An AI-based unmanned automatic parking system and method

Abstract

The application relates to an AI-based unmanned automatic parking system and method, which comprises a parking lot including a plurality of parking spaces, an automatic parking lifting platform including a lifting mechanism 4, a running mechanism, an AI navigation module, a map generation module and an automatic driving module connected to the lifting mechanism 4, the running mechanism, the AI navigation module and the map generation module. When a vehicle to be parked needs to be sent to a parking space in the parking lot, the automatic driving module is used to navigate to the position of the vehicle to be parked according to the parking lot map generated by the map generation module, lift the vehicle to be parked by the lifting mechanism 4, and then navigate to the idle parking space in the parking lot by the AI navigation module. Without a driver on the vehicle, the automatic parking of the vehicle can be completed, the time of the driver is saved, and the parking of the vehicle can be quickly completed.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, specifically to an AI-based unmanned automatic parking system and method. Background Technology

[0002] As a product of the integration of artificial intelligence and the automotive industry, self-driving cars are undoubtedly a hot topic today, and the Chinese government attaches great importance to the research and development of self-driving technology. When entering parking lots, self-driving cars also need to have the ability to park automatically. How self-driving vehicles can automatically park in traditional parking lots is an important challenge facing researchers.

[0003] Currently, in situations where vehicles are driven, parking primarily relies on manual control. However, some automated parking systems have emerged that utilize "automatic parking technologies." These technologies typically fall into three categories:

[0004] Assisted parking is suitable for regular parking spaces. After the system recognizes the parking space, it assists the driver in parking. Throughout the process, the driver needs to remain in the driver's seat. The entire parking process is assisted by the system, and the driver still needs to sit in the car. This results in excessively long parking times and low parking efficiency. Remote parking, on the other hand, uses a remote control to move the vehicle within a certain distance to complete the parking process. It is generally suitable for relatively small parking spaces. Memory parking first allows the vehicle to remember the parking space, turning cameras, radar, and other sensors into a mapping device to create a high-precision scene map. The next time, it can achieve automatic parking, suitable for parking lots with assigned parking spaces.

[0005] Each of these three methods has its own application scenarios and limitations: assisted parking takes too long and is only suitable for novice drivers; remote parking is suitable for complex parking spaces but is prone to collisions with nearby vehicles due to improper operation; memory parking requires a long learning period and cannot adapt quickly if the vehicle enters an unfamiliar parking lot. Summary of the Invention

[0006] In view of the above problems, this application provides an AI-based unmanned automatic parking system and method to solve the problems of long parking time and the need for the driver to be in the driver's seat in existing autonomous driving parking technologies.

[0007] To achieve the above objectives, the inventors provide an AI-based autonomous parking system, comprising:

[0008] A parking lot, which includes a number of parking spaces;

[0009] Automatic parking lift platform, the automatic parking lift platform includes:

[0010] A lifting mechanism, used to lift vehicles to be parked;

[0011] A driving mechanism, wherein the driving mechanism is used to drive the automatic parking lift platform to travel;

[0012] The AI ​​navigation module is used for navigation of the automatic parking lift platform.

[0013] A map generation module, used to generate a map of the parking lot;

[0014] An autonomous driving module is connected to the lifting mechanism, the driving mechanism, the AI ​​navigation module, and the map generation module. When it is necessary to send a vehicle to be parked into a parking space in the parking lot, the autonomous driving module navigates to the location of the vehicle to be parked through the AI ​​navigation module based on the parking lot map generated by the map generation module, and after the lifting mechanism lifts the vehicle to be parked, it navigates to an empty parking space in the parking lot through the AI ​​navigation module.

[0015] In some embodiments, it also includes:

[0016] User terminal, the user terminal being used to send parking space query information;

[0017] A centralized parking control system is used to query parking lots with available parking spaces within a preset distance of the user terminal after receiving parking space query information sent by the user terminal, and then send the location information of the parking lot to the user terminal.

[0018] In some embodiments, a parking management system is also included;

[0019] The automatic parking lift platform includes a communication module, which is used to establish a communication connection between the automatic parking lift platform and the parking management system;

[0020] The parking management system includes a parking space management module, which is used to determine whether there are available parking spaces for the current vehicle.

[0021] The parking management system is also used to determine whether there are any vacant parking spaces in the parking lot when a vehicle arrives at the entrance of the parking lot. If there are, the system sends the vacant parking space information to the automatic parking lift platform.

[0022] In some embodiments, the AI ​​navigation module includes an AI video navigator and an AI vehicle navigation radar;

[0023] The AI ​​navigation modules are multiple and are arranged around the automatic parking lift platform;

[0024] The AI ​​vehicle navigation radar consists of multiple units and is positioned around the automatic parking lift platform.

[0025] In some embodiments, the automatic parking lift platform further includes a universal drive mechanism;

[0026] The universal drive mechanism is located at the center of the automatic parking lift platform, and the universal drive mechanism is used to change the direction of the automatic parking lift platform.

