the other hand, the AC inverter configured in each mobile device can control the traveling speed of each mobile device and the torque of the motor for traveling, and performs synchronous control between the mobile devices to maintain a constant distance, Running or collision can be prevented.

Meanwhile, the robot parking control device of the present invention may include a lifting control unit 140 for controlling the lifting device configured in each of the first moving device and the second moving device so as to lift the vehicle. When the first moving device and the second moving device are positioned between the front wheel and the rear wheel of the vehicle, the lifting control unit 140 rotates the lifting device configured in the first moving device and the second moving device to rotate . The lifting control unit 140 may control the lifting device to lift the vehicle when the lifting device constructed in each mobile device is completed and the lifting device comes into contact with a predetermined position of each wheel. Through this, the first mobile device and the second mobile device can mount the vehicle. That is, even if the brakes of the vehicle are operated, the vehicle can be mounted on the moving device by raising the wheels of the vehicle. Meanwhile, the lifting control unit 140 may suspend the braking operation of each mobile device during operation of the lifting device. Through this, the position of the mobile device can be adjusted through the contact of the lifting device with the wheels of the fixed vehicle, even though each mobile device is not precisely positioned between the wheels of the vehicle. The specific operation will be described in detail below with reference to the drawings. On the other hand, the lifting device may be configured in a shape of a rock mounted on the moving device and rotating. That is, one wheel can be operated by wrapping the left and right arms around it. Alternatively, it may be developed through linear motion in the lifting device, and the form and development of the lifting device is not limited thereto.

In addition, the robot parking control apparatus may include an error processing unit 150 for monitoring occurrence of an operation error of the first mobile device and the second mobile device, and performing an emergency control operation when a failure occurs. The error processing unit 150 may stop the operation when an operation is performed in each configuration of the robot parking control apparatus, if an error occurs. That is, the error processing unit 150 detects whether an error has occurred in the overall process of the robot parking system using the robot parking apparatus, and if an error occurs in each step, the error processing unit 150 can stop the operation and perform an error processing operation such as reset have.

If necessary, the robot parking control device may further include a cable control unit 160 for controlling the rotation operation of the cable reel that supplies the control signals and the power to the first and second mobile devices. The cable control unit 160 is connected to the first mobile device and the second mobile device, and can control the rotation operation of the cable, which supplies power to each mobile device and transmits and receives control signals. For example, the cable controller 160 can control the operation of automatically unwinding or reeling the cable reel according to the movement of the mobile device. That is, the cable controller 160 controls the rotation speed of the cable reel in accordance with the moving speed and direction of the moving device, thereby preventing the cable from being wound around the moving device or interfering with the traveling of the moving device. To this end, the cable reel may be provided with a separate slot sensor and a dog device for sensing rotation and speed. The slot sensor and the dog can detect the pulling speed and direction of the winding cable on the cable reel. The cable control unit 160 can control the rotation speed and the pulling-in of the cable reel based on the speed and direction of the cable sensed by the sensor device and the movement information of the moving device.

The configuration and operation of the robot parking control apparatus according to the present invention have been described with reference to FIG. Hereinafter, the operation of each of the above-described configurations will be described in more detail with reference to the drawings. However, the following drawings are illustrative and non-limiting.

2 is a view for explaining the operation of the mobile device controller according to an embodiment of the present invention.

Referring to FIG. 2, the mobile device controller 130 may control the first mobile device 210 and the second mobile device 220 to enter the lower portion of the vehicle using the location information of the vehicle 200 have. For example, the mobile device controller 130 may move from the initial position where the first mobile device 210 and the second mobile device 220 are mounted to the lower portion of the vehicle, which may be located between the wheels of the vehicle 200 Can be controlled.

As described above, when the first mobile device 210 and the second mobile device 220 move, the mobile device controller 130 controls the mobile device 210 and 220 to maintain a constant distance between the mobile devices 210 and 220 . The mobile device control unit 130 controls the first mobile device 210 and the second mobile device 220 to move at a high speed before they reach a certain distance from the vehicle 200, 200 may be prevented from being collided with each other.

