CN112489475A

CN112489475A - Unmanned parking system

Info

Publication number: CN112489475A
Application number: CN202011047718.8A
Authority: CN
Inventors: 孙迪科; 肖峰; 张亚东; 林宇; 郑俊鹏
Original assignee: Guangzhou Jushi Information Technology Co ltd
Current assignee: Guangzhou Jushi Information Technology Co ltd
Priority date: 2020-09-29
Filing date: 2020-09-29
Publication date: 2021-03-12

Abstract

The invention discloses an unmanned parking system which comprises an entrance control module, a wireless communication module, a parking positioning detection module, an unmanned module, an upper computer module and a database, wherein the unmanned module comprises a controller module, a tracking module, a distance metering module, a display module, a motor driving module and an obstacle avoidance module, the tracking module comprises a track planning module and a track tracking module, the track planning module plans a non-collision safe track for a vehicle to run according to environmental information, the track tracking module is a result of planning by using a track tracking algorithm, the vehicle can safely arrive at a parking space, and the controller module controls the vehicle to automatically shift gears, control the azimuth and speed and actively avoid collision. The parking lot charging system can solve the problems that the parking lot is difficult to find the parking space, long in time for finding the parking space, complicated in charging and the like, and manual charging is achieved, so that a large amount of time is saved, and the payment of a vehicle owner is facilitated.

Description

Unmanned parking system

Technical Field

The invention relates to the technical field of unmanned parking systems, in particular to an unmanned parking system.

Background

In recent years, an Automatic Parking System (APS) has prevailed in the automobile market, but actually, it has not achieved an automatic parking effect from the viewpoint of an overall parking function, and it is only an auxiliary parking system. During parking, the driver must also participate in throttle control, parking space recognition, and other links, that is, human intervention and supervision must be performed during the entire parking process. On the basis of the automatic driving technology, the full-automatic parking of the whole vehicle is possible. In the whole automatic parking process, the identification of the parking space is one of the key links. The method is characterized in that a vehicle collects data of an obstacle through a sensor in the driving process, and the position of the obstacle is determined, so that whether a parking available area exists or not is judged. In the current automatic parking system, it is a new subject to completely rely on the sensor of the vehicle itself to identify the parking space, and then complete the automatic parking technology without human intervention.

The rapid development of science and technology in the world today and the rapid advancement of article intellectualization, the application of everything is demanding its own technological innovation. Also, the parking lot is used as an indispensable facility in our lives, and the technological innovation of the parking lot can improve the quality of our lives. The traditional parking method and garage management of the parking lot are fundamental problems for limiting the development of the parking lot. In order to solve the problem of insufficient parking space which is increasing day by day, the intelligent unmanned parking system is significant in meaning, the existing parking lot system is further improved, the problems that the existing parking lot is difficult to find the parking space, long in time for finding the vehicle, complex in charging (manual charging) and the like are solved, and a driver can be helped to conveniently and quickly find the parking space, so that a large amount of time is saved.

Disclosure of Invention

The invention aims to solve the fundamental problem that the traditional parking method and garage management of the parking lot limit the development of the parking lot in the prior art. In order to solve the problem of insufficient parking space which is increasing day by day, the intelligent unmanned parking system is significant in meaning, the existing parking lot system is further improved, and the problems that the existing parking lot is difficult to find parking places, long in vehicle finding time and tedious in charge (manual charge) are solved.

In order to achieve the purpose, the invention adopts the following technical scheme:

an unmanned parking system comprises an entrance control module, a wireless communication module, a parking positioning detection module, an unmanned module, an upper computer module and a database.

Preferably, the unmanned driving module comprises a controller module, a tracking module, a distance metering module, a display module, a motor driving module and an obstacle avoidance module.

Preferably, the tracking module comprises a trajectory planning module and a trajectory tracking module, and the trajectory planning module plans a collision-free safe trajectory for the vehicle to run according to the environmental information.