[0027] In some embodiments, the universal drive mechanism includes a drive wheel motor, an upper drive wheel plate, a lower drive wheel plate, and a drive wheel body;

[0028] The drive wheel motor is connected to the upper disk of the drive wheel;

[0029] The upper drive wheel plate and the lower drive wheel plate are engaged by meshing teeth;

[0030] The drive wheel body is fixedly connected to the lower plate of the drive wheel, and the bottom of the drive wheel body is spherical.

[0031] In some embodiments, the parking lot further includes main lane guide lines and parking space guide lines;

[0032] The automatic parking lift platform also includes a guide line sensing and recognition device, which is used to sense the main lane guide line and the parking space guide line.

[0033] The autonomous driving module is used to automatically drive to an empty parking space based on the lane guide lines and parking space guide lines sensed by the guide line sensing and recognition device.

[0034] In some embodiments, a main lane positioning anchor point is provided between the main lane guide line and the parking space guide line, and a parking space positioning anchor point is provided at one end of the parking space guide line within the parking space.

[0035] Another technical solution is also provided: an AI-based autonomous parking method, which applies the aforementioned AI-based autonomous parking system and includes the following steps:

[0036] When it is necessary to move a vehicle waiting to be parked into a parking space in the parking lot, the automatic parking lift platform uses the parking lot map generated by the map generation module and the AI ​​navigation module to navigate to the location of the vehicle waiting to be parked.

[0037] Once the navigation reaches the location of the vehicle to be parked, the automatic parking lift platform uses the lifting mechanism to lift the vehicle.

[0038] After lifting the parked vehicle, the AI ​​navigation module guides it to an available parking space in the parking lot.

[0039] In some embodiments, the following steps are also included:

[0040] When the centralized parking control system receives parking space query information sent by the user terminal, it queries parking lots with available parking spaces within a preset distance of the user terminal.

[0041] The centralized parking control system sends the location information of the parking lots to the user terminal.

[0042] Unlike existing technologies, the above-mentioned technical solution allows the driver to leave the vehicle and lock it when the driver approaches the parking lot entrance. The automatic parking lift platform's autonomous driving module, based on the parking lot map generated by the map generation module and navigation information from the AI ​​navigation module, drives the platform to the location of the vehicle. The platform then lifts the vehicle using its lifting mechanism, causing the wheels to leave the ground. Following this, the platform uses navigation information from the AI ​​navigation module and the parking lot map to guide the vehicle to an available parking space. Once the vehicle is in the available space, the lifting mechanism stops lifting and the platform moves out of the parking space, completing the automatic parking process. This eliminates the need for a driver to be in the vehicle, saving time and enabling quick parking.

[0043] The above description of the invention is merely an overview of the technical solution of this application. In order to enable those skilled in the art to better understand the technical solution of this application and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of this application easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of this application. Attached Figure Description

[0044] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of specific embodiments of this application and other related content, and should not be considered as limitations on this application.

[0045] In the accompanying drawings of the instruction manual:

[0046] Figure 1 A schematic diagram of a structure of the AI-based unmanned automatic parking system described in a specific implementation;

[0047] Figure 2 This is a structural view of the automatic parking lifting platform in a non-lifting state according to a specific embodiment;

[0048] Figure 3 A structural view of the automatic parking lifting platform during lifting, as described in the specific embodiment;

[0049] Figure 4 A structural view of the underside of the automatic parking lift platform described in the specific embodiment;

[0050] Figure 5 This is a structural view of the automatic parking lifting platform when it is not lifting, as described in the specific embodiment.

[0051] Figure 6 A structural view of the automatic parking lifting platform from the side during lifting, as described in the specific embodiment;

[0052] Figure 7 This is a structural view of the automatic parking lift platform described in the specific embodiment when it is not lifting the vehicle underneath;

[0053] Figure 8 This is a structural view of the automatic parking lift platform described in a specific embodiment when it is lifting the vehicle underneath;

[0054] Figure 9 This is a structural view of the automatic parking lift platform as described in the specific embodiment, when the vehicle is not being lifted from underneath.

[0055] Figure 10 This is a side view of the automatic parking lift platform as described in the specific embodiment, when it is lifting the vehicle underneath.

[0056] Figure 11 This is a top view of the automatic parking lifting platform described in the specific embodiment when it is not lifting;

[0057] Figure 12 This is a top-down structural view of the automatic parking lifting platform as described in the specific embodiment.

[0058] Figure 13 A structural view of the automatic parking lifting platform in its rotating state during lifting, as described in the specific embodiment;

[0059] Figure 14 This is a perspective structural view of the automatic parking lift platform described in the specific embodiment when the vehicle is not lifted;

[0060] Figure 15 A structural view of the universal drive mechanism described in a specific embodiment;

[0061] Figure 16 A top view of the universal drive mechanism described in the specific embodiment;

[0062] Figure 17This is a schematic diagram of another structure of the AI-based unmanned automatic parking system described in a specific implementation.

