CN106760799A - A kind of intelligent sliding car System and method for - Google Patents
A kind of intelligent sliding car System and method for Download PDFInfo
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- CN106760799A CN106760799A CN201710040398.5A CN201710040398A CN106760799A CN 106760799 A CN106760799 A CN 106760799A CN 201710040398 A CN201710040398 A CN 201710040398A CN 106760799 A CN106760799 A CN 106760799A
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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
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
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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
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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
- E04H6/424—Positioning devices
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention belongs to technical field of intelligent equipment, there is provided a kind of intelligent sliding car System and method for.In the present invention, include the intelligent sliding car systems of four independent shifting car devices by using, so that when one of shifting car device is that master control moves car device, the master control moves car device and target vehicle is moved into target parking stall according to four shifting car device collaborations of car request control are moved, realize intelligent sliding car, and accurate dispensing when further increasing parking efficiency and parking, solve the problems, such as that mode that existing artificial driving vehicle stopped has parking efficiency low and easily because not resting in suitable parking spot influence other normal vehicle operations or park.
Description
Technical field
The invention belongs to technical field of intelligent equipment, more particularly to a kind of intelligent sliding car System and method for.
Background technology
With the improvement of people ' s living standards, increasing people starts to possess one's own vehicle, so causes car
Quantity constantly increases.Inevitably, increasing with various types of vehicles quantity, when people are carried out by the artificial vehicle that drives
During parking inconvenience easily is brought to urban transportation and parked vehicles, for example, because of the personal driving technology level of driver
Difference causes to stop low, parking stall the waste of efficiency and when vehicle is not accommodated to suitable place to other vehicles
Normally travel or park the influence for causing the problems such as.
In sum, it is low and easy because not stopping to there is parking efficiency in the mode that existing artificial driving vehicle is stopped
Other normal vehicle operations or the problem parked are influenceed in suitable parking spot.
The content of the invention
It is an object of the invention to provide a kind of intelligent sliding car System and method for, it is intended to solve existing artificial driving vehicle
The mode stopped is low in the presence of parking efficiency and easily influences other vehicles normal because not resting in suitable parking spot
The problem for travelling or parking.
The present invention is achieved in that a kind of intelligent sliding car system, including four independent shifting car devices, to target carriage
When carrying out shifting car, a shifting car device and three shifting car devices in four shiftings car device are respectively master control and move car device
Car device is moved with from control；
The shifting car that the master control shifting car device sends according to user asks to move the transmission control of car device from control described in three
Instruction；The car that moves asks to include the vehicle position information and parking space information corresponding to target vehicle；
The master control moved and be moved to and the car according to the control instruction from control shifting car device described in car device and three
The corresponding position of positional information, and the target vehicle is identified, car device is moved by recognition result from control described in three
Feed back to the master control and move car device；
The master control moves car device and generates lifting positional information according to the recognition result, and by the lifting positional information
Distribution moves car device to described in three from control；
The master control moved and be moved to accordingly according to the lifting positional information from control shifting car device described in car device and three
Lifting position at, and determine the lifting strong point of the target vehicle, moving car device from control described in three will determine that result is anti-
It is fed to the master control and moves car device；
The master control moves car device and is lifted from control shifting car device conjunction with which according to the determination output control three
The target vehicle, and mobile route is calculated with the parking space information according to the vehicle position information, and according to the movement
Described in coordinates measurement movement directive to three car device is moved from control；
The master control to be moved and move car device according to the movement directive collaboration movement mesh from control described in car device and three
Mark vehicle, and the distance and bearing detection of detection of obstacles and target parking stall is carried out in moving process, moved from control described in three
Car device moves car device feedback testing result to the master control, so that the master control moves barrier letter of the car device according to feedback
Breath, range information and azimuth information correct the mobile route, and when the target vehicle reaches the target parking stall,
Car device is moved described in three from control to be fed back to up to information to master control shifting car device；
The master control shifting car device is filled according to arrival information generation vehicle placement instruction to three from control shifting car
Put；
The master control is moved to be placed according to the vehicle from control shifting car device described in car device and three and instructs collaboration to put down institute
Berth is returned to after stating target vehicle.
