KR20240064278A - System for controlling automatic parking robots for rapid entry and exit - Google Patents

Abstract

The present invention can automatically calculate the optimal exit path for exiting vehicles based on the entrance and exit positions in a parking area where multiple vehicles are parked, and assign multiple automatic parking robots to the corresponding exit paths to secure the exit path and ensure exit. It is about an automatic parking robot control system for quick entry and exit of a car that allows the process to proceed.

Description

Automatic parking robot control system for rapid entry and exit {SYSTEM FOR CONTROLLING AUTOMATIC PARKING ROBOTS FOR RAPID ENTRY AND EXIT}

The present invention relates to an automatic parking robot control system for quick entry and exit of a vehicle. More specifically, it is capable of automatically calculating the optimal exit path for an exit vehicle based on the entrance and exit location in a parking area where multiple vehicles are parked. This relates to an automatic parking robot control system for quick entry and exit of a vehicle that assigns the automatic parking robot to the corresponding exit path to secure the exit path and proceed with the exit.

As cars are becoming more popular, the use rate and penetration rate of cars are rapidly increasing every year, and along with the increase in the penetration rate of cars, the need for car-related facilities is also being considered important. In particular, the parking problem is mentioned as one of the important issues due to the increase in car use. In particular, as the spread of automobiles continues to increase and the number of households owning two or more cars increases, the challenge of securing parking spaces is reaching a more serious level.

As a way to solve this problem, various types of parking equipment that can efficiently provide parking space have been developed, and as one of them, a tower-type parking equipment is constructed and used on one side of a high-rise building.

Looking at the conventional tower-type parking facility, a technology is proposed that allows rapid entry and exit of vehicles by arranging multiple pallets up, down, left, and right. However, in the conventional tower-type parking facility, parking space is secured only on the left or right side of the same side as the vehicle elevator based on one floor, so when multiple vehicles are parked closely in multiple directions, a specific vehicle in the middle There was a problem of not being able to leave the car. In order to exit a specific vehicle in the middle, a vehicle elevator must be provided for each side or each type, but this has the problem of greatly increasing the construction cost of tower-type parking facilities and is inefficient in that multiple vehicle elevators are operated separately. It may have the problem of being very poor.

Korean Patent Publication No. 10-2005-0021067

In order to solve the above problems, the present invention can automatically calculate the optimal exit path for an exiting vehicle based on the entrance and exit location in a parking area where multiple vehicles are parked, and can automatically calculate the optimal exit path for an exiting vehicle and send a plurality of automatic parking robots to the corresponding exit path. The goal is to provide an automatic parking robot control system for rapid entry and exit of a vehicle that can secure an exit path and proceed with the exit by assigning the vehicle to the vehicle.

The automatic parking robot control system for quick entry and exit according to an embodiment of the present invention includes a plurality of automatic parking robots (110) that lift the vehicle from the bottom of the vehicle and then move it along a preset movement path to proceed with parking. A parking lot frame 120 provided with a plurality of parking areas for parking, a path for each automatic parking robot 110 to move, and an entrance and exit for the vehicle, and a parking position for each vehicle located in the parking area and each automatic parking robot ( 110) Determine the location of each vehicle, automatically calculate the exit path for the exit vehicle based on the entrance and exit location, and then control the plurality of automatic parking robots 110 based on the calculated exit path to ensure that the exit vehicle is It may include a control unit that allows the vehicle to be exited through the entrance and exit.

In one embodiment, each automatic parking robot 110 transmits the position value to the control unit in real time while moving along the travel path, and when the vehicle does not enter or exit, each automatic parking robot 110 You can wait at the above travel route.

In one embodiment, the travel path is formed in a U-shape along the edge of the parking area, and an entrance and exit may be provided on one side of the travel path.

In one embodiment, the control unit sets a parking area opposite to the entrance/exit location among a plurality of parking areas as an exit position, and sets coordinates on the x-axis and y-axis coordinate system for the remaining parking areas based on the exit location. A value can be assigned.

In one embodiment, the control unit may control the automatic parking robot 110 so that the vehicle is not parked at the parking location and remains empty.

In one embodiment, the control unit determines the coordinate value of the vehicle being taken out, sets a route for moving from the location of the vehicle to the location of the vehicle being taken out, and then selects one or more parked vehicles parked on the x-axis of the route. The automatic parking robot 110 can be used to secure an x-axis parking path by moving it to an empty space on the travel path.

In one embodiment, the control unit sets a circulation path that can circulate between the parking position of the vehicle being taken out and the taking-out position while the By moving the automatic parking robot 110 in a counterclockwise direction, the vehicle being pulled out can be moved to the parking location.

In one embodiment, the control unit may count all parked vehicles on the circulation path and then assign one or more automatic parking robots 110 to correspond to the counting results.