[0063] Figure 18 This is a schematic diagram of another structure of the AI-based unmanned automatic parking system described in a specific implementation.

[0064] Figure 19 This is a flowchart illustrating one embodiment of the AI-based autonomous parking method.

[0065] The reference numerals used in the above figures are explained as follows:

[0066] 100. Parking lot; 1. Automatic parking lift platform; 2. Autonomous driving module; 3. AI video navigator; 4. Lifting mechanism; 5. Omnidirectional drive mechanism; 6. AI vehicle navigation radar; 7. Front drive wheel; 8. Rear drive wheel; 9. Parking space; 10. Guide line sensing and recognition device; 11. Main lane guide line; 12. Parking space guide line; 13. Main lane positioning anchor point; 14. Parking space positioning anchor point; 15. Drive wheel motor; 16. Drive wheel scale; 17. Drive wheel upper plate; 18. Drive wheel lower plate; 19. Upper plate meshing teeth; 20. Lower plate meshing teeth; 21. Drive wheel body. Detailed Implementation

[0067] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0068] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0069] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0070] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0071] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order relationship between these entities or operations.

[0072] Unless otherwise specified, the use of terms such as “comprising,” “including,” “having,” or other similar expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0073] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0074] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0075] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. For those skilled in the art to which this application pertains, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0076] Please see Figure 1 This embodiment provides an AI-based autonomous parking system, including:

[0077] Parking lot 100, which includes a plurality of parking spaces 9;

[0078] Automatic parking lift platform 1, the automatic parking lift platform 1 includes:

[0079] Lifting mechanism 4, which is used to lift the vehicle to be parked;

[0080] A driving mechanism, which is used to drive the automatic parking lifting platform 1 to travel;

[0081] The AI ​​navigation module is used for navigation of the automatic parking lifting platform 1.

[0082] A map generation module, used to generate a map of the parking lot 100;

[0083] The autonomous driving module 2 is connected to the lifting mechanism 4, the driving mechanism, the AI ​​navigation module, and the map generation module. When it is necessary to send a vehicle to be parked into a parking space 9 in the parking lot 100, the autonomous driving module navigates to the location of the vehicle to be parked through the AI ​​navigation module according to the map of the parking lot 100 generated by the map generation module, and after the lifting mechanism 4 lifts the vehicle to be parked, it navigates to an empty parking space 9 in the parking lot 100 through the AI ​​navigation module.

[0084] When the driver drives the vehicle to the entrance of parking lot 100, the driver can leave the vehicle and lock it. The automatic parking lift platform 1's autonomous driving module 2, based on the parking lot 100 map generated by the map generation module and the navigation information from the AI ​​navigation module, drives the automatic parking lift platform 1 to the position of the vehicle. Then, the automatic parking lift platform 1 lifts the vehicle through the lifting mechanism 4, causing the wheels of the vehicle to leave the ground. Then, using the navigation information from the AI ​​navigation module and the parking lot 100 map, it delivers the vehicle to an empty parking space 9. After the automatic parking lift platform 1 delivers the vehicle to the empty parking space 9, it controls the lifting mechanism 4 to stop lifting the vehicle and drives out of the parking space 9, completing the automatic parking of the vehicle. The vehicle can be automatically parked without the driver being in the vehicle, saving the driver's time and completing the parking quickly.

[0085] In some embodiments, it also includes:

[0086] User terminal, the user terminal being used to send parking space query information;

[0087] The centralized parking space control system is used to query parking lots 100 with available parking spaces 9 within a preset distance of the user terminal after receiving parking space query information sent by the user terminal, and send the location information of the parking lot 100 to the user terminal.

[0088] When a user needs parking, they can send a parking space query request through their user terminal. Upon receiving this request, the centralized parking control system searches for parking lots 100 with available parking spaces 9 within a preset distance of the user terminal. The system then sends the location information of these parking lots 100 back to the user terminal. Users can then navigate to these parking lots 100 using the location information on their user terminal, allowing them to quickly find parking lots with available parking spaces 9. The user terminal can be a mobile app or an in-vehicle voice communication system, among other things.

[0089] Please see Figure 2-14 In some embodiments, the driving mechanism includes a front drive wheel 7 and a rear drive wheel 8, and the autonomous driving lifting platform drives via the front drive wheel 7 and the rear drive wheel 8.

[0090] In some embodiments, a parking management system is also included;

[0091] The automatic parking lift platform 1 includes a communication module, which is used to establish a communication connection between the automatic parking lift platform 1 and the parking management system. The communication module is a 5G Internet of Things (IoT) communication module. The automatic parking lift platform 1 is equipped with a 5G IoT communication module, which is used to communicate with the parking lot 100 automatic parking management system in real time to complete the entire automatic parking process.