On the other hand, the mobile device control unit 130 controls the first mobile device 210 to move to the stopper position provided in the loading room or the parking room, and the second mobile device 220 detects the rear wheel of the vehicle 200 It is possible to control to be located between the rear wheels through the sensor.

The mobile device controller 130 can control the first mobile device 210 and the second mobile device 220 to enter the lower portion of the vehicle 200 and to be located between the front and rear wheels of the vehicle, respectively.

3 is a view for explaining positions of mobile devices and a vehicle according to an embodiment of the present invention.

Referring to FIG. 3, it can be seen that each of the mobile devices 210 and 220 is moved to a lower portion of the vehicle 200 in FIG. That is, the first moving device 210 is located between the front wheels of the vehicle 200, and the second moving device 220 is located between the rear wheels of the vehicle 200. In addition, in order for the lifting device to secure the wheels of the vehicle, each of the mobile devices 210, 220 can be moved so that the wheels are positioned between the lifting devices.

4 is a flowchart illustrating an operation of the robot parking control apparatus according to an embodiment of the present invention.

Referring to FIG. 4, the robot parking control apparatus can confirm input of a movement signal according to an external operation (S402). As described above, the movement signal may include goods receipt information or goods issue information. The goods receipt information means information for parking the vehicle by moving to the parking space, and the goods information means information for leaving the vehicle located in the parking space. On the other hand, the goods receipt information or the goods issue information may further include vehicle type information of the vehicle. Through this, the movement of the mobile device can be controlled by confirming the separation distance between the front wheel and the rear wheel of the vehicle.

The robot parking control device can determine whether the vehicle is located or not according to the type of goods receipt or departure included in the movement signal (S404). For example, when an input signal including input information is input, it can be determined whether the vehicle is located in the input room. Further, it is possible to judge whether the vehicle positioned in the loading room is located correctly within the position set for the goods receipt. As another example, when a departure signal including the departure information is inputted, it is possible to check the position or the identification information of the parking room where the vehicle is located, and determine whether or not the vehicle exists in the parking room.

If the vehicle is not present in the loading room or the parking space, the error processing unit may determine that the moving signal is an error and perform an error process such as an alarm (S414).

If the vehicle is present at a designated position in the arrival room or the parking space, the robot parking control device can control the movement of the mobile device (S406). For example, the robot parking control device can control each mobile device to be moved to a lower portion of the vehicle at regular intervals. The movement operation of the mobile device may be applied to the operations described with reference to Figs.

Meanwhile, the first moving device and the second moving device that have entered the lower portion of the vehicle can detect the front wheel or the rear wheel, respectively (S410). For example, sensors configured on each of the first and second mobile devices may be used to determine whether the first mobile device is located between front wheels or the second mobile device is located between the rear wheels. That is, based on the sensing information received from each of the first mobile device and the second mobile device, the robot parking control device determines whether the first mobile device and the second mobile device accurately detect the front wheel or the rear wheel of the vehicle, It can be judged.

If the first mobile device or the second mobile device does not detect the front wheel or the rear wheel, or if each mobile device can not be positioned between the wheels of the vehicle, the robot parking control device determines that an error has occurred and stops the operation An error signal may be generated and an error process may be performed (S414).

When the respective mobile devices are positioned between the designated wheels, the robot parking control device can control the operation of the lifting device configured in each mobile device (S412). For example, the robot parking control device can control the four moving lifting devices of each mobile device to be brought into contact with the wheels. In other words, the robot parking control device can control the lifting device composed of two pieces on each side of the first moving device to rotate so as to grasp the wheels of the vehicle. Specifically, the left wheel of the front wheel of the vehicle is gripped by two lifting devices configured on the left side of the first moving device, and the right wheel of the front wheel of the vehicle is gripped by two lifting devices configured on the right side of the first moving device. . Likewise, the left wheel of the rear wheels of the vehicle is held by two lifting devices configured on the left side of the second moving device, and the right wheel of the vehicle is held by two lifting devices configured on the right side of the second moving device Can be controlled. Of course, the opposite can also be applied.

According to the operation of the above-described robot parking control device, the two mobile devices can enter the lower portion of the vehicle for parking or departing, and can grasp all of the wheels of the vehicle.