Preferably, the trajectory tracking module is a result of planning by using a trajectory tracking algorithm, so that the vehicle safely arrives at the parking space, and the controller module automatically performs gear shifting, azimuth and speed control for controlling the vehicle and actively avoids collision.

An automatic toll collector for unmanned parking comprises a base and a toll collector, wherein a round groove is formed in the upper end of the base, the toll collector is positioned inside the round groove, a supporting plate is fixedly connected to the bottom of the toll collector, a plurality of fixing rods are fixedly connected to the lower end of the supporting plate, universal rollers are fixedly connected to the lower ends of the fixing rods, the groove bottom of the round groove is abutted against the universal rollers, a plurality of stabilizing mechanisms are fixedly connected to the side wall of the supporting plate, a first cavity and a second cavity are formed in one side, positioned below the round groove, of the inside of the base, a driving motor is fixedly connected to the upper side of the first cavity, a screw rod is fixedly connected to the output end of the driving motor through a coupler, one end, far away from the driving motor, of the screw rod penetrates through the lower side of the first cavity and extends into the inside of the second movable plate, and a movable plate is, the surface of the movable plate is in threaded connection with the rod wall of the screw through threaded holes, universal wheels are fixedly connected to four corners of the lower surface of the movable plate, through holes are formed in the positions, corresponding to the four universal wheels, of the lower end of the base, and supporting mechanisms are arranged on the left side and the right side of the toll collector.

Preferably, firm mechanism is including fixed block that sets up on the backup pad lateral wall, first blind hole has been seted up to the lateral wall of fixed block, the inside activity of first blind hole is equipped with the carriage release lever, the one end of carriage release lever extends to the outside and the fixedly connected with gyro wheel of first blind hole, the gyro wheel offsets with the lateral wall of circular slot, the spout has all been seted up to the upper and lower both sides of first blind hole, two sliders of the pole wall fixedly connected with of carriage release lever, two the slider respectively with two spout sliding connection, two the lateral wall of slider all through first spring respectively with the lateral wall fixed connection of two spouts.

Preferably, the supporting mechanism is including articulating the first bracing piece on the charging machine lateral wall, the inside of base is equipped with the toroidal cavity, the circular slot is located the inside of toroidal cavity, the inside sliding connection of toroidal cavity has the shift ring, the annular opening has been seted up to the upside of toroidal cavity, two lugs of upper end fixedly connected with of shift ring, two the lug passes the annular opening and all rotates and be connected with the second bracing piece, the second blind hole has been seted up to the one end that the lug was kept away from to the second bracing piece, the bottom fixed connection of second spring and second blind hole is passed through to the one end that the charging machine was kept away from to first bracing piece.

Preferably, both sides of the upper surface of the moving plate are fixedly connected with telescopic rods, and one side, far away from the moving plate, of each telescopic rod is fixedly connected with the upper side of the second cavity.

Preferably, the four corners of the lower end of the base are fixedly connected with supporting legs.

Compared with the prior art, the invention provides an unmanned parking system, which has the following beneficial effects:

1. this unmanned parking system through the access & exit control module that is equipped with, wireless communication module, parking location detection module, unmanned module, host computer module, database, unmanned module include controller module, tracking module, distance metering module, display module, motor drive module and keep away the barrier module, can solve current parking area and look for the parking stall difficult, look for the car long time, the loaded down with trivial details artifical charge scheduling problem of charge to a large amount of time has been practiced thrift.

2. This unmanned parking system through the driving motor who sets up in first cavity, can drive the screw rod rotatory, and the screw rod can drive the movable plate and move down, and then can release four universal wheels from the inside of base and jack-up the toll collector to the people of being convenient for remove the position of toll collector, the people of being convenient for use.

3. This unmanned parking system, through setting up dead lever and universal ball at the backup pad lower extreme, can realize carrying out the angular rotation with this toll collector, through setting up the securing device in the backup pad, when the toll collector is rotatory, can make gyro wheel pressurization carriage release lever, the carriage release lever passes through the first spring of slider extrusion, and then the toll collector rotation angle of being convenient for, through setting up the second spring in the second blind hole, first bracing piece extrusion second spring, and then can make the toll collector have buffering effect.

