CN108052108A - A kind of intelligent parking robot control system - Google Patents
A kind of intelligent parking robot control system Download PDFInfo
- Publication number
- CN108052108A CN108052108A CN201810130597.XA CN201810130597A CN108052108A CN 108052108 A CN108052108 A CN 108052108A CN 201810130597 A CN201810130597 A CN 201810130597A CN 108052108 A CN108052108 A CN 108052108A
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- microprocessor
- parking robot
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- 238000004891 communication Methods 0.000 claims abstract description 15
- 238000013500 data storage Methods 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 6
- 238000007726 management method Methods 0.000 claims description 4
- 238000011002 quantification Methods 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 235000011389 fruit/vegetable juice Nutrition 0.000 description 2
- 238000002372 labelling Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of intelligent parking robot control systems, it includes data acquisition module, RFID module, wireless communication module, data storage, microprocessor, power module, miniature frequency converter and maneuver autopilot module；The input terminal connection of the output terminal and microprocessor of data acquisition module and RFID module；Microprocessor is connected with each other with wireless communication module；The data output end of microprocessor and the input terminal of data storage connect；The output terminal of microprocessor is connected with the input terminal of miniature frequency converter；The output terminal of miniature frequency converter is connected with the input terminal of maneuver autopilot module；The power supply output terminal of power module is connected with the input terminal of microprocessor and miniature frequency converter；The information about power output terminal of power module and the input terminal of data acquisition module connect, to gather the information about power of power module.
Description
Technical field
The present invention relates to intelligent robot technology field more particularly to a kind of intelligent parking robot control systems.
Background technology
At present, with the rapid development of auto manufacturing of China and the car ownership for improving city of living standards of the people
It is more and more, therefore city parking problem is growing day by day；Parking is all to enter parking by driver's pilot steering vehicle now
, it finds parking stall and stops.It is big that this mode so that driver takes during parking lot and parking stall is found
The time of amount, and be also easy to stop the problems such as pick-up scrapes；Therefore how vehicle realized by intelligent parking robot
Intelligent stop to take be our present problems to be solved.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of intelligent parking robot control system, solutions
It has determined and has taken the substantial amounts of time during finding parking lot and parking stall existing for existing parking artificial at present, and be also easy to
Stop the problems such as pick-up scrapes.
The purpose of the present invention is what is be achieved through the following technical solutions：A kind of intelligent parking robot control system, it
Including data acquisition module, RFID module, wireless communication module, data storage, microprocessor, power module, miniature frequency conversion
Device and maneuver autopilot module；The input terminal connection of the output terminal and microprocessor of data acquisition module and RFID module；Microprocessor
Device is connected with each other with wireless communication module；The data output end of microprocessor and the input terminal of data storage connect；Microprocessor
The output terminal of device is connected with the input terminal of miniature frequency converter；The output terminal of miniature frequency converter connects with the input terminal of maneuver autopilot module
It connects；The power supply output terminal of power module is connected with the input terminal of microprocessor and miniature frequency converter；The information about power of power module
The input terminal of output terminal and data acquisition module connects, to gather the information about power of power module.
Preferably, data acquisition module includes the sensing detection list for gathering parking robot ambient data information
Member and the electric power detection unit for parking robot detection self electric quantity；Sense the output of detection unit and electric power detection unit
End is connected with the input terminal of microprocessor；The information about power output terminal of power module is connected with the input terminal of electric power detection unit.
Preferably, electric power detection unit includes detecting the electrical quantity sensor of parking robot in real time and for parking
Robot electric quantity carries out the electric quantity metering chip of management through quantification；The information about power output terminal of power module connects with electrical quantity sensor
It connects, the information about power of the power module collected is transferred to electric quantity metering chip by electrical quantity sensor.
Preferably, sensing detection unit includes position sensor, velocity sensor, laser sensor and infrared obstacle avoidance sensing
Device；The information collected is transferred to microprocessor by position sensor, velocity sensor, laser sensor and IR evading obstacle sensors
The input terminal of device.
Preferably, maneuver autopilot module includes servomotor, universal rotational axis and universal rotational wheel；Miniature frequency converter it is defeated
The input terminal of outlet and servomotor connects, Serve Motor Control connection universal rotational axis, is connected and installed on universal rotational axis
Universal rotational wheel.
Preferably, wireless communication module includes one or two kinds of in WiFi transmission units and ZigBee transmission units,
Realize that parking robot is interacted with the communication data at back-stage management center.
