CN209874607U - Intelligent parking system - Google Patents
Intelligent parking system Download PDFInfo
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- CN209874607U CN209874607U CN201920040298.7U CN201920040298U CN209874607U CN 209874607 U CN209874607 U CN 209874607U CN 201920040298 U CN201920040298 U CN 201920040298U CN 209874607 U CN209874607 U CN 209874607U
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Abstract
The utility model relates to an intelligent parking system, which comprises a parking robot, and comprises a support, a controller, a traveling mechanism, a communication module and a navigation module, wherein the traveling mechanism is used for moving the support, the navigation module controls the traveling mechanism to directionally travel, and the traveling mechanism and the navigation module are both connected with the controller through the communication module; the parking platform comprises a bearing plate for bearing the weight of the automobile, a supporting foot post arranged on one side of the bearing plate, which is opposite to the automobile, and an anti-skid mechanism arranged on the bearing plate, wherein the lifting mechanism comprises a mechanical lifting device capable of vertically lifting the parking platform; after the automobile runs onto the parking platform, the parking robot jacks up and translates the parking platform and the automobile to a set position, and the lifting mechanism lifts up the parking platform and the automobile. The parking robot can realize rapid vehicle access, automatically plan the route to walk, automatically judge whether obstacles exist or not, and is safe and reliable. Perfect butt joint with the simple and easy lift garage of mechanical type, the quantity in great increase parking stall has realized intelligent parking in the true sense.
Description
Technical Field
The invention relates to automobile carrying equipment and intelligent parking for optimizing parking spaces, in particular to an intelligent parking system.
Background
With the rapid development and popularization of the automobile industry and the phenomenon that urban automobiles have more parking spaces and less parking spaces, the traditional parking mode gradually starts to develop in an intelligent manner. The mechanical parking garage has a plane moving type, a vertical lifting type and a roadway stacking type. The principle of the device is that the device is provided with a working platform or a plurality of platforms, and the working platform or the platforms can lift the automobile from the bottom of the automobile to move or lift the automobile to a designated position.
The stereo garage is widely applied to carrying automobiles by the automobile carrying plates. The automobile is parked on a designated automobile carrying plate in the stereo garage, is lifted to a corresponding height in a chain or steel rope mode, and is translated to a corresponding position through a motor. For this kind of mode need lay translation track, lift configuration and supply cable etc. this mode handling efficiency is low, and the fault rate is high, and the parking time is long, can not realize the essence meaning of wisdom parking.
Disclosure of Invention
The invention provides an intelligent parking system for solving the problems of few parking spaces, high mechanical garage barrier rate, long parking time and incapability of realizing intelligent parking in cities. The parking robot can realize rapid vehicle access, automatically plan the route to walk, automatically judge whether obstacles exist or not, and is safe and reliable. Perfect butt joint with the simple and easy lift garage of mechanical type, the quantity in great increase parking stall has realized intelligent parking in the true sense.
The technical scheme adopted by the invention is as follows: an intelligent parking system comprises
The parking robot comprises a support, a controller, a lifting module, a traveling mechanism, a communication module and a navigation module, wherein the lifting module is used for jacking up or dropping down the support, the traveling mechanism is used for driving the support to move, the navigation module is used for controlling the traveling mechanism to directionally travel, and the lifting module, the traveling mechanism and the navigation module are all connected with the controller through the communication module;
the parking platform comprises a bearing plate for bearing the weight of the automobile, a supporting foot post arranged on one side of the bearing plate back to the automobile and an anti-skid mechanism arranged on the bearing plate,
the lifting mechanism comprises a mechanical lifting device which can vertically lift the parking platform;
after the automobile runs onto the parking platform, the parking robot jacks up and translates the parking platform and the automobile to a set position, and the lifting mechanism lifts up the parking platform and the automobile.
Furthermore, the lifting module selects a scissor hydraulic or electric linkage lifting device and a worm and gear linkage lifting device.