Another object of the present invention also resides in a kind of intelligent sliding car method based on above-mentioned intelligent sliding car system of offer, described
Intelligent sliding car method includes：
The shifting car that the master control shifting car device sends according to user asks to move the transmission control of car device from control described in three
Instruction；The car that moves asks to include the vehicle position information and parking space information corresponding to target vehicle；
The master control moved and be moved to and the car according to the control instruction from control shifting car device described in car device and three
The corresponding position of positional information, and the target vehicle is identified, car device is moved by recognition result from control described in three
Feed back to the master control and move car device；
The master control moves car device and generates lifting positional information according to the recognition result, and by the lifting positional information
Distribution moves car device to described in three from control；
The master control moved and be moved to accordingly according to the lifting positional information from control shifting car device described in car device and three
Lifting position at, and determine the lifting strong point of the target vehicle, moving car device from control described in three will determine that result is anti-
It is fed to the master control and moves car device；
The master control moves car device and is lifted from control shifting car device conjunction with which according to the determination output control three
The target vehicle, and mobile route is calculated with the parking space information according to the vehicle position information, and according to the movement
Described in coordinates measurement movement directive to three car device is moved from control；
The master control to be moved and move car device according to the movement directive collaboration movement mesh from control described in car device and three
Mark vehicle, and the distance and bearing detection of detection of obstacles and target parking stall is carried out in moving process, moved from control described in three
Car device moves car device feedback testing result to the master control, so that the master control moves barrier letter of the car device according to feedback
Breath, range information and azimuth information correct the mobile route, and when the target vehicle reaches the target parking stall,
Car device is moved described in three from control to be fed back to up to information to master control shifting car device；
The master control shifting car device is filled according to arrival information generation vehicle placement instruction to three from control shifting car
Put；
The master control is moved to be placed according to the vehicle from control shifting car device described in car device and three and instructs collaboration to put down institute
Berth is returned to after stating target vehicle.
In the present invention, the intelligent sliding car systems of four independent shifting car devices are included by using so that when wherein one
When individual shifting car device is master control shifting car device, the master control moves car device and is cooperateed with mesh according to car request four shifting car devices of control are moved
Mark vehicle is moved to target parking stall, realizes intelligent sliding car, and accurate dispensing when further increasing parking efficiency and stopping,
Solving the mode that existing artificial driving vehicle stopped, to there is parking efficiency low and easy suitably stop because not resting in
Truck position and influence other normal vehicle operations or the problem parked.
Brief description of the drawings
Fig. 1 is the modular structure schematic diagram of the intelligent sliding car system that one embodiment of the invention is provided；
Fig. 2 is a modular structure schematic diagram for shifting car device in intelligent sliding car system shown in Fig. 1；
Fig. 3 is the structural representation of target vehicle in the intelligent sliding car system that one embodiment of the invention is provided；
Fig. 4 is an overlooking the structure diagram for shifting car device in intelligent sliding car system shown in Fig. 1；
Fig. 5 is the schematic flow sheet of the intelligent sliding car method that one embodiment of the invention is provided.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Realization of the invention is described in detail below in conjunction with specific accompanying drawing：
Fig. 1 shows the modular structure of the intelligent sliding car system 1 that one embodiment of the invention is provided, for convenience of description,
The part related to the embodiment of the present invention is illustrate only, details are as follows：
As shown in figure 1, the intelligent sliding car system 1 that is provided of the embodiment of the present invention include four independent shifting car devices 10,
11st, 12 and 13, and when shifting car is carried out to target vehicle, a device in four shifting car devices 10,11,12 and 13
Master control shifting car device is respectively with three shifting car devices and move car device from control；It should be noted that moving car in the present embodiment
Device 10 moves car device and shifting car device 11,12 and 13 for three illustrate from as a example by control shifting car device for master control, and
In other embodiments, moving car device 11,12 and 13 can also move car device as master control.