The device has the advantages that the parts which are not involved are the same as or can be realized by adopting the prior art, the problems of difficulty in finding parking places, long time consumption for finding the parking places, complicated charging, manual charging and the like of the existing parking lot can be solved, so that a large amount of time is saved, and the payment of a vehicle owner is facilitated.

Drawings

Fig. 1 is a schematic structural diagram of an unmanned parking system according to the present invention;

FIG. 2 is a schematic structural diagram of a stabilizing mechanism of the unmanned parking system according to the present invention;

FIG. 3 is a schematic structural diagram of a support mechanism of the unmanned parking system according to the present invention;

fig. 4 is a schematic diagram of an unmanned parking system according to the present invention.

In the figure: the charging system comprises a base 1, a charging machine 2, a circular groove 3, a supporting plate 4, a fixing rod 5, a driving motor 6, a screw rod 7, a moving plate 8, a universal wheel 9, a fixing block 10, a moving rod 11, a roller 12, a sliding groove 13, a sliding block 14, a first spring 15, a first supporting rod 16, a fixing rod 17, a convex block 18, a second supporting rod 19, a second spring 20 and a telescopic rod 21.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1-4, an unmanned parking system comprises an entrance control module, a wireless communication module, a parking positioning detection module, an unmanned module, an upper computer module and a database, wherein the unmanned module comprises a controller module, a tracking module, a distance metering module, a display module, a motor driving module and an obstacle avoidance module, the tracking module comprises a track planning module and a track tracking module, the track planning module plans a non-collision safe track according to environmental information for a vehicle to run, the track tracking module is a result planned by using a track tracking algorithm, the vehicle safely arrives at a parking space, the controller module automatically performs gear shifting, azimuth and speed control for controlling the vehicle and actively avoids collision, and the entrance control module, the wireless communication module and the parking positioning detection module are arranged for controlling the vehicle to automatically shift, and the vehicle is actively prevented from collision, The unmanned module, the upper computer module, the database and the unmanned module comprise a controller module, a tracking module, a distance metering module, a display module, a motor driving module and an obstacle avoidance module, and can solve the problems that the existing parking lot is difficult to find parking places, long in vehicle finding time, tedious in charging and manual in charging and the like.

