AGV-based intelligent parking garage and intelligent control method thereof

Abstract

The present invention discloses an AGV-based intelligent parking garage and an intelligent control method thereof, wherein an initial parking area image acquisition device in an image acquisition device group acquires vehicle images of the initial parking area, and when acquiring the image of the vehicle to be parked, sends it to a control component; the control component generates a carrier mobilization instruction based on the image of the vehicle to be parked and sends it to a target AGV intelligent carrier in an idle state among multiple AGV intelligent carriers; the target AGV intelligent carrier transports the vehicle to be parked from the initial parking area to a target parking space corresponding to a target planned path based on the carrier mobilization instruction. The embodiment of the present invention is based on the control component quickly determining a target AGV intelligent carrier in an idle state after the image acquisition device group acquires the image of the vehicle to be parked, so as to realize automatic transport of the vehicle to be parked from the initial parking area to the target parking space, which not only improves the efficiency of locating to an idle parking space, but also realizes fully automated parking.

Description

Technical Field

[0001] The present invention relates to the field of new energy technology, and in particular to an AGV-based intelligent parking garage and an intelligent control method thereof. Background Art

[0002] At present, parking lots mainly include ground multi-story parking lots, ground open-air parking lots and underground parking lots. Car drivers need to drive the car to be parked (fuel car or electric car) to park in the above-mentioned types of parking lots, that is, the entire process from driving to the parking lot entrance to entering the parking lot until finally finding a vacant parking space and completing the parking operation is completed by the user manually searching. Not only is the efficiency of locating the vacant parking space low, but the entire process is manual operation, resulting in a low degree of automation. Summary of the invention

[0003] The embodiments of the present invention provide an AGV-based intelligent parking garage and an intelligent control method thereof, aiming to solve the problem in the prior art that a car driver needs to manually search for a vacant parking space from driving the car to the entrance of the parking lot to finally finding the vacant parking space and completing the parking operation. Not only is the efficiency of locating the vacant parking space low, but the entire process is manual operation, resulting in a low degree of automation.

[0004] In a first aspect, an embodiment of the present invention provides an AGV-based smart parking garage, which includes a garage parking area and a garage non-parking area; a control component, an image acquisition device group and a plurality of AGV smart carriers arranged in the garage non-parking area; wherein the plurality of AGV smart carriers and the image acquisition device group are all communicatively connected to the control component; the initial parking area image acquisition device in the image acquisition device group is used to perform vehicle image acquisition in the initial parking area in the garage non-parking area, and when the vehicle image of the vehicle to be parked in the initial parking area is acquired, the vehicle image to be parked is sent to the control component; the control component generates a carrier mobilization instruction based on the vehicle image to be parked, and sends the carrier mobilization instruction to a target AGV smart carrier that is in an idle state among the plurality of AGV smart carriers; the target AGV smart carrier lifts the vehicle to be parked from the initial parking area based on the carrier mobilization instruction, and obtains a target planned path from the control component to transport the vehicle to be parked from the initial parking area to a target parking space corresponding to the end position of the target planned path.

[0005] In a second aspect, an embodiment of the present invention further provides an intelligent control method for an AGV-based intelligent parking garage, which is applied to the AGV-based intelligent parking garage described in the first aspect above, wherein the AGV-based intelligent parking garage comprises a garage parking area and a garage non-parking area; a control component, an image acquisition device group, and a plurality of AGV intelligent transporters arranged in the garage non-parking area; wherein the plurality of AGV intelligent transporters and the image acquisition device group are all communicatively connected to the control component; the intelligent control method for the AGV-based intelligent parking garage comprises:

[0006] When the initial parking area image acquisition device in the image acquisition device group acquires the image of the vehicle to be parked in the initial parking area of ​​the non-parking area of ​​the garage, the image of the vehicle to be parked is sent to the control component;

[0007] The control component generates a carrier mobilization instruction based on the image of the vehicle to be parked, and sends the carrier mobilization instruction to a target AGV smart carrier that is in an idle state among the multiple AGV smart carriers;

[0008] The target AGV intelligent carrier lifts the vehicle to be parked from the initial parking area based on the carrier mobilization instruction, and obtains the target planned path from the control component to transport the vehicle to be parked from the initial parking area to the target parking space corresponding to the end position of the target planned path.