Wherein, master control move car device 10 according to the shifting car that user sends ask to three from control move car device 11,12 and
13 send control instruction；Car is moved to ask to include the vehicle position information and parking space information corresponding to target vehicle.
Master control moves car device 10 and three are moved car device 11,12 and 13 and are moved to and vehicle position according to control instruction from control
Confidence ceases corresponding position, and target vehicle is identified, and three anti-by recognition result from control shifting car device 11,12 and 13
It is fed to master control and moves car device 10.
Master control moves car device 10 and generates lifting positional information according to recognition result, and lifting positional information is distributed to three
Car device 11,12 and 13 is moved from control.
Master control moves car device 10 and three are moved car device 11,12 and 13 and are moved to accordingly according to lifting positional information from control
Lifting position at, and determine the lifting strong point of target vehicle, three are moved car device 11,12 and 13 and will determine result from control
Feed back to master control and move car device 10.
Master control moves car device 10 and is lifted from control shifting car device 11,12 and 13 conjunction with which for three according to determination output control
Target vehicle, and mobile route is calculated according to vehicle position information and parking space information, and movement directive is generated according to mobile route
Car device 11,12 and 13 is moved to three from control.
Master control moves car device 10 and three are moved car device 11,12 and 13 according to the mobile target carriage of movement directive collaboration from control
, and the distance and bearing detection of detection of obstacles and target parking stall is carried out in moving process, three are moved car device from control
11st, 12 and 13 the feedback testing result of car device 10 is moved to master control, so that master control moves barrier letter of the car device 10 according to feedback
Breath, range information and azimuth information corrigendum mobile route, and when target vehicle reaches target parking stall, three are moved car from control
Device 11,12 and 13 moves car device 10 and feeds back to up to information to master control.
Master control move car device 10 according to the information of arrival generation vehicle place instruction to three from control move car device 11,12 and
13。
Master control moves car device 10 and three are moved car device 11,12 and 13 and put down mesh according to vehicle placement instruction collaboration from control
Berth is returned to after mark vehicle.
It is worth noting that, in embodiments of the present invention, four shifting car devices 10,11,12 and 13 can be by excellent
It is first numbering, or not by numbering, when four shifting car devices 10,11,12 and 13 are by preferential numbering, the volume
Number process can be operated by Background control, it is also possible to moved car device by master control and operate, and master control shifting car device also can be straight by backstage
Connect definition, or four shifting car devices 10,11,12 and 13 determine by competition.
In embodiments of the present invention, any one in four shifting car devices in the intelligent sliding car system moves car device all
Car device can be moved as master control control other three shifting car devices, and when master control moves car device generation master control failure, can
The function of realizing master control is substituted by other three shifting car devices, if additionally, any one moves car device breaks down, can
The failure is removed from marshalling and moves car device, add a new fault-free to move car device to replace failure shifting car device, without
As for causing entirely to move car system and cannot use, and then cause intelligent sliding car system of the invention compared to existing intelligent sliding car
System reliability is high, flexibility is strong and easy-maintaining.
Additionally, intelligent sliding car system is constituted using four shifting car devices, compared to existing using a shifting car for entirety
For plate carries out shifting car to vehicle, four shifting car devices can be moved flexibly, avoid causing vehicle during shifting car with this
Damage, and substantially reduce shifting the car time.
Further, each move car device can by image recognition technology identify the lifting position of target vehicle with
And the lifting strong point, and in vehicle lifting strong point lifting vehicle, and each moves car device and can individually support vehicle
One lifting strong point, for it is compared to existing intelligent sliding car system, each lifting position of vehicle only needs to one
Car device is moved, without using two shifting car device collective effects, the number for moving car device is reduced, cost is reduced；This
Outward, because the lifting strong point is located at by the vehicle body of shifting vehicle, its compared to existing intelligent sliding car system, without using two
Moving car device carries out collective effect to wheel tire to realize the purpose of lifting vehicle, so as to avoid that vehicle tyre is caused to damage.