An automatic toll collector for unmanned parking, which comprises a base 1 and a toll collector 2, wherein four corners of the lower end of the base 1 are fixedly connected with supporting legs, the upper end of the base 1 is provided with a circular groove 3, the toll collector 2 is positioned inside the circular groove 3, the bottom of the toll collector 2 is fixedly connected with a supporting plate 4, the lower end of the supporting plate 4 is fixedly connected with a plurality of fixing rods 5, the lower ends of the fixing rods 5 are fixedly connected with universal rollers, the groove bottom of the circular groove 3 is abutted against the universal rollers, the toll collector 2 can be angularly rotated by the fixing rods 5 and the universal balls which are arranged at the lower end of the supporting plate 4, the side wall of the supporting plate 4 is fixedly connected with a plurality of stabilizing mechanisms, each stabilizing mechanism comprises a fixing block 10 which is fixedly arranged on the side wall of the supporting plate 4, the side wall of the fixing block 10 is provided with a first blind hole, a moving rod 11 is movably arranged inside the first blind hole, one, the roller 12 is abutted against the side wall of the circular groove 3, the upper side and the lower side of the first blind hole are both provided with sliding grooves 13, the rod wall of the moving rod 11 is fixedly connected with two sliding blocks 14, the two sliding blocks 14 are respectively in sliding connection with the two sliding grooves 13, the side walls of the two sliding blocks 14 are respectively and fixedly connected with the side walls of the two sliding grooves 13 through first springs 15, a first cavity and a second cavity are arranged on one side of the inner part of the base 1 below the circular groove 3, a driving motor 6 is fixedly connected with the upper side of the first cavity, the driving motor 6 can drive the screw 7 to rotate, the screw 7 can drive the moving plate 8 to move downwards, and then the four universal wheels 9 can be pushed out from the inner part of the base 1 and jack up the toll collector 2, so that people can move the position of the toll collector 2 conveniently, the output end of the driving motor 6 is fixedly connected with the screw 7 through a coupler, one end of the screw 7, far away from the driving motor 6, penetrates through, a movable plate 8 is transversely arranged in the second cavity, two sides of the upper surface of the movable plate 8 are fixedly connected with telescopic rods 21, one side of each telescopic rod 21, far away from the movable plate 8, is fixedly connected with the upper side of the second cavity, the surface of the movable plate 8 is in threaded connection with the rod wall of the screw 7 through a threaded hole, universal wheels 9 are fixedly connected with four corners of the lower surface of the movable plate 8, through holes are formed in the lower end of the base 1 and correspond to the four universal wheels 9, supporting mechanisms are arranged on the left side and the right side of the toll collector 2 and comprise first supporting rods 16 hinged on the side wall of the toll collector 2, an annular cavity is arranged in the base 1, the circular groove 3 is positioned in the annular cavity, a movable ring 17 is slidably connected in the annular cavity, an annular hole is formed in the upper side of the annular cavity, two convex blocks 18 are fixedly connected with the upper end of the movable ring 17, the two, the second blind hole has been seted up to the one end that lug 18 was kept away from to second bracing piece 19, the bottom fixed connection of second spring 20 and second blind hole is passed through to the one end that toll collector 2 was kept away from to first bracing piece 16, through setting up dead lever 5 and the universal ball at backup pad 4 lower extreme, can realize carrying out the angular rotation with this toll collector 2, through the securing device who sets up on backup pad 4, when toll collector 2 is rotatory, can make gyro wheel 12 pressurization movable rod 11, movable rod 11 passes through slider 14 extrusion first spring 15, and then be convenient for toll collector 2 rotation angle, through setting up second spring 20 in the second blind hole, first bracing piece 16 extrudes second spring 20, and then can make toll collector 2 have the cushioning effect.

In the invention, when in use, the problems of difficult parking stall finding, long time for finding the car, complicated charging and the like of the existing parking lot can be solved by arranging the entrance and exit control module, the wireless communication module, the parking positioning detection module, the unmanned module, the upper computer module, the database and the unmanned module which comprise the controller module, the tracking module, the distance metering module, the display module, the motor driving module and the obstacle avoidance module, so that a large amount of time is saved, the screw 7 can be driven to rotate by the driving motor 6 arranged in the first cavity, the screw 7 can drive the movable plate 8 to move downwards, the four universal wheels 9 can be pushed out from the inside of the base 1 and jack up the toll collector 2, thereby facilitating the movement of the toll collector 2 by people and the use of the toll collector, and through the fixed rod 5 and the universal ball arranged at the lower end of the support plate 4, can realize carrying out the angular rotation with this charging machine 2, through the securing device who sets up in backup pad 4, when charging machine 2 is rotatory, can make gyro wheel 12 pressurization movable rod 11, movable rod 11 passes through slider 14 extrusion first spring 15, and then the charging machine 2 rotation angle of being convenient for, through setting up second spring 20 in the second blind hole, first backup pad 16 extrudees second spring 20, and then can make charging machine 2 have the buffering effect.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention and the equivalent alternatives or modifications according to the technical solution and the inventive concept of the present invention within the technical scope of the present invention.

Claims

1. An unmanned parking system comprises an entrance control module, a wireless communication module, a parking positioning detection module, an unmanned module, an upper computer module and a database.

2. The unmanned aerial vehicle parking system of claim 1 wherein the unmanned aerial vehicle module comprises a controller module, a tracking module, a distance metering module, a display module, a motor drive module, and an obstacle avoidance module.