[0009] The embodiment of the present invention provides an intelligent parking garage based on AGV and its intelligent control method, wherein the initial parking area image acquisition device in the image acquisition device group is used to acquire vehicle images in the initial parking area in the non-parking area of ​​the garage, and when acquiring the image of the vehicle to be parked in the initial parking area, the image of the vehicle to be parked is sent to the control component; the control component generates a carrier mobilization instruction based on the image of the vehicle to be parked, and sends the carrier mobilization instruction to a target AGV intelligent carrier, one of which is in an idle state, of multiple AGV intelligent carriers; the target AGV intelligent carrier lifts the vehicle to be parked from the initial parking area based on the carrier mobilization instruction, and obtains the target planning path from the control component to transport the vehicle to be parked from the initial parking area to the target parking space corresponding to the terminal position of the target planning path. The embodiment of the present invention is based on the image acquisition device group acquiring the image of the vehicle to be parked, and the control component quickly determines a target AGV intelligent carrier in an idle state from multiple AGV intelligent carriers, so as to realize the automatic transport of the vehicle to be parked from the initial parking area to the target parking space, which not only improves the efficiency of locating the idle parking space, but also realizes full-process automated parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0011] Figure 1 A schematic diagram of an application scenario of an AGV-based smart parking garage provided in an embodiment of the present invention;

[0012] Figure 2 A schematic block diagram of the structure of an AGV-based smart parking garage provided in an embodiment of the present invention;

[0013] Figure 3 A schematic diagram of the structure of an integrated AGV intelligent transporter in an AGV-based intelligent parking garage provided by an embodiment of the present invention;

[0014] Figure 4 Another structural schematic diagram of an integrated AGV intelligent transporter in an AGV-based intelligent parking garage provided by an embodiment of the present invention;

[0015] Figure 5 A schematic diagram of the structure of a split-type AGV intelligent transporter in an AGV-based intelligent parking garage provided by an embodiment of the present invention;

[0016] Figure 6 A schematic flow chart of an intelligent control method for an AGV-based intelligent parking garage provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0019] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0020] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0021] Please also refer to Figure 1-Figure 2 ,in Figure 1 A schematic diagram of an application scenario of an AGV-based smart parking garage provided in an embodiment of the present invention; Figure 2 The schematic block diagram of the structure of the AGV-based intelligent parking garage provided by the embodiment of the present invention. Figure 1 and Figure 2 As shown, the AGV-based smart parking garage provided by the embodiment of the present invention includes: a garage parking area 10 (including multiple parking spaces) and a garage non-parking area 20; a control component 100, an image acquisition device group 200 and multiple AGV smart carriers 300 arranged in the garage non-parking area; wherein the multiple AGV smart carriers 300 and the image acquisition device group 200 are all communicatively connected with the control component 100; the initial parking area image acquisition device in the image acquisition device group 200 is used to collect vehicle images in the initial parking area 20A in the garage non-parking area, and after collecting the initial parking area, the image acquisition device 200 is used to collect vehicle images in the initial parking area 20A in the garage non-parking area. When an image of a vehicle to be parked in the initial parking area is obtained, the image of the vehicle to be parked is sent to the control component 100; the control component 100 generates a carrier mobilization instruction based on the image of the vehicle to be parked, and sends the carrier mobilization instruction to a target AGV smart carrier that is in an idle state among the multiple AGV smart carriers 300; the target AGV smart carrier lifts the vehicle to be parked from the initial parking area based on the carrier mobilization instruction, and obtains a target planned path from the control component to transport the vehicle to be parked from the initial parking area to a target parking space corresponding to the end position of the target planned path.