5 is a view for explaining the operation of the lifting apparatus according to an embodiment of the present invention.

With reference to Fig. 5, the configurations of the first mobile device 210 and the second mobile device 220 will be described by way of example. The first mobile device 210 and the second mobile device 220 may each comprise a mobile motor 506, 516 for movement of the mobile device. Also, the first moving device 210 may have four lifting devices 500, 501, 502, and 503, and each of the two lifting devices may have a pair on the left side and the right side. In addition, the first moving device 210 has lifting device driving motors 504 and 505 capable of driving the pivoting operation of each lifting device. For example, lifting device drive motors 504 and 505 provide power for pivoting operations of lifting devices 500, 501, 502, and 503. FIG. 5 shows a form in which each lifting device is pivoted to grip the wheels.

Likewise, the second moving device 220 may have four lifting devices 510, 511, 512 and 513, each of which may have two lifting devices on its left and right sides. In addition, the second moving device 220 has lifting device driving motors 514, 515 capable of driving the pivoting movement of each lifting device. For example, lifting device drive motors 514 and 515 provide power for pivoting movement of lifting devices 510, 511, 512, and 513.

6 is a flowchart for explaining a brake operation of the mobile device in the control of the lifting device operation according to an embodiment of the present invention.

The robot parking control apparatus according to an embodiment of the present invention stops the operation of the brakes constituting the first and second moving devices when a predetermined time has elapsed after the turning of the lifting device is started and the turning of the lifting device Once complete, the brake can be resumed.

Referring to FIG. 6, when the first moving device and the second moving device described above arrive at the lower portion of the vehicle and arrive at a position for lifting the vehicle, control for the operation of the lifting device is started (S602). For example, it is possible to control the turning of the lifting device of the first moving device and the second moving device to start. As described with reference to FIG. 5, the pair of lifting devices performs a swing operation to grip one wheel, and is operated by the power of a motor provided in each of the mobile devices.

Meanwhile, the robot parking control device determines whether a predetermined time has passed since the control of the lifting device was started (S604). The preset time may be preset as a time for the lifting device to grasp the wheels of the vehicle, and may be a value determined and stored through experiments or the like. Alternatively, the preset time may be determined and stored such as half or third of the time the lifting device completes to complete the turn. In addition, the predetermined time may be predetermined and stored as a time between the time when the turning of the lifting device is started and the time when the turning is completed.

If the predetermined time has not elapsed, the robot parking control device can again determine whether a predetermined time has elapsed at predetermined intervals while controlling the turning operation of the lifting device to be continued.

When the predetermined time has elapsed, the robot parking control device can stop the brake operation of each mobile device (S606). For example, when each mobile device reaches a position where it senses the front wheel or the rear wheel of the vehicle, it can control the brake motor so that the position is not moved. Also, the robot parking control system controls the starting of the lifting operation of the lifting device in a state where the lifting device is fixed, thereby preventing the problem that the position of each lifting device is changed due to the start of the lifting operation. However, the robot parking control device can control the brake operation of the moving mobile device to be stopped when the predetermined time has elapsed. That is, the robot parking control device stops the braking operation of each mobile device so that the position of the mobile device can be adjusted around the fixed vehicle when the lifting device touches the wheel to grasp the wheel. This allows the position of the mobile device to be automatically corrected by the force of the lifting device gripping the fixed wheel even if the position of each mobile device is slightly different from the center axis of the front wheel or the rear wheel of the vehicle.

In step S608, the robot parking control device determines whether the position of each mobile device is corrected by the wheel holding force of the lifting device (i.e., the turning operation of the lifting device is completed). That is, when the lifting device is turned, the robot parking control device resumes the brake operation to each mobile device, thereby preventing further position change (S610).

Through the above-described lifting device and brake control of each mobile device, it is possible to control each mobile device to lift the vehicle at a more accurate position.

As another example, the robot parking control device may resume the brake operation after a certain period of time after the lifting device contacts the wheels of the vehicle after the brake operation of the mobile device is stopped. Then, when the turn is completed, the vehicle may be mounted on each mobile device. That is, the above-described steps S610 and S608 may be performed in a reversed order. That is, when the position correction of each mobile device is completed, the brake operation can be resumed even if the turning of the lifting device is not completed, and then the turning operation can be completed to mount the vehicle on the fixed mobile device.