[0092] The parking management system includes a parking space management module, which is used to determine whether there is a vacant parking space for the current vehicle;

[0093] The parking management system is also used to determine whether there are any vacant parking spaces 9 in the parking lot 100 when a vehicle drives to the entrance of the parking lot 100. If there are, the system sends the vacant parking space information to the automatic parking lift platform 1.

[0094] When a user drives their vehicle to the entrance of parking lot 100, the parking management system uses the parking space management module to determine if there are any vacant parking spaces 9. If so, the system sends the information of the vacant parking space 9 to the automatic parking lift platform 1. The automatic parking lift platform 1 then automatically drives to the location of the waiting vehicle and automatically parks it. If there are no vacant parking spaces 9 in parking lot 100, the system sends this information to the user terminal, notifying the driver to check for the next available parking space. Alternatively, if there are no vacant parking spaces 9, the vehicle waits in the queue until a vacant parking space 9 becomes available. Then, the parking management system sends information to the automatic parking lift platform 1 to automatically park the vehicle.

[0095] Please see Figure 2-14 In some embodiments, the AI ​​navigation module includes an AI video navigator 3 and an AI vehicle navigation radar 6;

[0096] There are multiple AI video navigators 3, which are arranged around the automatic parking lifting platform 1;

[0097] The AI ​​vehicle navigation radar 6 consists of multiple units and is arranged around the automatic parking lift platform 1.

[0098] AI Video Navigator 3: This consists of multiple video systems installed at the front, rear, and sides of the automatic parking lift platform 1. Through video monitoring and software control, combined with vehicle navigation radar, it provides navigation for the automatic parking lift platform 1. AI Vehicle Navigation Radar 6: This consists of multiple vehicle navigation radars installed at the front, rear, and sides of the automatic parking lift platform 1. Through vehicle navigation radar and software control, combined with AI Video Navigator 3, it provides navigation for the automatic parking lift platform 1.

[0099] Please see Figure 2-14 In some embodiments, the automatic parking lifting platform 1 further includes a universal drive mechanism 5;

[0100] The universal drive mechanism 5 is located at the center of the automatic parking lifting platform 1, and the universal drive mechanism 5 is used to change the direction of the automatic parking lifting platform 1.

[0101] Universal drive mechanism 5: Located at the center of the underside of the automatic parking lift platform 1. In the normal driving state of the automatic parking lift platform 1, this device retracts inward and is hidden inside the automatic parking lift platform 1. When the automatic parking lift platform 1 moves to an empty parking space 9, this device extends out from inside the automatic parking lift platform 1 and contacts the ground. With the contact point between the device and the ground as the center, it drives the automatic parking lift platform 1 to rotate 360° in place, so that the angle of the automatic parking lift platform 1 is aligned with the direction of the parking space, making it convenient to send the car into the designated parking space 9.

[0102] Please see Figure 15-16 In some embodiments, the universal drive mechanism 5 includes a drive wheel motor 15, a drive wheel upper plate 17, a drive wheel lower plate 18, and a drive wheel body 21.

[0103] The drive wheel motor 15 is connected to the drive wheel upper plate 17;

[0104] The upper drive wheel plate 17 and the lower drive wheel plate 18 are engaged by meshing teeth;

[0105] The drive wheel body 21 is fixedly connected to the drive wheel lower plate 18, and the bottom of the drive wheel body 21 is spherical.

[0106] The omnidirectional drive mechanism 5 is gyroscope-shaped, with the upper half being cylindrical (divided into two cylindrical disks, namely the upper drive wheel disk 17 and the lower drive wheel disk 18), and the lower half being pointed (i.e., the bottom of the drive wheel body 21 is spherical). The drive wheel motor 15 drives the upper drive wheel disk 17 to rotate. The upper drive wheel disk 17 has upper disk engagement teeth 19, and the lower drive wheel disk 18 has lower disk engagement teeth 20. The upper drive wheel disk 17 and the lower drive wheel disk 18 engage through the upper disk engagement teeth 19 and the lower disk engagement teeth 20. As the upper drive wheel disk 17 rotates, it drives the lower drive wheel disk 18 to rotate, which in turn drives the drive wheel body 21 to rotate, thereby driving the automatic parking lifting platform 1 to rotate in place. The drive wheel motor 15 can be mounted on the lower drive wheel disk 18 or mounted on the automatic parking lifting platform, connected to the upper drive wheel disk 17. Among them, a drive wheel scale 16 is provided on the surface of the drive wheel plate 17, and the rotation angle of the universal drive mechanism 5 can be known according to the drive wheel scale 16.

[0107] Please see Figure 17 In some embodiments, the parking lot 100 further includes a main lane guide line 11 and parking space guide lines;

[0108] The automatic parking lift platform 1 also includes a guide line sensing and recognition device 10, which is used to sense the main lane guide line 11 and the parking space guide line.