In one embodiment, as a result of determining the coordinate value of the vehicle being taken out, the controller determines the After setting, move all parked vehicles except the exit vehicle among the parked vehicles parked on the y-axis exit path to an empty space in the movement path using one or more automatic parking robots (110), and then move the automatic parking robot (110) ) can be used to allow the vehicle to be moved to the above-mentioned location.

In one embodiment, the control unit may count all parked vehicles on the y-axis parking path and then assign one or more automatic parking robots 110 to correspond to the counting results.

According to one aspect of the present invention, it is possible to automatically calculate the optimal exit path for an exiting vehicle based on the entrance/exit location in a parking area where multiple vehicles are parked, and assign a plurality of automatic parking robots to the corresponding exit path to exit the vehicle. It has the advantage of securing a route and proceeding with departure.

In particular, according to the present invention, it has the advantage of being able to quickly take out only a specific vehicle from among a large number of vehicles parked in a checkerboard format without any free space, with minimal movement and path.

In addition, more than 30% of the space per existing parking lot can be used as a space for vehicle parking, and this can be advantageous in that vehicle drivers do not have to search for empty spaces.

Figure 1 is a diagram schematically showing the configuration of an automatic parking robot control system 100 for rapid entry and exit of a vehicle according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating the overall process of controlling a plurality of automatic parking robots 110 in a sequential order in the control unit.
Figure 3 is a diagram illustrating a process in which the control unit controls a plurality of automatic parking robots 110 when the vehicle being pulled out is located on the left side of the parking location.
Figure 4 is a diagram illustrating a process in which the control unit controls a plurality of automatic parking robots 110 when the vehicle being taken out is located on the same y-axis as the taking-out position.
Figure 5 is a diagram illustrating a process in which the control unit controls a plurality of automatic parking robots 110 when the vehicle being pulled out is located on the right side of the parking location.

Below, preferred embodiments are presented to aid understanding of the present invention. However, the following examples are provided only to make the present invention easier to understand, and the content of the present invention is not limited by the examples.

Figure 1 is a diagram schematically showing the configuration of an automatic parking robot control system 100 for rapid entry and exit of a vehicle according to an embodiment of the present invention.

Looking at Figure 1, the automatic parking robot control system 100 for quick entry and exit according to an embodiment of the present invention may be largely composed of a plurality of automatic parking robots 110, a parking lot frame 120, and a control unit (not shown). there is.

The automatic parking robot 110 refers to an independent device that can move to the bottom of the vehicle and then lift the bottom of the vehicle, rather than a pallet used in a typical parking tower. At this time, the automatic parking robot 110 moves a number of vehicles parked in the parking area of the parking lot frame 120 horizontally or vertically. In particular, all vehicles parked on the exit path or circulation path set by the control unit It can be provided in multiple numbers so that parked vehicles can be moved simultaneously.

When the position of each automatic parking robot 110 moves, the position value is transmitted to the control unit in real time, and through this, the control unit can monitor the position of each automatic parking robot 110 in real time. In addition, when the entry and exit of the vehicle is not in progress, each automatic parking robot 110 is parked and waiting in an empty space in the movement path provided in the parking lot frame 120, which will be described later. The control process of the automatic parking robot 110 will be described later.

The parking lot frame 120 is provided with a parking area for vehicles to be parked, a path for each automatic parking robot 110 to move, and an entrance and exit for the vehicle.

The parking area can be divided into multiple areas for parking multiple vehicles, and can be arranged in multiple rows and multiple types in a checkerboard format.

The travel path may be formed in a U-shape along the edge of the parking area, and the entrance and exit may be provided on one side of the travel path. In particular, the entrance and exit are separated from the parking area with a travel road in between.

A plurality of automatic parking robots 110 in the moving path may also serve as a temporary parking space for parking vehicles moved by the automatic parking robot 110 to secure an exit path.

The control unit determines the parking position of each car located in the parking area and the position of each automatic parking robot (110), automatically calculates the exit path of the exiting vehicle based on the entrance and exit location provided in the parking lot frame (120), and then calculates the calculated It controls a plurality of automatic parking robots 110 based on the exit path to control vehicles to be exited through the entrance and exit. This will be looked at in more detail through FIGS. 2 to 5.

FIG. 2 is a diagram illustrating the overall process of controlling a plurality of automatic parking robots 110 in a sequential order in the control unit.

Referring to Figure 2, the control unit first acquires the position value of each automatic parking robot 110 and the position value of each parked vehicle in the parking area (S201). The control unit sets the parking area closest to the entrance/exit location among the parking areas as the exit location and assigns the exit location a coordinate value of (0,0) in the coordinate system. In addition, the control unit assigns coordinate values on the x- and y-axis coordinate systems to the remaining parking areas based on the parking location.