Further, Fig. 2 shows a modular structure for shifting car device in the intelligence system system that one embodiment of the invention is provided,
For convenience of description, the part related to the embodiment of the present invention is illustrate only, details are as follows：
Firstly, it is necessary to explanation, in embodiments of the present invention four structure phases of shifting car device 10,11,12 and 13
Together.
Wherein, each moves car device includes main control module 100, subordinate control module 101, communication module 102, vision mould
Block 103, power module 104, locating module 105, lifting module 106 and motion module 107.
Power module 104 is used to be powered to move car device, and the power module 104 is chargeable；In the present embodiment, adopt
With chargeable power module 104 as the electric supply installation for moving car device so that moving car device can in the case of not enough power supply
Charged to berth.
When the shifting car device belonging to main control module 100 is that master control moves car device 10, mould is controlled centered on main control module 100
Block, for by communication module 102 receive move car ask and subordinate control module 101 feed back recognition result, determine result,
Testing result and reach information, and generate control instruction and lifting positional information, calculate mobile route, corrigendum mobile route with
And generation movement directive is placed instruction and sends corresponding control to subordinate control module 101 by communication module 102 with vehicle
Instruction, lifting positional information, movement directive and vehicle place instruction；When the shifting car device belonging to main control module 100 is non-master
When control moves car device 11,12 and 13, main control module 100 is used for by the state of the listening center control module of communication module 102；
Communication module 102 is used in user and four shifting car devices 10, between 11,12 and 13, and four shifting cars dresses
Put and communication connection is set up between 10,11,12 and 13；
Subordinate control module 101 is used to receive the control instruction of Central Control Module transmission, lifting positional information, mobile life
Order and vehicle place instruction, and place instruction generation phase according to control instruction, lifting positional information, movement directive and vehicle
The control message answered；
Locating module 105 be used for the control message that is sent according to subordinate control module 101 to move car device 10,11,12 with
And 13 position is positioned, and the positional information of car device 10,11,12 and 13 is moved to the feedback of subordinate control module 101；
Vision module 103 be used for according to subordinate control module 101 send control message to target vehicle, target parking stall with
And the barrier moved in car device moving process is identified, and recognition result is fed back into center control by communication module 102
Molding block, and recognition result is fed back into subordinate control module 101；
Lifting module 106 be used for according to subordinate control module 101 send control message lifting with put down target vehicle；
The control message control that motion module 107 is used to be sent according to subordinate control module 101 moves the movement of car device.
Further, as one embodiment of the present invention, 103 pairs of target vehicles of vision module carry out image knowledge
Not, to obtain the recognition result, and the obstacle information is obtained by image recognition.
Further, as one embodiment of the present invention, recognition result includes vehicle identity information, the car of target vehicle
Frame information and wheel position information.
Further, as one embodiment of the present invention, master control moves car device 10 according to vehicle frame information and wheel
Positional information generates lifting positional information.
Further, as one embodiment of the present invention, parking space information includes four positional informations, four positional informations
It is respectively used to show four positions on summit of target parking stall.
It should be noted that in the present embodiment, because parking space information includes four positional informations, and four positions
Information is respectively used to show four positions on summit of target parking stall, therefore, when center main control module is according to parking space information and car
During positional information calculation mobile route, four mobile routes can be calculated according to four positional informations and vehicle position information,
And will be sent into the subordinate control module 101 for moving car device 10,11,12 and 13 after four mobile route distribution.
Further, as one embodiment of the present invention, such as figure motion module 107 includes power-jdriven gear, balance
Control device and telecontrol equipment.
Wherein, telecontrol equipment is connected with power-jdriven gear, power-jdriven gear and balance control device with subordinate control
Molding block is connected.
Specifically, the control information that balance control module sends according to subordinate control module controls the flat of lifting robot
Weighing apparatus, the control information control telecontrol equipment that power-jdriven gear sends according to subordinate control module is moved accordingly.