3. The unmanned parking system of claim 2 wherein the tracking module comprises a trajectory planning module and a trajectory tracking module, the trajectory planning module plans a safe trajectory for the vehicle to travel according to the environmental information, and the trajectory tracking module is a result of the planning using a trajectory tracking algorithm, and the vehicle is safe to arrive at the parking space.

4. The unmanned parking system of claim 2 wherein the controller module is configured to automatically control the vehicle for gear shifting, azimuth and speed control and active collision avoidance.

5. The utility model provides an unmanned automatic charging machine that parks, includes base (1) and charging machine (2), its characterized in that, circular slot (3) have been seted up to the upper end of base (1), charging machine (2) are located the inside of circular slot (3), the bottom fixedly connected with backup pad (4) of charging machine (2), the lower extreme fixedly connected with a plurality of dead levers (5) of backup pad (4), a plurality of the lower extreme of dead lever (5) all fixedly connected with universal gyro wheel, the tank bottom department of circular slot (3) offsets with universal gyro wheel, the lateral wall fixedly connected with a plurality of firm mechanisms of backup pad (4), one side that the inside of base (1) is located the below of circular slot (3) is equipped with first cavity and second cavity, the upside fixedly connected with driving motor (6) of first cavity, the output of driving motor (6) passes through shaft coupling fixedly connected with screw rod (7), the utility model discloses a toll collector, including screw rod (7), screw hole and screw rod (7), the one end that driving motor (6) was kept away from runs through the downside of first cavity and extends to the inside of second cavity, the inside of second cavity transversely is equipped with movable plate (8), the pole wall threaded connection of screw hole and screw rod (7) is passed through on the surface of movable plate (8), the equal fixedly connected with universal wheel (9) of lower surface four corners department of movable plate (8), the through-hole has all been seted up with the position department of corresponding of four universal wheels (9) to the lower extreme of base (1), the left and right sides of toll collector (2) all is equipped with supporting.

6. The unmanned parking automatic toll collector of claim 5, the stabilizing mechanism comprises a fixing block (10) fixedly arranged on the side wall of the supporting plate (4), the side wall of the fixed block (10) is provided with a first blind hole, a moving rod (11) is movably arranged in the first blind hole, one end of the moving rod (11) extends to the outside of the first blind hole and is fixedly connected with a roller (12), the roller (12) is pressed against the side wall of the circular groove (3), the upper side and the lower side of the first blind hole are both provided with sliding grooves (13), the rod wall of the moving rod (11) is fixedly connected with two sliding blocks (14), the two sliding blocks (14) are respectively connected with the two sliding grooves (13) in a sliding mode, and the side walls of the two sliding blocks (14) are respectively fixedly connected with the side walls of the two sliding grooves (13) through first springs (15).

7. The unmanned parking automatic toll collector of claim 5, the supporting mechanism comprises a first supporting rod (16) hinged on the side wall of the toll collector (2), an annular cavity is arranged in the base (1), the circular groove (3) is positioned in the annular cavity, a moving ring (17) is connected in the annular cavity in a sliding way, an annular hole is arranged on the upper side of the annular cavity, the upper end of the moving ring (17) is fixedly connected with two lugs (18), the two lugs (18) penetrate through the annular hole and are both rotatably connected with a second supporting rod (19), one end of the second supporting rod (19) far away from the convex block (18) is provided with a second blind hole, one end of the first supporting rod (16) far away from the toll collector (2) is fixedly connected with the bottom of the second blind hole through a second spring (20).

8. The unmanned parking automatic toll collector as claimed in claim 5, wherein both sides of the upper surface of the moving plate (8) are fixedly connected with telescopic rods (21), and one side of each telescopic rod (21) far away from the moving plate (8) is fixedly connected with the upper side of the second cavity.

9. The unmanned automatic toll collector for parking according to claim 5, wherein supporting legs are fixedly connected to four corners of the lower end of the base (1).