[0022] In this embodiment, the vehicle to be parked must first be driven or transported by other transport structures (such as elevator structures, etc.) to the initial parking area 20A in the non-parking area 20 of the garage. Afterwards, the initial parking area image acquisition device in the image acquisition device group 200 can be aimed at the initial parking area 20A to shoot the vehicle to be parked in the parking state, mainly to acquire the image of the vehicle to be parked including the license plate area of ​​the front part or the rear part of the vehicle (which can be achieved by setting the angle of the initial parking area image acquisition device to be aimed at the initial parking area 20A). Then, the control component 100 generates a carrier mobilization instruction based on the image of the vehicle to be parked, and sends the carrier mobilization instruction to the target AGV smart carrier that is in an idle state among the multiple AGV smart carriers 300. At the same time, the control component 100 also needs to simultaneously perform path planning based on the current stop position of the target AGV smart carrier, the current position of the vehicle to be parked, and the target parking space to obtain a target planned path, and send the target planned path to the target AGV smart carrier (AGV refers to Automated Guided Vehicle, which means an automatic guided vehicle). Finally, the target AGV intelligent transporter moves to the initial parking area based on the target planning path, and transports the vehicle to be parked from the initial parking area to the target parking space corresponding to the end position of the target planning path. It can be seen that the above method realizes that the AGV intelligent transporter automatically transports the vehicle to be parked to the target parking space, thereby completing automatic parking.

[0023] In one embodiment, if Figure 2 As shown, each of the multiple AGV intelligent carriers 300 is an integrated AGV intelligent carrier or a split AGV intelligent carrier.

[0024] In this embodiment, the AGV intelligent carrier used can be either an integrated AGV intelligent carrier or a split AGV intelligent carrier, wherein all structures of the integrated AGV intelligent carrier are connected as a whole structure, while the split AGV intelligent carrier includes at least a front wheel carrier structure and a rear wheel carrier structure, and the two are separately arranged. The above-mentioned integrated AGV intelligent carrier or split AGV intelligent carrier can realize automatic transportation of the parked vehicle.

[0025] In one embodiment, if Figure 3 As shown, the integrated AGV intelligent carrier includes: a carrier body mechanism 311, a first movable clamping arm mechanism 312, a carrier driving mechanism 313 and a carrier auxiliary wheel mechanism 314; the first movable clamping arm mechanism 312, the carrier driving mechanism 313 and the carrier auxiliary wheel mechanism are all arranged on the carrier body mechanism.

[0026] In this embodiment, if an integrated AGV intelligent carrier is used as a carrier, it is mainly composed of a carrier body mechanism 311, a first movable clamping arm mechanism 312, a carrier driving mechanism 313 and a carrier auxiliary wheel mechanism 314. When the specific operation of carrying a vehicle to be parked is performed, the first movable clamping arm mechanism 312 may first drill into the bottom of the vehicle from the front end of the vehicle to be parked and open the corresponding driven arm, and then the first movable clamping arm mechanism 312 continues to move to the rear wheel of the vehicle to be parked under the traction of the carrier body mechanism 311. At this time, the fixed clamping arm assembly in the carrier body mechanism 311 is located near the front wheel position of the vehicle to be parked, and the first movable clamping arm mechanism 312 is located near the rear wheel of the vehicle to be parked.

[0027] Then, the corresponding active arm in the first mobile clamping arm mechanism 312 is also opened, so that the first mobile clamping arm mechanism 312 clamps the rear wheel; at the same time, the corresponding active arm in the carrier body mechanism 311 is also opened, so that the carrier body mechanism 311 clamps the front wheel. Finally, the carrier drive mechanism 313 drives the entire integrated AGV intelligent carrier to move, so as to transport the vehicle to be parked from one position to another, such as from the initial parking area to the target parking space corresponding to the end position of the target planned path.

[0028] In one embodiment, if Figure 3 As shown, the first movable clamping arm mechanism 312 comprises a first movable clamping arm body 3121, a first movable clamping arm power assembly 3122, a first active clamping arm assembly 3123, a first driven clamping arm assembly 3124, a first active connecting member 3125 and a first driven connecting member 3126; the first movable clamping arm power assembly is arranged on the first movable clamping arm body; the first active clamping arm assembly is connected to the first movable clamping arm power assembly through the first active connecting member and can move under the drive of the first movable clamping arm power assembly; the first driven clamping arm assembly is connected to the first movable clamping arm body through the first driven connecting member, and the first screw nut on the first movable clamping arm power assembly can move to abut against the first driven connecting member and the first driven connecting member drives the first driven clamping arm assembly to move;