Further, as one embodiment of the present invention, lifting module 106 can be by the lifting machine with jack function
Structure is realized.
Specifically, being provided the present invention by taking the shifting car device shown in intelligent sliding car system and Fig. 2 shown in Fig. 1 as an example below
The operation principle of intelligent sliding car system 1 illustrate, details are as follows：
Firstly, it is necessary to explanation, in the present embodiment, it is that master control moves car device to move car device 10, moves car device 11,12
And 13 be from control move car device.
After the shifting car that master control moves the reception user's transmission of communication module 102 that car device 10 passes through its inside is asked, the master
The center main control module that control is moved inside car device 10 generates control instruction according to car solicited message is moved, and by communication module 102
Control instruction is sent to the subordinate control module 101 for moving car device 10,11,12 and 13；Move car device 10,11,12 and
13 subordinate control module 101 generates location control message control locating module 105 and works according to control instruction, and according to control
Instruction generation recognizes control message to vision module 103；Locating module 105 obtained according to location control message move car device 10,
11st, 12 and 13 positional information, and the positional information of car device 10,11,12 and 13 will be moved by subordinate control module 101
Sent to center main control module with communication module 102；Vision module 103 obtains Obstacle Position letter according to identification control message
Breath, and obstacle position information is sent to center main control module by communication module 102；Center main control module is according to barrier
The positional information generation of positional information, the vehicle position information of target vehicle and shifting car device 10,11,12 and 13 is corresponding
Routing information, and routing information is sent to the subordinate control module 101 of each shifting car device 10,11,12 and 13；Move car dress
The subordinate control module 101 for putting 10,11,12 and 13 controls motion module 107 to move according to routing information, will move car device
10th, 11,12 and 13 position corresponding with vehicle position information is moved to.
After shifting car device 10,11,12 and 13 moves to position corresponding with vehicle position information, shifting car device 10,
11st, the 12 and 13 control vision module 103 of subordinate control module 101 is identified to target vehicle；Vision module 103 will be known
Other result is sent to center main control module by communication module 102, and center main control module is given birth to according to recognition result and parking space information
Into lifting positional information, and lifting positional information is sent to the subordinate control module of each shifting car device 10,11,12 and 13
101；The subordinate control module 101 for moving car device 10,11,12 and 13 controls motion module 107 to transport according to lifting positional information
It is dynamic, and then cause that moving car device 10,11,12 and 13 moves to position a1, a2, a3 and a4 corresponding with lifting positional information
(refer to Fig. 3), the control vision module 103 of subordinate control module 101 of this time shift car device 10,11,12 and 13 is right again
Target vehicle is identified, and to determine the lifting strong point of target vehicle, and will determine that result feeds back to center main control module, in
Heart main control module is according to the console rising mould of subordinate control module 101 determined in output control shifting car device 10,11,12 and 13
Block 106 is worked, and target vehicle is lifted to cooperate with, and calculates mobile route according to vehicle position information and parking space information generation,
And mobile route is sent to the subordinate control module 101 for moving car device 10,11,12 and 13 by communication module 101, move car
The control of subordinate control module 101 motion module 107 of device 10,11,12 and 13 moves target vehicle according to mobile route
To target parking stall, while in moving process, the control vision module 103 of subordinate control module 101 carries out detection of obstacles and mesh
The distance and bearing detection of parking stall is marked, and testing result is fed back into Central Control Module, Central Control Module is according to feedback
Obstacle information, range information and azimuth information corrigendum mobile route.
When target vehicle reaches target parking stall, the subordinate control module 101 of shifting car device 10,11,12 and 13 is in
Heart control module is fed back to up to information, and controls vision module 103 to be identified target parking stall, and when parking stall recognition result
During with target parking stall information matches, match information is sent to center main control module, center main control module is according to match information and arrives
Instruction is placed up to information generation vehicle, and vehicle is placed into instruction and sent to the subordinate control for moving car device 10,11,12 and 13
Module 101, the subordinate control module 101 for moving car device 10,11,12 and 13 places instruction console liter module according to the vehicle
Target vehicle is put down in 106 collaborations, and controls motion module 107 to move after target vehicle is put down so that move car device 10,11,
12 and 13 return berths wait next task and charge.