7 is a flowchart for explaining an operation in which a mobile device moves and mounts a vehicle according to an embodiment of the present invention.

The robot parking control apparatus of the present invention confirms turning completion of the lifting apparatus as described with reference to Fig. 6 (S702). The robot parking control device determines whether the vehicle is mounted on the mobile device when the lifting device configured in each mobile device is completed (S704). For example, each lifting device can lift the vehicle from the ground using the gripping force of the front and rear wheels of the vehicle. For example, a plurality of rolling rollers may be formed on a surface where the lifting device and the wheel are in contact with each other, so that the lifting device can lift the wheel by the force of gripping the wheel. Alternatively, if the lifting device grasps the wheel, the vehicle may be lifted using the lifting device elevator configuration configured on the mobile device.

The robot parking control device may control movement of the first moving device and the second moving device to a set initial position when both the front wheel and the rear wheel of the vehicle are separated from the ground (S706). If some of the wheels of the vehicle are not spaced within a predetermined range from the ground, or if they are spaced too far apart, it is determined that an error has occurred and the operation is stopped and the error handling operation such as loosening the lifting device can be controlled (S712). If an error has occurred, the process may be restarted from step S702, or the position of each mobile device may be moved to restart from the front wheel or rear wheel sensing step.

On the other hand, the robot parking control device can monitor whether the first moving device and the second moving device on which the vehicle is mounted are kept at the same interval when moving to the initial position (S708). When the first moving device and the second moving device are spaced apart or narrowed while moving while the vehicle is mounted, the vehicle may fall down. Therefore, the robot parking control device continuously judges whether or not the same interval is maintained. If the interval between the first mobile device and the second mobile device deviates from a preset range, error processing such as stopping the movement and generating an alarm or lowering the vehicle may be performed (S712).

When the first and second moving devices are moved to the initial position while maintaining the same distance, the robot parking control device can detect the arrival and stop the movement (S710).

Thereafter, when the vehicle and the moving apparatus move to the designated parking space using the landing gear, the moving apparatus can move the vehicle to the parking position, relax the lifting apparatus described above, lower the vehicle to the parking position, and move to the initial position. That is, the moving and lifting control described above can be performed in reverse order to move the vehicle into the parking room.

8 is a view for explaining an operation of lifting a vehicle in contact with a lifting device according to an embodiment of the present invention.

8, the first moving device 210 and the second moving device 220 described above rotate the lifting devices 500, 501, 502, 503, 510, 511, 512 and 513, respectively, ) Of the wheels can be seen. The first mobile device 210 and the second mobile device 220 can lift the vehicle 200 and move to the initial position in this state. As described above, the first moving device 210 and the second moving device 220 can move so as to maintain the same gap.

According to the present invention described above, even when the automatic parking facility is used, the gear of the vehicle is set to the parking position, and the vehicle can be normally loaded into the parking room even without the key of the vehicle. There is an effect of providing a method and an apparatus capable of moving a vehicle from a room to a parking room quickly and safely using a robot. It also provides an effect that the vehicle can safely be mounted on the mobile device by controlling the braking operation of the mobile device even if each mobile device deviates slightly from the correct position or the vehicle deviates slightly from the set position.

Hereinafter, all operations performed by the robot parking control apparatus of the present invention will be briefly described with reference to the drawings.

9 is a flowchart illustrating a robot parking control method according to an embodiment of the present invention.

A robot parking control method according to an embodiment of the present invention includes a starting step of determining the position and existence of a vehicle when a vehicle moving signal is input, a setting step of setting an initial position of the first and second moving devices, A moving device control step of controlling the first moving device and the second moving device to move to the vehicle position and a lifting control step of controlling the lifting device configured in each of the first moving device and the second moving device to lift the vehicle do.

Referring to FIG. 9, a robot parking control method according to an embodiment of the present invention may include a start step of determining whether a vehicle is present or absent when a vehicle movement signal is input (S900). As described above, the start step can determine whether the robot parking system is started or not by determining whether the vehicle is located or not according to the type of information included in the vehicle movement signal.