[0109] The autonomous driving module is used to automatically drive to an empty parking space 9 based on the lane guide lines and parking space guide lines sensed by the guide line sensing and recognition device 10.

[0110] By setting up lane guide lines and parking space guide lines within the parking lot 100, the automatic parking lift ticket can identify the main lane guide line 11 through the guide line sensing and recognition device and drive to the front of the vacant parking space 9. At the same time, it drives into the parking space 9 according to the identified parking space guide line to complete the parking of the vehicle.

[0111] Please see Figure 17 In some embodiments, a main lane positioning anchor point 13 is provided between the main lane guide line 11 and the parking space guide line, and a parking space positioning anchor point 14 is provided at one end of the parking space guide line within the parking space 9.

[0112] Guide line sensing and recognition device 10: Located at the center line of the automatic parking lifting platform 1, one between the front and rear wheels, used to sense the main lane guide line 11 and the lane guide line of parking space 9 in parking lot 100, as well as the main lane positioning anchor point 13 and the parking space positioning anchor point 14, so that the automatic parking lifting platform 1 can drive according to the planned path; by setting the main lane positioning anchor point 13 at the connection point of the main lane guide line 11 and the parking space guide line, when the vehicle drives to the lane positioning anchor point in front of the vacant parking space 9, it can turn, and then drive to the parking space positioning anchor point 14 according to the parking space guide line, and then complete the parking of the vehicle.

[0113] In some embodiments, the lifting mechanism 4 includes jacks disposed at the four corners of the automatic parking lifting platform 1 and lifting extension plates disposed on the jacks. When lifting a vehicle, the jacks drive the lifting extension plates to rise and lift the chassis of the vehicle until the wheels of the vehicle leave the ground. The strength of the jacks and the lifting extension plates meets the requirements for supporting the vehicle.

[0114] In some embodiments, the map generation module includes a parking lot 100 map system: Before use, a relatively accurate map of the parking lot 100 is generated, including a topographical map of the parking lot 100, topography, obstacles, parking spaces 9, main lane guide lines 11, parking space guide lines 12, main lane positioning anchor points 13, and parking space positioning anchor points 14. During use, the parking lot 100 map system is imported into the automated parking lift platform 1 through a management platform. Each parking space 9, main lane guide line 11, parking space 9 lane guide line, main lane positioning anchor point 13, and parking space positioning anchor point 14 in the parking lot 100 map has a corresponding number. This map system is used for automatic navigation by the unmanned parking lift platform.

[0115] The map generation module also includes an autonomous learning and scene map generation system: the automatic parking lift platform 1 has autonomous learning capabilities to quickly familiarize itself with the parking lot 100 environment. Simultaneous Localization and Mapping Auxiliary System (SLAMAS): In addition to importing the "Parking Lot 100 Map System" for automatic navigation by the unmanned parking lift platform, a Simultaneous Localization and Mapping Auxiliary System (SLAMAS) is also designed. Its working principle is as follows: a) The entire parking lot 100 is detected by LiDAR, and a Simultaneous Localization and Mapping (SLAM) algorithm is used to build a model of the three-dimensional space; b) Various structures and obstacles are located and identified in real time; c) The "Parking Lot 100 Map System", SLAMAS and parking demand instructions are combined, and the processor performs path planning; d) Effective obstacle avoidance and avoidance of sudden foreign objects are performed in real time; f) A more real-time and accurate parking lot 100 scene map is recorded and generated through scene map generation software, and continuously updated, so that the unmanned parking lifting platform is more "familiar" with the parking lot 100, and parking will be smoother.

[0116] Please see Figure 18 In some embodiments, the AI-based autonomous parking system comprises: a central processor, management system application software, parking lot 100, main lane guide lines, parking space guide lines, main lane positioning anchor points 13, parking space positioning anchor points 14, parking spaces 9, parking space management module, and autonomous parking lifting platform 1.

[0117] The automatic parking lift platform 1 includes the following main structures:

[0118] Platform main hardware architecture: The main hardware architecture consists of a steel frame structure and other components, and its strength and rigidity meet the requirements for carrying automobiles.

[0119] Parking platform power supply system: It consists of charging devices, battery packs and power distribution components, and is mainly used to supply power to various electrical equipment on the parking platform;

[0120] AI Video Navigator 3: This consists of multiple video systems installed on the front, rear, and sides of the automatic parking lift platform 1. Through video viewing and software control, combined with vehicle navigation radar, it provides navigation for the automatic parking lift platform 1.

[0121] AI vehicle navigation radar 6: These are multiple vehicle navigation radars installed at the front, rear, and sides of the automatic parking lift platform 1. They provide navigation for the automatic parking lift platform 1 through vehicle navigation radar and software control, combined with video navigators, etc.