Further, Fig. 4 shows the plan structure of the shifting car device that one embodiment of the invention is provided, for the ease of saying
It is bright, the part related to the embodiment of the present invention is illustrate only, details are as follows：
As shown in figure 4, the shifting car device that the embodiment of the present invention is provided includes moving vehicle main body 40, at least one position sensing
Device 41 (in figure as a example by two), at least one camera 42 (in figure as a example by two), at least one charging device 43 are (in figure
As a example by two), two wheels 44, jack 45, communication module (not shown) and control module (not shown)s.Its
In, move the left side and right side of vehicle main body 40 has a wheel 44 respectively, and camera 42 is located at the both sides folder for moving vehicle main body 40
At angle, position sensor 41 and charging device 43 are set along both sides relative in vehicle main body 40 are moved, and jack 45 is located at and moves car owner
The center of body 40.
Further, Fig. 2 and Fig. 4 is please also refer to, camera 43 is the vision module moved in car device shown in Fig. 2
103, position sensor 41 is the locating module 105 moved in car device shown in Fig. 2, and charging device 43 is the shifting car shown in Fig. 2
Power module 104 in device, wheel 44 is the telecontrol equipment in the motion module 107 moved in car device shown in Fig. 2, very heavy
Top 45 is the lifting module 106 moved in car device shown in Fig. 2.
It should be noted that in embodiments of the present invention, because the shifting car device shown in Fig. 4 is substantially shown in Fig. 2
The entity structure of car device is moved, therefore, the course of work and the process for moving car device shown in Fig. 2 of the shifting car device shown in Fig. 4
It is identical, the associated description of Fig. 2 is specifically referred to, here is omitted.
Further, what Fig. 5 showed the intelligent sliding car method that one embodiment of the invention is put forward realizes flow, for the ease of
Illustrate, illustrate only the part related to the embodiment of the present invention, details are as follows：
As shown in figure 5, the intelligent sliding car method that the embodiment of the present invention is provided is based on the intelligent sliding car system shown in Fig. 1
1 realization, specifically：
In step s 50, the shifting car that master control shifting car device sends according to user asks to move the transmission of car device from control to three
Control instruction；Car is moved to ask to include the vehicle position information and parking space information corresponding to target vehicle.
In step s 51, master control moves car device and three are moved car device and are moved to and vehicle position according to control instruction from control
Confidence ceases corresponding position, and target vehicle is identified, and three are moved car device and recognition result is fed back into master control shifting from control
Car device.
In step S52, master control moves car device and generates lifting positional information according to recognition result, and by lifting positional information
Distribution moves car device to three from control.
In step S53, master control moves car device and three are moved car device and are moved to accordingly according to lifting positional information from control
Lifting position at, and determine the lifting strong point of target vehicle, three are moved car device and will determine that result feeds back to master control from control
Move car device.
In step S54, master control moves car device and is lifted from control shifting car device conjunction with which for three according to determination output control
Target vehicle, and mobile route is calculated according to vehicle position information and parking space information, and movement directive is generated according to mobile route
Car device is moved to three from control.
In step S55, master control moves car device and three are moved car device according to the mobile target carriage of movement directive collaboration from control
, and the distance and bearing detection of detection of obstacles and target parking stall is carried out in moving process, three from control move car device to
Master control moves car device feedback testing result, so that master control moves car device according to the obstacle information, range information that feed back and side
Position information corrigendum mobile route, and when target vehicle reaches target parking stall, three are moved car device and move car dress to master control from control
Put and feed back to up to information.
In step S56, master control moves car device and moves car dress to three from control according to the generation vehicle placement instruction of the information of arrival
Put.
In step S57, master control moves car device and three are moved car device and put down mesh according to vehicle placement instruction collaboration from control
Berth is returned to after mark vehicle.