Further, the robot parking control method may include a setting step of setting an initial position of the first mobile device and the second mobile device (S902). For example, the positions of the first mobile device and the second mobile device can be set and stored at an initial position. As described above, the encoder device may store the initial position by setting each mobile device position to zero. Or the memory of the robot parking control device may be stored in the initial position. Or a route for each mobile device to enter the lower portion of the vehicle. As an example, the encoder of the present invention may perform position control of the first mobile device and the second mobile device. For example, it is possible to calculate the absolute position value of each mobile device moved at the initial position, and to calculate the gap between each mobile device at all times, thereby minimizing the error in the position control of each mobile device.

In addition, the robot parking control method may include a mobile device control step of controlling the first mobile device and the second mobile device to move to the vehicle position (S904). The first moving device and the second moving device can move to the lower portion of the vehicle at equal intervals. Alternatively, the first moving device may be moved to the stopper position of the preset parking room or the loading room, and the second moving device may enter the lower portion of the vehicle to detect the front or rear wheels of the vehicle and move to the corresponding position. Or the first moving device and the second moving device may be set to have different moving speeds depending on the distance from the vehicle.

In addition, the robot parking control method may include a lifting control step of controlling the lifting device configured in each of the first and second moving devices to lift the vehicle (S906). As described above, the robot parking control method can start the operation of the lifting device when the first moving device and the second moving device are positioned between the front wheel or the rear wheel in the lower portion of the vehicle. In this case, after the operation of the lifting device is started, when the predetermined time has elapsed, the brake operation of the mobile device may be stopped to correct the position of the mobile device. When the lifting device contacts the wheels of the vehicle, the brakes of the mobile device may be resumed to lift the vehicle above the lifting device.

Thereafter, each mobile device can move while the vehicle is mounted on the initial position while maintaining a constant interval, thereby moving the vehicle.

In addition, the robot parking control method can perform all the operations performed by the robot parking control apparatus of the present invention described with reference to FIGS. 1 to 8 in each step.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

Claims (12)