[0029] The carrier body mechanism 311 includes a body frame 3111, a fixed clamp arm assembly 3112, a mobile clamp arm power assembly 3113 and a power battery 3114; the fixed clamp arm assembly 3112, the mobile clamp arm power assembly 3113 and the power battery 3114 are all arranged on the body frame 3111; the mobile clamp arm power assembly 3113 is connected to the first mobile clamp arm body 3121;

[0030] The carrier auxiliary wheel mechanism 314 includes a plurality of auxiliary support wheels (not shown) and a plurality of side guide wheels 3141, wherein the plurality of auxiliary support wheels are arranged at the bottom end of the vehicle frame and the bottom end of the first movable clamping arm body, and the plurality of side guide wheels are arranged on the side wall of the vehicle frame.

[0031] In this embodiment, if Figure 4 As shown, the first movable clamping arm power assembly 3122 includes a low-voltage servo motor 31221, a roller chain coupling 31222, a first screw 31223, a tapered roller bearing seat 31224 and a first screw nut 31225, one end of the first screw 31223 is connected to the rotating shaft of the low-voltage servo motor 31221 through the roller chain coupling 31222, one end of the first screw 31223 is movably connected to the tapered roller bearing seat 31224, and the first screw nut 31225 is sleeved on the first screw 31223; the first active connecting member 3125 includes a first active connecting rod 31251, a second active connecting rod 31251 and a third active connecting rod 31253, the first end of the first active connecting rod 31251 is connected to the first screw nut 31225, The second end of the first active link 31251 is connected to the first end of the third active link 31253, the first end of the second active link 31251 is connected to the first end of the third active link 31253, the second end of the second active link 31251 is connected to the first active clamping arm assembly 3123, and the second end of the third active link 31253 is connected to the first movable clamping arm body 3121; the first driven connecting member 3126 specifically includes a first driven link 31261 and a second driven link 31262, the first end of the first driven link 31261 is connected to the first movable clamping arm body 3121, the second end of the first driven link 31261 is connected to the first end of the second driven link 31262, and the second end of the second driven link 31262 is connected to the first driven clamping arm assembly 3124. When the first movable clamping arm mechanism 312 of the above-mentioned specific structure is adopted, the low-voltage servo motor 31221 works, driving the first screw 31223 to rotate and thereby driving the first screw nut 31225 to move; when the first screw nut 31225 can move to abut against the first driven connecting piece 3126, the first driven clamping arm assembly 3124 is thereby driven; when the first screw nut 31225 moves a distance such as 30-40 mm away from the first driven connecting piece 3126, and the first screw nut 31225 is not in contact with the first driven connecting piece 3126, the first driven clamping arm assembly 3124 is in an open state; when the first screw nut 31225 continues to move away from the first driven connecting piece 3126, the first driven clamping arm assembly 3124 and the first active clamping arm assembly 3123 are both in an open state.

[0032] It should be noted that there is a waist-shaped hole on the first active connecting rod 31251, and its main purpose is to control the opening and retraction of the first active clamping arm assembly 3123 when the first screw nut 31225 is at the two end positions of the waist hole, and the first active clamping arm assembly 3123 is always retracted. Moreover, when opening the first driven clamping arm assembly 3124 and the first active clamping arm assembly 3123, the first driven clamping arm assembly 3124 can only be opened first, and the first active clamping arm assembly 3123 can be opened later; when retracting the first driven clamping arm assembly 3124 and the first active clamping arm assembly 3123, the first active clamping arm assembly 3123 can only be retracted first, and the first driven clamping arm assembly 3124 can be retracted later.

[0033] Moreover, the fixed clamp arm assembly 3112 also includes a second active clamp arm assembly and a second driven clamp arm assembly, and the working principle of the two is similar to the working process of the first active clamp arm assembly 3123 and the first driven clamp arm assembly 3124, the only difference is that the whole does not move. The mobile clamp arm power assembly 3113 is connected to the first mobile clamp arm body 3121 through a chain to pull the first mobile clamp arm body 3121 to move longitudinally.