At this time, the control unit controls the automatic parking robot 110 so that the vehicle is maintained in an unparked and empty state so that the vehicle can be pulled out in the entrance/exit direction through the corresponding parking location.

If a specific vehicle needs to be taken out of the parking area, the control unit determines the coordinate value of the vehicle being taken out based on the entrance and exit location, and sets the optimal exit path to move the vehicle from the location of the vehicle to the exit location (S202 ).

In the process of setting such a departure route, the control unit determines whether the departure vehicle is located to the left of the departure location, on the same y-axis, or to the right of the departure location based on the x-axis coordinate value ( S203), the automatic parking robot 110 is controlled for each situation so that the vehicle is taken out through the entrance and exit (S204).

The control method of the automatic parking robot 110 for each situation is as follows.

Figure 3 is a diagram illustrating a process in which the control unit controls a plurality of automatic parking robots 110 when the vehicle being pulled out is located on the left side of the parking location.

Looking at Figure 3, the control unit determines the coordinate values (-2, 4) of the vehicle being taken out based on the coordinates of the taking-out position (0, 0), as shown in Figure 3 (a), and the coordinate values of the vehicle being taken out as shown in Figure 3 (b). Set the exit route to move from the location to the exit location. Afterwards, as shown in FIG. 3(c), the control unit determines the parked vehicles parked on the x-axis of the exit path to secure the exit path, and uses one or more automatic parking robots 110 as shown in FIG. The x-axis exit path is secured by moving the parked vehicles to an empty space on the travel route.

At this time, the drawing shows that the coordinate values of parked vehicles moved by one or more automatic parking robots 110 are moved by -1 on the It can be changed at any time depending on the location.

With the x-axis unloading path secured, the control unit sets a circular path that can circulate between the parking and unloading positions of the unloading vehicle, as shown in Figure 3(e), and operates on the corresponding circular path as shown in Figure 3(f). All parked vehicles are moved in a circular motion counterclockwise using one or more automatic parking robots 110, and then the exiting vehicles are completed through the entrance and exit as shown in FIG. 3(g).

This process may continue until the vehicle is moved to the exit location.

In this process, the control unit counts the number of all parked vehicles on the circular path. If a specific parking area on the circular path is empty, the control unit excludes the parking area and operates the automatic parking robot 110. Can be assigned.

Next, let's look at the situation when the vehicle being pulled out is located on the same y-axis as the vehicle taking out.

Figure 4 is a diagram illustrating a process in which the control unit controls a plurality of automatic parking robots 110 when the vehicle being taken out is located on the same y-axis as the taking-out position.

Looking at FIG. 4, the control unit determines the coordinate values (0,2) of the vehicle being taken out based on the coordinate values (0,0) of the location of the vehicle being taken out, as shown in FIG. 4(a). In this case, FIG. This means that the x-coordinate values of the positions are the same. In this case, the control unit sets a y-axis path for moving the vehicle from the location of the vehicle to the location, as shown in FIG. 4(b). Afterwards, as shown in Figure 4(c), the control unit determines the parked vehicles parked on the y-axis of the take-out route to secure the take-out route, and uses one or more automatic parking robots 110 as shown in Figure 4(d). The y-axis exit path is secured by moving the parked vehicles to an empty space on the travel route. At this time, the exiting vehicle is excluded from securing the y-axis exit route.

At this time, the drawing shows that the coordinate values of the parked vehicle moved by one or more automatic parking robots 110 are moved by -1 on the x-axis and -2 on the y-axis, but these movement figures are not set, and the vehicle being pulled out It can be changed at any time depending on the location.

With the y-axis vehicle extraction path secured, the control unit uses the automatic parking robot 110 to allow the vehicle to exit through the entrance and exit, as shown in FIG. 4(e).

Next, we will look at the situation when the exiting vehicle is located on the right side of the exiting location.

Figure 5 is a diagram illustrating a process in which the control unit controls a plurality of automatic parking robots 110 when the vehicle being pulled out is located on the right side of the parking location.

Looking at FIG. 5, the control unit determines the coordinate values (2,2) of the vehicle being taken out based on the coordinate values (0,0) of the taking-out position as shown in FIG. 5(a), and determines the location of the vehicle being taken out as shown in FIG. 5(b). Set the exit route to move to the exit location. Afterwards, as shown in FIG. 5(c), the control unit determines the parked vehicles parked on the x-axis of the exit path to secure the exit path, and uses one or more automatic parking robots 110 as shown in FIG. The x-axis exit route is secured by moving the parked vehicles to an empty space on the travel route.

At this time, the drawing shows that the coordinate values of parked vehicles moved by one or more automatic parking robots 110 are moved by 1 on the x-axis and -1 on the y-axis, but these movement figures are not fixed, and the It can change depending on location.