Preferably, RFID module includes the RFID electronic label of storage parking robot information and for reading the RFID
Electronic labeling information and the RFID reader for reading identification information of vehicles；RFID reader reads the letter of the RFID electronic label
Microprocessor is transferred to after breath and information of vehicles.
The beneficial effects of the invention are as follows：A kind of intelligent parking robot control system, can by intelligent parking robot
The problems such as helping car owner's Intelligent stop pick-up, and can avoiding scraping；Gather the position of robot in real time by multiple sensors
It puts, external environments data and the internal state data such as state of charge, the operation of robot is accurately controlled；When detecting
When electricity is less than some threshold value, robot goes to juice point to charge automatically, and can pass through communication and backstage
Administrative center carries out data interaction.
Description of the drawings
Fig. 1 is the principle assumption diagram of system；
Fig. 2 is the principle assumption diagram of data acquisition module.
Specific embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to
It is as described below.
As shown in Figure 1, a kind of intelligent parking robot control system, it includes data acquisition module, RFID module, wireless
Communication module, data storage, microprocessor, power module, miniature frequency converter and maneuver autopilot module；Data acquisition module and
The output terminal of RFID module and the input terminal of microprocessor connect；Microprocessor is connected with each other with wireless communication module；Microprocessor
The data output end of device and the input terminal of data storage connect；The output terminal of microprocessor and the input terminal of miniature frequency converter connect
It connects；The output terminal of miniature frequency converter is connected with the input terminal of maneuver autopilot module；The power supply output terminal and microprocessor of power module
Device is connected with the input terminal of miniature frequency converter；The information about power output terminal of power module and the input terminal of data acquisition module connect
It connects, to gather the information about power of power module.
As shown in Figure 2, it is preferable that data acquisition module includes gathering parking robot ambient data information
Sense detection unit and the electric power detection unit for parking robot detection self electric quantity；Sense detection unit and electric power detection
The output terminal of unit and the input terminal of microprocessor connect；The information about power output terminal of power module is defeated with electric power detection unit
Enter end connection.
Preferably, electric power detection unit includes detecting the electrical quantity sensor of parking robot in real time and for parking
Robot electric quantity carries out the electric quantity metering chip of management through quantification；The information about power output terminal of power module connects with electrical quantity sensor
It connects, the information about power of the power module collected is transferred to electric quantity metering chip by electrical quantity sensor.
Preferably, sensing detection unit includes position sensor, velocity sensor, laser sensor and infrared obstacle avoidance sensing
Device；The information collected is transferred to microprocessor by position sensor, velocity sensor, laser sensor and IR evading obstacle sensors
The input terminal of device, position sensor include linear position sensors and angular position sensor.
Preferably, maneuver autopilot module includes servomotor, universal rotational axis and universal rotational wheel；Miniature frequency converter it is defeated
The input terminal of outlet and servomotor connects, Serve Motor Control connection universal rotational axis, is connected and installed on universal rotational axis
Universal rotational wheel, universal rotational wheel at least four.
Preferably, wireless communication module includes one or two kinds of in WiFi transmission units and ZigBee transmission units,
Realize that parking robot is interacted with the communication data at back-stage management center.
Preferably, RFID module includes the RFID electronic label of storage parking robot information and for reading the RFID
Electronic labeling information and the RFID reader for reading identification information of vehicles；RFID reader reads the letter of the RFID electronic label
Microprocessor is transferred to after breath and information of vehicles.
Preferably, power module includes multiple accumulator groups being connected in parallel, and HLW8012 meters can be used in electric quantity metering chip
Chip is measured, SWM180CCT6-50 intelligent control chips can be used in microprocessor chip；The contour structures of parking robot can be used
Convenient for the rectangular parallelepiped structure that vehicle is stopped directly above, specific size is referred to the difference of private car type of vehicle
It is separately designed.
Preferably, the location of position sensor real-time perception robot in data acquisition module, velocity sensor
Detection robot moves ahead speed, and laser sensor and IR evading obstacle sensors mounted on surrounding gather robot peripheral ring in real time
Border information, RFID reader gathers the robot information stored in RFID electronic label and identification information of vehicles, by all information
It is transferred to microprocessor to be analyzed and processed, microprocessor controls universal turn of Serve Motor Control in real time according to the information received
Moving axis drives universal rotational wheel to move ahead and turn to, and microprocessor changes the output frequency of miniature frequency converter according to the information received
Rate, so as to change the frequency of servomotor input voltage, and then the speed that robot is controlled to advance；Electrical quantity sensor gathers in real time
The electricity data information of power module is transferred to electric quantity metering chip and is analyzed and processed, when electricity is less than pre-set electricity
During threshold value, microprocessor control robot arrives juice point and charges automatically.