Furthermore, the running mechanism is one of a double steering wheel, a four steering wheel, a Mecanum wheel and four groups of differential wheels.
Furthermore, the navigation module is two-dimensional code plus inertial navigation or laser plus magnetic nail type navigation.
Furthermore, a limiting mechanism for preventing the automobile from moving transversely is arranged on the automobile carrying plate.
Further, when the lifting module lowers the support, the height of the support is lower than that of the bearing plate.
Furthermore, the bearing plate is provided with a reinforcing rib for increasing the strength of the bearing plate.
The beneficial effects produced by the invention comprise: in current or current parking area, can install mechanical garage and simply go up and down on original parking stall, the parking stall number of doubling is improved, combine the robot of parking again, only need to stop the car on the platform of vehicle entrance and exit, flameout handle brake comes out, after the successful (little letter, pay precious, member card all can consume the parking) of parking according to the flow on the operation large-size screen, after the scanning succeeds through safety device, the robot of parking hears the order down, go to the jack-up platform below the platform of parking, the parking platform that just jacks up down on the position of automatic mechanical garage of traveling drives out mechanical garage to the position of awaiting orders. The mechanical garage laser scanner detects the platform of parking, and elevating gear on the main frame will park the platform and rise, and effectual space saving, safe and reliable realizes intelligent parking in the true sense.
Drawings
FIG. 1 is a top plan view of a parking robot of the present invention;
FIG. 2 is a side view of the parking robot of the present invention;
FIG. 3 is a front view of the parking robot of the present invention;
FIG. 4 is a top plan view of the parking platform of the present invention;
FIG. 5 is a side view of the parking platform of the present invention;
FIG. 6 is a front view of the parking platform of the present invention;
FIG. 7 is a side view of the lift mechanism of the present invention;
FIG. 8 is a front view of the lift mechanism of the present invention;
in the figure: 1. the parking robot comprises a parking robot body, 11, a support, 12, a lifting module, 13, a walking mechanism, 14, a controller, 15, a detection device, 16, a charging device, 2, an automobile parking platform, 21, a bearing plate, 22, supporting foot posts, 23, cushion pads, 24, a limiting mechanism, 25, reinforcing ribs, 3, a lifting mechanism, 31, a main structure steel frame, 32, a lifting device, 33, a mechanical garage control system, 34 and a mechanical garage laser detection device.
Detailed Description
The present invention is explained in further detail below with reference to the drawings and the detailed description, but it should be understood that the scope of the present invention is not limited by the detailed description.
The intelligent parking system comprises a parking robot 1, a parking platform and a lifting mechanism 3, wherein after an automobile is parked on the parking platform, the parking robot 1 moves the parking platform to a specified position, and then the parking platform and the automobile are lifted up through the lifting mechanism 3, so that the purposes of fully utilizing a parking space and intelligently parking are achieved.
As shown in fig. 1-3, the parking robot 1 includes a support 11, a controller 14, a lifting module 12, a traveling mechanism 13, a communication module and a navigation module, wherein the lifting module 12 is used for lifting or dropping the support 11, the traveling mechanism 13 is used for driving the support 11 to move, the navigation module controls the traveling mechanism 13 to travel directionally, and the lifting module 12, the traveling mechanism 13 and the navigation module are all connected with the controller 14 through the communication module; after the controller 14 receives the starting command, the lifting module 12 is started to jack the support 11, the traveling mechanism 13 drives the support 11 to move under the guidance of the navigation module, the detection device 15 for detecting the traveling safety of the support 11 is further installed on the frame, and the detection device 15 is used for detecting obstacles around the support 11, so that the support 11 can safely avoid the obstacles. Principle of mounting the detection device 15 to the parking robot 1: the laser collision avoidance module emits a light beam to illuminate surrounding objects, identifies obstacles by detecting the reflection of the laser beam, and feeds back a signal to the controller 14, so that the controller 14 sends out an instruction to control the robot to decelerate or stop.