[0122] Lifting jack (lifting mechanism 4): It consists of a jack and an unfolding structure. The strength of the jack and the unfolding structure must meet the requirements for supporting the vehicle and is used to lift the vehicle off the ground.

[0123] Guide line sensing and recognition device 10: Located at the center line of the underside of the automatic parking lifting platform 1, one in the middle of the front and rear wheels, used to sense the guide line 11 of the main lane of the parking lot 100 and the guide line of the parking space 9 lane, as well as the main lane positioning anchor point 13 and the parking space positioning anchor point 14, so that the automatic parking lifting platform 1 can drive according to the planned path.

[0124] The central omnidirectional rotary drive wheel (i.e., omnidirectional drive mechanism 5) is located in the center of the underside of the automatic parking lift platform 1. During normal operation, this device retracts inward and is concealed within the platform. When the platform reaches the main lane positioning anchor point 13, this device extends from within the platform and contacts the ground. Centered on this contact point, the omnidirectional drive disc motor drives the platform to rotate 360° in place, aligning the platform with the parking space direction for easy placement of the vehicle into the designated parking space 9. The central omnidirectional rotary drive wheel is gyro-shaped, with the upper half cylindrical (divided into upper and lower cylindrical discs) and a pointed bottom. A motor in the center of the lower cylindrical disc drives the upper cylindrical disc to rotate, thus driving the automatic parking lift platform 1 to rotate in place.

[0125] Parking Platform Autonomous Driving Application System: This software is mainly used for the autonomous driving of the automatic parking lifting platform 1, automatically completing lifting, automatically starting the jack and unfolding the lifting plate, etc.

[0126] Parking Lot 100 Map System: Before use, a relatively accurate map of Parking Lot 100 is created, including the building topography, terrain, obstacles, parking spaces 9, main lane guide lines 11, lane guide lines for parking spaces 9, main lane positioning anchor points 13, and parking space positioning anchor points 14. During use, the Parking Lot 100 map system is imported into the autonomous parking lifting platform through the management platform. Each parking space 9, main lane guide line 11, lane guide line for parking spaces 9, main lane positioning anchor point 13, and parking space positioning anchor point 14 in the Parking Lot 100 map has a corresponding number. This map system is used for automatic navigation by the autonomous parking lifting platform.

[0127] Autonomous Learning and Scene Map Generation System: This automated parking lift platform 1 possesses autonomous learning capabilities to quickly familiarize itself with the parking lot 100 environment. Simultaneous Localization and Mapping Auxiliary System (SLAMAS): In addition to importing the "Parking Lot 100 Map System" for automatic navigation by the unmanned parking lift platform, a Simultaneous Localization and Mapping Auxiliary System (SLAMAS) is also designed. Its working principle is as follows: a) The entire parking lot 100 is detected by LiDAR, and the Simultaneous Localization and Mapping (SLAM) algorithm is used to build a model of the three-dimensional space; b) Various structures and obstacles are located and identified in real time; c) The "Parking Lot 100 Map System", SLAMAS and parking demand instructions are combined, and the processor performs path planning; d) Effective obstacle avoidance and avoidance of sudden foreign objects are performed in real time; f) The scene map generation software records and draws a more real-time and accurate scene map of the parking lot 100, and continuously updates it, so that the unmanned parking lifting platform is more "familiar" with the parking lot 100, and parking will be smoother.

[0128] 5G IoT communication module (parking platform side): The automatic parking lifting platform 1 is equipped with a 5G IoT communication module, which is used to communicate with the parking lot 100 automatic parking management system in real time to complete the entire automatic parking process.

[0129] In another embodiment, an AI-based autonomous parking method is provided, which applies the AI-based autonomous parking system described in the above embodiments. The method includes the following steps:

[0130] When it is necessary to move a vehicle waiting to be parked into a parking space in the parking lot, the automatic parking lift platform uses the parking lot map generated by the map generation module and the AI ​​navigation module to navigate to the location of the vehicle waiting to be parked.

[0131] Once the navigation reaches the location of the vehicle to be parked, the automatic parking lift platform uses the lifting mechanism to lift the vehicle.

[0132] After lifting the parked vehicle, the AI ​​navigation module guides it to an available parking space in the parking lot.

[0133] When the driver drives the vehicle to the entrance of parking lot 100, the driver can leave the vehicle and lock it. The automatic parking lift platform 1, based on the parking lot 100 map generated by the map generation module and the navigation information from the AI ​​navigation module, drives the automatic parking lift platform 1 to the position of the vehicle. Then, the automatic parking lift platform 1 lifts the vehicle through the lifting mechanism 4, causing the wheels of the vehicle to leave the ground. Then, using the navigation information from the AI ​​navigation module and the parking lot 100 map, it delivers the vehicle to an empty parking space 9. After the automatic parking lift platform 1 delivers the vehicle to the empty parking space 9, it controls the lifting mechanism 4 to stop lifting the vehicle and drives out of the parking space 9, completing the automatic parking of the vehicle. The automatic parking can be completed without the driver being in the vehicle, saving the driver's time and completing the parking quickly.