It should be noted that in embodiments of the present invention, because intelligent sliding car method is based on the intelligent sliding car shown in Fig. 1
What system 1 was realized, the specific work process of the intelligent sliding car method provided accordingly, with respect to the embodiment of the present invention refers to Fig. 1
The course of work of the shifting car device shown in shown intelligent sliding car system and Fig. 2 to Fig. 4, here is omitted.
In the present invention, the intelligent sliding car systems of four independent shifting car devices are included by using so that when wherein one
When individual shifting car device is master control shifting car device, the master control moves car device and is cooperateed with mesh according to car request four shifting car devices of control are moved
Mark vehicle is moved to target parking stall, realizes intelligent sliding car, and accurate dispensing when further increasing parking efficiency and stopping,
Solving the mode that existing artificial driving vehicle stopped, to there is parking efficiency low and easy suitably stop because not resting in
Truck position and influence other normal vehicle operations or the problem parked.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (9)
1. a kind of intelligent sliding car system, it is characterised in that the intelligent sliding car system includes four independent shifting car devices, right
When target vehicle carries out shifting car, a shifting car device and three shifting car devices in four shiftings car device are respectively master control shifting
Car device and from control move car device；
The shifting car that the master control shifting car device sends according to user asks to move car device transmission control instruction from control described in three；
The car that moves asks to include the vehicle position information and parking space information corresponding to target vehicle；
The master control moved and be moved to according to the control instruction and vehicle position from control shifting car device described in car device and three
Confidence ceases corresponding position, and the target vehicle is identified, and moves car device from control described in three and feeds back recognition result
Car device is moved to the master control；
The master control moves car device and generates lifting positional information according to the recognition result, and the lifting positional information is distributed
To described in three car device is moved from control；
The master control to be moved and be moved to corresponding lift according to the lifting positional information from control shifting car device described in car device and three
Rise at position, and determine the lifting strong point of the target vehicle, moving car device from control described in three will determine that result feeds back to
The master control moves car device；
The master control moves car device and is moved described in car device conjunction with which lifts from control according to the determination output control three
Target vehicle, and mobile route is calculated with the parking space information according to the vehicle position information, and according to the mobile route
Described in generation movement directive to three car device is moved from control；
The master control to be moved and move car device according to the movement directive collaboration movement target carriage from control described in car device and three
, and the distance and bearing detection of detection of obstacles and target parking stall is carried out in moving process, move car dress from control described in three
Put and move car device feedback testing result to the master control, so as to the master control move car device according to the obstacle information of feedback, away from
The mobile route is corrected from information and azimuth information, and when the target vehicle reaches the target parking stall, three
It is described to be fed back to up to information to master control shifting car device from control shifting car device；
The master control moves car device and moves car device from control according to arrival information generation vehicle placement instruction to three；
The master control is moved to be placed according to the vehicle from control shifting car device described in car device and three and instructs collaboration to put down the mesh
Berth is returned to after mark vehicle.
2. intelligent sliding car system according to claim 1, it is characterised in that the structure of four shiftings car device is identical,
And each moves car device and includes main control module, subordinate control module, communication module, vision module, power module, positioning mould
Block, lifting module and motion module；
The power module is used to be powered for the shifting car device；
When the shifting car device belonging to the main control module is that master control moves car device, control module centered on the main control module,
For receiving the recognition result, the institute for moving car request and subordinate control module feedback by the communication module
State determination result, the testing result and the arrival information, and generate the control instruction and the lifting positional information,
The mobile route is calculated, the mobile route is corrected and generates the movement directive and is placed instruction with the vehicle and is passed through
The communication module sends corresponding control instruction, the lifting positional information, the mobile life to the subordinate control module
Order and the vehicle place instruction；When the shifting car device belonging to the main control module is that non-master control moves car device, the master
Control module is used to be monitored by the communication module state of the Central Control Module；
The communication module is used between the user and four shiftings car device, and between four shiftings car device
Set up communication connection；
The subordinate control module be used to receiving the control instruction that the Central Control Module sends, the lifting positional information,
The movement directive and the vehicle place instruction, and according to control instruction, the lifting positional information, the movement directive
And the vehicle places the instruction corresponding control message of generation；
The control message that the locating module is used to be sent according to the subordinate control module is entered to the position of the shifting car device
Row positioning, and to the subordinate control module feedback positional information for moving car device；
The vision module is used for the control message according to subordinate control module transmission to the target vehicle, the target
Barrier in parking stall and the shifting car device moving process is identified, and recognition result is anti-by the communication module
The Central Control Module is fed to, and the recognition result is fed back into the subordinate control module；
The lifting module be used for according to the subordinate control module send control message lifting with put down the target vehicle；
The motion module is used for the control message control shifting car device movement sent according to the subordinate control module.