As shown in fig. 4-6, the parking platform includes a bearing plate 21 for bearing the weight of the vehicle, a supporting leg 22 disposed on one side of the bearing plate 21 opposite to the vehicle, and an anti-slip mechanism disposed on the bearing plate 21, where the supporting leg 22 is used to support the bearing plate 21 off the ground, the anti-slip mechanism is used to prevent the vehicle from moving back and forth on the bearing plate 21 after parking, a limiting mechanism 24 is further disposed on the bearing plate 21, the limiting mechanism 24 is used to prevent the vehicle from moving laterally after parking, and the limiting mechanism 24 is a limiting baffle. A post cushion 23 is also mounted on the support post 22 for cushioning the impact between the parking platform and other objects. In order to increase the strength of the carrier plate 21, the carrier plate 21 is provided with reinforcing ribs 25.
As shown in fig. 7-8, the lifting mechanism 3 comprises a mechanical lifting device 32 that can vertically lift the parking platform; the lifting mechanism 3 in the existing mechanical simple lifting garage can be adopted, the mechanism comprises a main structure steel frame 31, a chain lifting device 32, a mechanical garage control system 33 and a mechanical garage laser detection device 34, when the parking platform runs to a specified position, the lifting mechanism 3 hooks the parking platform through a hook claw, and the parking platform is lifted to a specified height.
As a specific configuration, the parking robot 1 of the present invention may be configured such that the lifting module 12 is a scissor-type hydraulic or electric lifting module, a worm-and-gear type lifting module, or the like.
The parking robot 1 has a running mechanism 13 which can be selected from a double-steering wheel mode, a four-steering wheel mode, a Mecanum wheel mode, a four-group differential wheel mode and the like.
The navigation device of the parking robot 1 can comprise a two-dimensional code and inertial navigation, a laser navigation and a magnetic nail, and the like.
The principle of the two-dimensional code plus inertial navigation is as follows: acquiring angular velocity by using a gyroscope, and integrating to obtain an angle; and obtaining coordinates and a course angle by combining the code disc. And adding two-dimension code information to correct the accumulated error due to the accumulated error of the inertial navigation.
The laser navigation principle is as follows: a plurality of objects marked by workers are placed in the moving space of the transfer robot, and in the walking process of the robot, the laser navigation module of the robot measures the distance and the angle of each object marked by reflection through emitted and reflected laser beams, and then obtains the position information of the robot through geometric calculation, so that the robot can walk autonomously.
The parking robot is characterized in that a charging interface is arranged in the parking lot, a charging module 16 is arranged on the parking robot 1, the charging module 16 is connected with the controller 14, and when the controller 14 detects that the electric quantity of the parking robot 1 is low, the charging module 16 on the parking robot 1 is driven to be connected with the charging interface, so that automatic charging is realized. The charging interface is located in a to-be-operated area of the parking robot 1.
The model of the controller is TMS320F28335, and the model of the laser anti-collision module is SICK TIM 310.
The parking process is described as follows: the method is characterized in that 1 or more entrances and exits are implemented in a garage which normally runs, the entrances and exits are designed into a concave design, a parking robot 1 pushes an automobile parking platform 2 to drive into the concave design opening, and the parking platform is put down to stand by. When the automobile runs to the platform, the laser radar scanner carries out safety scanning on the automobile, when the position has a deviation, the system can prompt you to adjust the automobile, and after the automobile is stopped, the display screen can show that the automobile is flamed out, and the hand brake is pulled. After all the people get out of the vehicle and park the vehicle at the operation parking position, the two-dimensional code is scanned by a mobile phone or the vehicle is parked in a mode of identifying the license plate according to the popularization of the existing mobile payment. At the moment, the system gives an instruction to the trolley, the parking robot 1 can drive to the lower side of the parking platform, the parking platform is lifted to drive to the lower side of the planned lifting mechanism 3 independently, and the parking robot 1 automatically plans the path and automatically identifies the obstacles in the running path.