The above is only the preferred embodiment of the present invention, it should be understood that the present invention is not limited to described herein
Form is not to be taken as the exclusion to other embodiment, and available for various other combinations, modification and environment, and can be at this
In the text contemplated scope, it is modified by the technology or knowledge of above-mentioned introduction or association area.And those skilled in the art institute into
Capable modifications and changes do not depart from the spirit and scope of the present invention, then all should be in the protection domain of appended claims of the present invention
It is interior.
Claims (7)
1. a kind of intelligent parking robot control system, it is characterised in that：It includes data acquisition module, RFID module, wireless
Communication module, data storage, microprocessor, power module, miniature frequency converter and maneuver autopilot module；The data acquisition
The output terminal of module and RFID module is connected with the input terminal of the microprocessor；The microprocessor and the wireless communication
Module is connected with each other；The data output end of the microprocessor is connected with the input terminal of the data storage；Described is micro-
The output terminal of processor is connected with the input terminal of the miniature frequency converter；The output terminal of the miniature frequency converter with it is described motor-driven
The input terminal connection of control module；Power supply output terminal and the microprocessor of the power module and miniature frequency converter it is defeated
Enter end connection；The information about power output terminal of the power module is connected with the input terminal of the data acquisition module, with acquisition
The information about power of power module.
2. a kind of intelligent parking robot control system according to claim 1, it is characterised in that：The data acquisition
Module includes the sensing detection unit for gathering parking robot ambient data information and is detected for parking robot
The electric power detection unit of self electric quantity；The sensing detection unit and the output terminal of electric power detection unit and the microprocessor
Input terminal connection；The information about power output terminal of the power module is connected with the input terminal of the electric power detection unit.
3. a kind of intelligent parking robot control system according to claim 2, it is characterised in that：The electric power detection
Unit includes for the electrical quantity sensor of detection parking robot in real time and for carrying out management through quantification to parking robot electricity
Electric quantity metering chip；The information about power output terminal of the power module is connected with the electrical quantity sensor, electrical quantity sensor
The information about power of the power module collected is transferred to the electric quantity metering chip.
4. a kind of intelligent parking robot control system according to claim 3, it is characterised in that：The sensing detection
Unit includes position sensor, velocity sensor, laser sensor and IR evading obstacle sensors；The position sensor, speed
The information collected is transferred to the input terminal of the microprocessor by degree sensor, laser sensor and IR evading obstacle sensors.
5. a kind of intelligent parking robot control system according to claim 1, it is characterised in that：The maneuver autopilot
Module includes servomotor, universal rotational axis and universal rotational wheel；The output terminal of the miniature frequency converter and servo electricity
The input terminal connection of machine, the Serve Motor Control connect universal rotational axis, are connected and installed on the universal rotational axis
Universal rotational wheel.
6. a kind of intelligent parking robot control system according to claim 1, it is characterised in that：The wireless communication
Module includes one or two kinds of in WiFi transmission units and ZigBee transmission units, realization parking robot and back-stage management
The communication data interaction at center.
7. a kind of intelligent parking robot control system according to claim 1, it is characterised in that：The RFID module
Including storing the RFID electronic label of parking robot information and being identified for reading the RFID electronic label information and reading
The RFID reader of information of vehicles；It is passed after the information and information of vehicles of the RFID reader reading RFID electronic label
It is defeated to arrive the microprocessor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810130597.XA CN108052108A (en) | 2018-02-08 | 2018-02-08 | A kind of intelligent parking robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810130597.XA CN108052108A (en) | 2018-02-08 | 2018-02-08 | A kind of intelligent parking robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108052108A true CN108052108A (en) | 2018-05-18 |
Family
ID=62125126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810130597.XA Withdrawn CN108052108A (en) | 2018-02-08 | 2018-02-08 | A kind of intelligent parking robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108052108A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109116344A (en) * | 2018-07-19 | 2019-01-01 | 石家庄铁道大学 | Passive site detection device |
| CN111502368A (en) * | 2019-01-30 | 2020-08-07 | 北京优位智停科技有限公司 | Method and equipment for realizing automatic parking by using autonomous mobile device |
-
2018
- 2018-02-08 CN CN201810130597.XA patent/CN108052108A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109116344A (en) * | 2018-07-19 | 2019-01-01 | 石家庄铁道大学 | Passive site detection device |
| CN111502368A (en) * | 2019-01-30 | 2020-08-07 | 北京优位智停科技有限公司 | Method and equipment for realizing automatic parking by using autonomous mobile device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180518 |