[0134] In some embodiments, the following steps are also included:

[0135] When the centralized parking control system receives parking space query information sent by the user terminal, it queries the parking lot 100 within the preset distance of the user terminal where there are 9 available parking spaces.

[0136] The centralized parking control system sends the location information of parking lot 100 to the user terminal.

[0137] When a user needs parking, they can send a parking space query request through their user terminal. Upon receiving this request, the centralized parking control system searches for parking lots 100 with available parking spaces 9 within a preset distance of the user terminal. The system then sends the location information of these parking lots 100 back to the user terminal. Users can then navigate to these parking lots 100 using the location information on their user terminal, allowing them to quickly find parking lots with available parking spaces 9. The user terminal can be a mobile app or an in-vehicle voice communication system, among other things.

[0138] In some embodiments, when a user drives a vehicle to the entrance of parking lot 100, the parking management system determines whether there are any vacant parking spaces 9 in parking lot 100 through the parking space management module. If there are, the parking space information of the vacant parking space 9 is sent to the automatic parking lift platform 1. The automatic parking lift platform 1 can then automatically drive to the location of the waiting vehicle and automatically park it. Alternatively, if there are no vacant parking spaces 9 in parking lot 100, the information is sent to the user terminal, notifying the driver to check the next parking lot 100 for parking. Or, if there are no vacant parking spaces 9 in parking lot 100, the vehicle waits in the queue until a vacant parking space 9 becomes available, at which point the parking management system sends information to the automatic parking lift platform 1 to automatically park the vehicle.

[0139] Please see Figure 19 In some embodiments, an AI-based autonomous parking method includes the following steps:

[0140] Step 1: If the vehicle needs to stop;

[0141] Step 2: Passengers can contact the city's centralized parking management system via mobile app or in-vehicle semantic communication system to find nearby available parking spaces;

[0142] Step 3: The vehicle travels to an available garage according to the navigation information and route planned by the system;

[0143] Step 4: Once the vehicle enters the garage entrance, the owner can get out of the car and leave the garage;

[0144] Step 5: Use the parking space management module in the 100 Automatic Parking Management System to check if there are any available parking spaces;

[0145] Step 6: If the query result is "yes", the system will allocate a parking space and plan the route based on the availability of parking spaces in the garage. If the query result is "no", the user will wait in line. If a parking space becomes available, the system will allocate a parking space and plan the route based on the availability of parking spaces in the garage.

[0146] Step 7: The automatic parking lift platform 1, which is on standby in the parking lot, drives under the vehicle waiting to be parked;

[0147] Step 8: The automatic parking lift platform 1 unfolds its lifting plate;

[0148] Step 9: The automatic parking lift platform 1 simultaneously activates 4 jacks to lift the vehicle off the ground;

[0149] Step 10: The automatic parking lift platform 1 lifts the vehicle to the designated parking space 9 in front of the positioning anchor point;

[0150] Step 11: The automatic parking lift platform 1 lifts the vehicle and rotates it 90° in place at the positioning anchor point in front of the designated parking space 9;

[0151] Step 12: The automatic parking lift platform 1 lifts the vehicle and drives it into the designated parking space 9;

[0152] Step 13: The automatic parking lift platform 1 lowers the jack and retracts the lift plate to park the vehicle in the designated parking space 9;

[0153] Step 14: The automatic parking lift platform 1 returns to the standby parking point.

[0154] Step 15: The 100 automatic parking system in the parking lot reports the updated parking space information to the city's centralized parking space dispatch system, thus completing the parking process.

[0155] The concept of an automated parking system that enables vehicles to enter unfamiliar parking lots under autonomous driving conditions is creatively developed.

[0156] Creatively employing an automated parking platform to assist vehicles in automatic parking;

[0157] The innovative design involves driving an automatic parking platform under the vehicle and using a lifting device to lift the vehicle off the ground, thus enabling vehicle transport.

[0158] Innovatively, it uses video navigators and in-vehicle navigation radar to navigate the automatic parking platform;

[0159] Innovatively, parking lot 100 lane guide lines and parking space 9 lane guide lines are set up in parking lot 100 to define the driving route for the automatic parking platform;

[0160] An innovative self-learning system is set up, enabling it to learn automatically, and a map of parking lot 100 is generated through scene map generation software, so that a usable map can be provided when re-entering parking lot 100;

[0161] It innovatively uses a 5G IoT communication module to enable information interaction with the parking lot 100 automatic parking management system.