A start unit for determining the position and existence of the vehicle when a vehicle movement signal is input;
A setting unit setting an initial position of the first moving device and the second moving device;
A mobile device controller for controlling the first mobile device and the second mobile device to move to the vehicle position;
A lifting control unit for controlling the lifting device configured in each of the first moving device and the second moving device to lift the vehicle; And
And an error processor for monitoring occurrence of an operation error of the first and second mobile devices and performing an emergency control operation when an error occurs,
The lifting control unit includes:
When the first moving device and the second moving device detect the front wheel and the rear wheel of the vehicle, respectively, the lifting device turns to the front wheel and the rear wheel of the vehicle so as to be in contact with the front wheel and the rear wheel,
Stopping the operation of the brakes constituting the first moving device and the second moving device when a predetermined time has elapsed after the turning of the lifting device is started and restarting the operation of the brake when the turning of the lifting device is completed A robot parking control device. The method according to claim 1,
The start-
If the vehicle movement signal includes the stock information, it is determined whether the robot is parked or not by determining whether the vehicle is present or not,
Wherein the controller determines whether the robot is parked or not by checking parking lot information where the vehicle is located if the vehicle movement signal includes departure information and determining whether the vehicle exists. The method according to claim 1,
The setting unit includes:
And stores the initial position of the first moving device and the second moving device and sets a path for moving the first moving device and the second moving device to the position of the vehicle, . The method according to claim 1,
The mobile device control unit,
Wherein the controller controls the first moving device to be located between the front wheels of the vehicle and the second moving device is located between the rear wheels of the vehicle. delete The method according to claim 1,
The mobile device control unit,
The movement of the first mobile device or the second mobile device is controlled based on a sensing signal input from the first mobile device or the second mobile device,
Wherein the first moving device and the second moving device are controlled to move at a constant interval. delete delete The method according to claim 1,
The error processing unit,
When the lifting device does not contact the front wheel or the rear wheel of the vehicle, when the first moving device and the second moving device can not detect the front wheel or the rear wheel of the vehicle, and when the position of the vehicle is out of a preset position If at least one of the cases is detected,
And stops the operation of the first moving device and the second moving device, and controls the robot to move to the initial position. The method according to claim 1,
Further comprising a cable control unit for controlling a rotation operation of a cable reel for supplying a control signal and power to the first moving device and the second moving device. 11. The method of claim 10,
The cable control unit includes:
And controlling the rotation direction and the rotation speed of the cable reel based on the moving speed and moving distance information of the first moving device and the second moving device and the sensing information of the slot sensor for sensing the rotation of the cable reel Wherein the robot control device comprises: A starting step of, when a vehicle moving signal is inputted, determining a position and existence of the vehicle;
A setting step of setting an initial position of the first mobile device and the second mobile device;
A mobile device control step of controlling the first mobile device and the second mobile device to move to the vehicle position; And
And a lifting control step of controlling the lifting device configured in each of the first moving device and the second moving device to lift the vehicle,
Wherein the lifting control step comprises:
When the first moving device and the second moving device detect the front wheel and the rear wheel of the vehicle, respectively, the lifting device turns to the front wheel and the rear wheel of the vehicle so as to be in contact with the front wheel and the rear wheel,
Stopping the operation of the brakes constituting the first moving device and the second moving device when a predetermined time has elapsed after the turning of the lifting device is started and restarting the operation of the brake when the turning of the lifting device is completed Wherein the robot control method comprises:
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CN109159769A (en) * 2018-08-09 2019-01-08 厦门市杜若科技有限公司 A kind of automatic bicycle parking based on video location, pick-up method and system
CN109386155A (en) * 2018-09-20 2019-02-26 同济大学 Nobody towards automated parking ground parks the alignment method of transfer robot
US20200180695A1 (en) * 2018-12-06 2020-06-11 Volkswagen Aktiengesellschaft Parking robot for a transportation vehicle and method for operating such a parking robot
CN111287525A (en) * 2018-12-06 2020-06-16 大众汽车有限公司 Parking robot for a motor vehicle and method for operating a parking robot
KR20210126336A (en) * 2020-04-10 2021-10-20 한국로봇융합연구원 Inspection system and method for undercarrage of vehicles for autonomy parking
KR102330242B1 (en) * 2021-06-30 2021-11-24 현대글로비스 주식회사 Apparatus and method for analyzing object information
KR102543883B1 (en) * 2022-05-18 2023-06-15 윤지현 Distributed robot-based object movement system and object movement method using the same
WO2023128500A1 (en) * 2021-12-29 2023-07-06 조민서 Holder of low-floor parking robot

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Publication number Priority date Publication date Assignee Title
CN109159769A (en) * 2018-08-09 2019-01-08 厦门市杜若科技有限公司 A kind of automatic bicycle parking based on video location, pick-up method and system
CN109386155A (en) * 2018-09-20 2019-02-26 同济大学 Nobody towards automated parking ground parks the alignment method of transfer robot
US20200180695A1 (en) * 2018-12-06 2020-06-11 Volkswagen Aktiengesellschaft Parking robot for a transportation vehicle and method for operating such a parking robot
CN111287525A (en) * 2018-12-06 2020-06-16 大众汽车有限公司 Parking robot for a motor vehicle and method for operating a parking robot
US11312415B2 (en) 2018-12-06 2022-04-26 Volkswagen Aktiengesellschaft Parking robot for a transportation vehicle with at least two axles and method for operating a parking robot
KR20210126336A (en) * 2020-04-10 2021-10-20 한국로봇융합연구원 Inspection system and method for undercarrage of vehicles for autonomy parking
KR102346573B1 (en) * 2020-04-10 2021-12-31 한국로봇융합연구원 Inspection system and method for undercarrage of vehicles for autonomy parking
KR102330242B1 (en) * 2021-06-30 2021-11-24 현대글로비스 주식회사 Apparatus and method for analyzing object information
WO2023128500A1 (en) * 2021-12-29 2023-07-06 조민서 Holder of low-floor parking robot
KR102543883B1 (en) * 2022-05-18 2023-06-15 윤지현 Distributed robot-based object movement system and object movement method using the same

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