3. intelligent sliding car system according to claim 2, it is characterised in that the vision module enters to the target vehicle
Row image recognition, to obtain the recognition result, and obtains the obstacle information by image recognition.
4. the intelligent sliding car system according to Claims 2 or 3, it is characterised in that the recognition result includes the target
The vehicle identity information of vehicle, vehicle frame information and wheel position information.
5. intelligent sliding car system according to claim 4, it is characterised in that the master control moves car device according to the vehicle
Frame information generates the lifting positional information with the wheel position information.
6. intelligent sliding car system according to claim 1, it is characterised in that the parking space information includes four positions letters
Breath, four positional informations are respectively used to show four positions on summit of the target parking stall.
7. intelligent sliding car system according to claim 6, it is characterised in that the parking space information includes 2 D code information
And/or bar code information.
8. intelligent sliding car system according to claim 2, it is characterised in that the motion module includes driven by power dress
Put, balance control device and telecontrol equipment；
The telecontrol equipment is connected with the power-jdriven gear, the power-jdriven gear and the balance control device with
The subordinate control module connection；
The control information that the balance control module sends according to the subordinate control module controls the flat of the lifting robot
Weighing apparatus, the control information control telecontrol equipment that the power-jdriven gear sends according to the subordinate control module is carried out accordingly
Motion.
9. a kind of intelligent sliding car method of the intelligent sliding car system based on described in claim 1, it is characterised in that the intelligent sliding
Car method includes：
The shifting car that the master control shifting car device sends according to user asks to move car device transmission control instruction from control described in three；
The car that moves asks to include the vehicle position information and parking space information corresponding to target vehicle；
The master control moved and be moved to according to the control instruction and vehicle position from control shifting car device described in car device and three
Confidence ceases corresponding position, and the target vehicle is identified, and moves car device from control described in three and feeds back recognition result
Car device is moved to the master control；
The master control moves car device and generates lifting positional information according to the recognition result, and the lifting positional information is distributed
To described in three car device is moved from control；
The master control to be moved and be moved to corresponding lift according to the lifting positional information from control shifting car device described in car device and three
Rise at position, and determine the lifting strong point of the target vehicle, moving car device from control described in three will determine that result feeds back to
The master control moves car device；
The master control moves car device and is moved described in car device conjunction with which lifts from control according to the determination output control three
Target vehicle, and mobile route is calculated with the parking space information according to the vehicle position information, and according to the mobile route
Described in generation movement directive to three car device is moved from control；
The master control to be moved and move car device according to the movement directive collaboration movement target carriage from control described in car device and three
, and the distance and bearing detection of detection of obstacles and target parking stall is carried out in moving process, move car dress from control described in three
Put and move car device feedback testing result to the master control, so as to the master control move car device according to the obstacle information of feedback, away from
The mobile route is corrected from information and azimuth information, and when the target vehicle reaches the target parking stall, three
It is described to be fed back to up to information to master control shifting car device from control shifting car device；
The master control moves car device and moves car device from control according to arrival information generation vehicle placement instruction to three；
The master control is moved to be placed according to the vehicle from control shifting car device described in car device and three and instructs collaboration to put down the mesh
Berth is returned to after mark vehicle.
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