With the x-axis unloading path secured, the control unit sets a circular path that can circulate between the parking and unloading positions of the unloading vehicle, as shown in Figure 5(e), and on the circular path as shown in Figure 5(f). All parked vehicles are moved in a circular motion counterclockwise using one or more automatic parking robots 110, and then the exiting vehicles are completed through the entrance and exit as shown in FIG. 5(g).

This process may continue until the vehicle is moved to the exit location.

In this process, the control unit counts the number of all parked vehicles on the circular path. If a specific parking area on the circular path is empty, the control unit excludes the parking area and operates the automatic parking robot 110. Can be assigned.

As seen, the present invention can automatically calculate the optimal exit route for exiting vehicles based on the entrance and exit positions among a large number of vehicles parked tightly in a checkerboard format without any free space, and can quickly and accurately calculate only specific vehicles with the minimum amount of movement. You can have the advantage of being able to leave.

Although the present invention has been described above with reference to preferred embodiments, those skilled in the art may make various modifications and changes to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. You will understand that you can do it.

100: Automatic parking robot control system for quick entry and exit
110: Automatic parking robot
120: Parking lot frame

Claims (10)

A plurality of automatic parking robots 110 that lift the vehicle from the bottom of the vehicle and then move it along a preset movement path to enable parking;
A parking lot frame 120 provided with a parking area for parking a vehicle, a path for each automatic parking robot 110 to move, and an entrance and exit for the vehicle; and
The parking location of each vehicle located in the parking area and the location of each automatic parking robot 110 are identified, and the exit path of the exiting vehicle is automatically calculated based on the entrance and exit location, and then the plurality of vehicles are located based on the calculated exit path. An automatic parking robot control system for quick entry and exit of a vehicle, comprising a control unit that controls the automatic parking robot (110) to allow the vehicle to exit through the entrance and exit.
According to paragraph 1,
Each automatic parking robot 110 transmits the position value to the control unit in real time while moving along the movement path,
An automatic parking robot control system for quick entry and exit, characterized in that each automatic parking robot (110) waits in the movement path when the vehicle does not enter or exit.
According to paragraph 2,
The movement path is,
An automatic parking robot control system for quick entry and exit of a car, characterized in that it is formed in a U-shape along the edge of the parking area, and the entrance and exit is provided on one side of the travel path.
According to paragraph 1,
The control unit,
Among the parking areas, set the parking area opposite to the entrance/exit location as the exit location,
An automatic parking robot control system for rapid entry and exit of a vehicle, characterized in that coordinate values on the x- and y-axis coordinate systems are assigned to the remaining parking areas based on the exit location.
According to paragraph 4,
The control unit,
An automatic parking robot control system for rapid entry and exit of a vehicle, characterized in that the automatic parking robot (110) is controlled so that the vehicle is not parked at the exit location and remains empty.
According to paragraph 4,
The control unit,
Determine the coordinate value of the vehicle being taken out, set the take-out path to move from the location of the take-out vehicle to the said take-out location, and then use one or more automatic parking robots 110 to move the parked vehicle on the x-axis of the take-out path. An automatic parking robot control system for quick entry and exit of a vehicle, characterized in that the x-axis exit path is secured by moving to an empty space in the movement path.
According to clause 6,
The control unit,
With the x-axis parking path secured, a circular path that can circulate between the parking position of the vehicle being taken out and the parking location is set, and all parked vehicles parked on the circular path are connected to one or more automatic parking robots (110). An automatic parking robot control system for quick entry and exit of a vehicle, characterized in that the vehicle is moved to the exit location by moving it counterclockwise.
In clause 7,
The control unit,
An automatic parking robot control system for rapid entry and exit of a vehicle, characterized in that after counting all parked vehicles parked on the circulation path, one or more automatic parking robots (110) are assigned to correspond to the counting results.
According to clause 6,
The control unit,
As a result of determining the coordinate value of the vehicle being pulled out, if the x-coordinate value of the vehicle being taken out and the location of the vehicle being taken out are the same,
Set a y-axis take-out path to move the y-axis from the position of the take-out vehicle to the take-out position, and use one or more automatic parking robots (110) to set up all parked vehicles on the y-axis take-out path except for the take-out vehicle. An automatic parking robot control system for quick entry and exit of a vehicle, characterized in that the vehicle is moved to an empty space in the travel path using and then the vehicle is moved to the location of the vehicle being taken out using an automatic parking robot (110).
According to clause 9,
The control unit,
An automatic parking robot control system for quick entry and exit, characterized in that all parked vehicles parked on the y-axis exit path are counted and then one or more automatic parking robots (110) are assigned to correspond to the counting results.