When the parking robot 1 is put down and the parking platform is moved out of the mechanical garage, the parking robot reaches the standby area to be standby or charged. At this time, the system will send a command to the mechanical garage control system 33, and at this time, the lifting mechanism 3 of the garage descends, hooks the lower end of the parking platform, and lifts the parking platform. The lower end space may also house a parking platform as shown in fig. 3. The whole process is fast, safe and reliable, and the intelligent parking significance is really realized.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the content of the embodiment. It will be apparent to those skilled in the art that various changes and modifications can be made within the technical scope of the present invention, and any changes and modifications made are within the protective scope of the present invention.
Claims (7)
1. An intelligent parking system, characterized in that: comprises that
The parking robot comprises a support, a controller, a traveling mechanism, a communication module and a navigation module, wherein the traveling mechanism is used for moving the support, the navigation module is used for controlling the traveling mechanism to directionally travel, and the traveling mechanism and the navigation module are both connected with the controller through the communication module;
the parking platform comprises a bearing plate for bearing the weight of the automobile, a supporting foot post arranged on one side of the bearing plate back to the automobile and an anti-skid mechanism arranged on the bearing plate,
the lifting mechanism comprises a mechanical lifting device which can vertically lift the parking platform;
after the automobile runs onto the parking platform, the parking robot jacks up and translates the parking platform and the automobile to a set position, and the lifting mechanism lifts up the parking platform and the automobile.
2. The intelligent parking system of claim 1 wherein: the parking robot support is characterized in that a lifting module used for jacking up or dropping down the parking robot support is arranged at the bottom of the support, and the lifting module selects a scissor hydraulic or electric linkage lifting device and a worm and gear linkage lifting device.
3. The intelligent parking system of claim 1 wherein: the running mechanism is one of double steering wheels, four steering wheels, Mecanum wheels and four groups of differential wheels.
4. The intelligent parking system of claim 1 wherein: the navigation module is two-dimensional code plus inertial navigation or laser plus magnetic nail type navigation.
5. The intelligent parking system of claim 1 wherein: and the bearing plate is provided with a limiting mechanism for preventing the automobile from moving transversely.
6. The intelligent parking system of claim 2 wherein: when the lifting module lowers the support, the height of the support is lower than that of the bearing plate.
7. The intelligent parking system of claim 1 wherein: and the bearing plate is provided with a reinforcing rib for increasing the strength of the bearing plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920040298.7U CN209874607U (en) | 2019-01-10 | 2019-01-10 | Intelligent parking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920040298.7U CN209874607U (en) | 2019-01-10 | 2019-01-10 | Intelligent parking system |
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| Publication Number | Publication Date |
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| CN209874607U true CN209874607U (en) | 2019-12-31 |
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| CN201920040298.7U Active CN209874607U (en) | 2019-01-10 | 2019-01-10 | Intelligent parking system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109681011A (en) * | 2019-01-10 | 2019-04-26 | 仓智（上海）智能科技有限公司 | A kind of Intelligent parking system and intelligent parking method |
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2019
- 2019-01-10 CN CN201920040298.7U patent/CN209874607U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109681011A (en) * | 2019-01-10 | 2019-04-26 | 仓智（上海）智能科技有限公司 | A kind of Intelligent parking system and intelligent parking method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220803 Address after: 202150 room 211, No. 28, Xiushan Road, Chongming Industrial Park, Shanghai Patentee after: SHANGHAI HYTONE PARKING EQUIPMENT CO.,LTD. Address before: 201100 room 506, No. 1313, zhuanxing East Road, Minhang District, Shanghai Patentee before: INTEWARE (SHANGHAI) INTELLIGENT TECHNOLOGY CO.,LTD. |
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| TR01 | Transfer of patent right |