[0162] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. An AI-based autonomous parking system, characterized in that, include: A parking lot, which includes a number of parking spaces; Automatic parking lift platform, the automatic parking lift platform includes: A lifting mechanism, used to lift vehicles to be parked; A driving mechanism, wherein the driving mechanism is used to drive the automatic parking lift platform to travel; The AI ​​navigation module is used for navigation of the automatic parking lift platform. A map generation module, used to generate a map of the parking lot; An autonomous driving module is connected to the lifting mechanism, the driving mechanism, the AI ​​navigation module, and the map generation module. When it is necessary to send a vehicle to be parked into a parking space in the parking lot, the autonomous driving module navigates to the location of the vehicle to be parked through the AI ​​navigation module according to the parking lot map generated by the map generation module, and after lifting the vehicle to be parked through the lifting mechanism, it navigates to an empty parking space in the parking lot through the AI ​​navigation module. The automatic parking lifting platform also includes a universal drive mechanism; The universal drive mechanism is located at the center of the automatic parking lift platform. The universal drive mechanism is used to change the direction of the automatic parking lift platform. In the normal driving state of the automatic parking lift platform, the universal drive mechanism retracts inward and is hidden inside the automatic parking lift platform. When the automatic parking lift platform drives to an empty parking space, the universal drive mechanism extends out from the automatic parking lift platform and contacts the ground. With the contact point between the universal drive mechanism and the ground as the center, the automatic parking lift platform is rotated 360° in place. The universal drive mechanism includes a drive wheel motor, a drive wheel upper plate, a drive wheel lower plate, and a drive wheel body; The drive wheel motor is connected to the upper disk of the drive wheel; The upper drive wheel plate and the lower drive wheel plate are engaged by meshing teeth; The drive wheel body is fixedly connected to the lower plate of the drive wheel, and the bottom of the drive wheel body is spherical; The omnidirectional drive mechanism is gyro-shaped, with a cylindrical upper part and a pointed lower part. It drives the upper drive wheel to rotate via a drive wheel motor. The upper drive wheel has upper engagement teeth, and the lower drive wheel has lower engagement teeth. The upper and lower drive wheel engage with each other through the upper and lower engagement teeth. As the upper drive wheel rotates, it drives the lower drive wheel to rotate, which in turn drives the drive wheel body to rotate, thereby driving the automatic parking lifting platform to rotate in place.

2. The AI-based unmanned automatic parking system according to claim 1, characterized in that, Also includes: User terminal, the user terminal being used to send parking space query information; A centralized parking control system is used to query parking lots with available parking spaces within a preset distance of the user terminal after receiving parking space query information sent by the user terminal, and then send the location information of the parking lot to the user terminal.

3. The AI-based unmanned automatic parking system according to claim 1, characterized in that, It also includes a parking management system; The automatic parking lift platform includes a communication module, which is used to establish a communication connection between the automatic parking lift platform and the parking management system; The parking management system includes a parking space management module, which is used to determine whether there are available parking spaces for the current vehicle. The parking management system is also used to determine whether there are any vacant parking spaces in the parking lot when a vehicle arrives at the entrance of the parking lot. If there are, the system sends the vacant parking space information to the automatic parking lift platform.

4. The AI-based unmanned automatic parking system according to claim 1, characterized in that, The AI ​​navigation module includes an AI video navigator and an AI vehicle navigation radar; The AI ​​navigation modules are multiple and are arranged around the automatic parking lift platform; The AI ​​vehicle navigation radar consists of multiple units and is positioned around the automatic parking lift platform.

5. The AI-based unmanned automatic parking system according to claim 1, characterized in that, The parking lot also includes main lane guide lines and parking space guide lines; The automatic parking lift platform also includes a guide line sensing and recognition device, which is used to sense the main lane guide line and the parking space guide line. The autonomous driving module is used to automatically drive to an empty parking space based on the lane guide lines and parking space guide lines sensed by the guide line sensing and recognition device.

6. The AI-based unmanned automatic parking system according to claim 5, characterized in that, The main lane guide line and the parking space guide line are provided with a main lane positioning anchor point, and the parking space guide line is provided with a parking space positioning anchor point at one end within the parking space.

7. An AI-based autonomous parking method, characterized in that, The method is applied to the AI-based autonomous parking system according to any one of claims 2-6, and the method includes the following steps: When it is necessary to move a vehicle waiting to be parked into a parking space in the parking lot, the automatic parking lift platform uses the parking lot map generated by the map generation module and the AI ​​navigation module to navigate to the location of the vehicle waiting to be parked. Once the navigation reaches the location of the vehicle to be parked, the automatic parking lift platform uses the lifting mechanism to lift the vehicle. After lifting the parked vehicle, the AI ​​navigation module guides it to an available parking space in the parking lot.

8. The AI-based autonomous parking method according to claim 7, characterized in that, It also includes the following steps: When the centralized parking control system receives parking space query information sent by the user terminal, it queries parking lots with available parking spaces within a preset distance of the user terminal. The centralized parking control system sends the location information of the parking lots to the user terminal.

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