[0034] When the handling operation of the vehicle to be parked is specifically performed, the tail of the carrier close to the first mobile clamp arm mechanism 312 first moves and drills into the bottom of the vehicle to be parked from the front end. At this time, the first driven clamp arm assembly of the first mobile clamp arm mechanism 312 is opened, and the driven arm in the fixed clamp arm assembly 3112 of the carrier body mechanism 311 is also opened; after that, the integrated AGV intelligent carrier continues to drill into the vehicle until the fixed clamp arm assembly 3112 detects the front wheel of the vehicle to be parked. During this period, the first mobile clamp arm mechanism 312 moves to the rear wheel of the vehicle to be parked under the traction of the mobile clamp arm power assembly 3113. After completing the above operations, the fixed clamp arm assembly 3112 is located near the front wheel position of the vehicle to be parked, and the first mobile clamp arm mechanism 312 is located near the rear wheel of the vehicle to be parked. Then, the corresponding first active clamp arm assembly 3123 in the first mobile clamp arm mechanism 312 is also opened, so that the first mobile clamp arm mechanism 312 clamps the rear wheel; at the same time, the corresponding active arm of the first active clamp arm assembly 3123 in the carrier body mechanism 311 is also opened, so that the carrier body mechanism 311 clamps the front wheel. Finally, the carrier drive mechanism 313 drives the entire integrated AGV intelligent carrier to move, so as to realize the transportation of the vehicle to be parked from one position to another, such as from the initial parking area to the target parking space corresponding to the end position of the target planned path.

[0035] In one embodiment, the split AGV intelligent carrier includes at least two clamping structures, and two adjacent clamping structures are separately arranged.

[0036] In this embodiment, if a split-type AGV intelligent carrier is used as a carrier, it is mainly composed of two clamping structures, one of which is used to carry the front wheels of the vehicle to be parked, and the other is used to carry the rear wheels of the vehicle to be parked. The specific structures of the two clamping structures can refer to the specific structure of the first movable clamping arm mechanism in the above-mentioned integrated AGV intelligent carrier.

[0037] In one embodiment, taking one of the clamping structures of the split AGV intelligent transporter as an example, Figure 5 As shown, the clamping structure 320 includes a carrier body frame 321, an active clamping arm 322, a driven clamping arm 323, a second active connecting member 324, a second driven connecting member 325, a clamping structure power assembly 326, a travel drive assembly 327, a support wheel assembly 328 and a guide wheel assembly 329; the active clamping arm 322, the driven clamping arm 323, the second active connecting member 324, the second driven connecting member 325, the clamping structure power assembly 326, the travel drive assembly 327, the support wheel assembly 328 and the guide wheel assembly 329. 29 are all arranged on the carrier body frame 321; the active clamping arm 322 is connected to the clamping structure power assembly 326 through the second active connecting member 324, and can move under the drive of the clamping structure power assembly 326; the driven clamping arm 323 is connected to the carrier body frame 321 through the second driven connecting member 325, and the active nut on the clamping structure power assembly can move to abut against the second driven connecting member 325 and the driven clamping arm 323 is driven by the second driven connecting member 325 to move.

[0038] In this embodiment, the Figure 5As shown, the second active connecting member 324 includes a fourth active connecting rod 3241, a fifth active connecting rod 3242, a sixth active connecting rod 3243, an active nut 3245, a driven nut 3244, a nut walking wheel 3246 and a spring 3247. The first end of the fourth active connecting rod 3241 is connected to the active nut 3245, the second end of the fourth active connecting rod 3241 is connected to the first end of the fifth active connecting rod 3242, the second end of the fifth active connecting rod 3242 is connected to the driven nut 3244, the first end of the sixth active connecting rod 3243 is connected to the driven nut 3244, the second end of the sixth active connecting rod 3243 is connected to the carrier body frame 321, and the spring 3247 is connected to the carrier body frame 321. 47. The active nut 3245 and the driven nut 3244 are both sleeved on the second screw of the clamping structure power component 326, and the second end of the spring 3247 is connected to the first end of the active nut 3245, and the nut walking wheel 3246 is bolted to the driven nut 3244; the walking drive component 327 includes a walking servo motor 3271, a diaphragm coupling 3272, a walking wheel 3273 and a bearing seat 3274, the walking servo motor 3271 is arranged at the bottom end of the carrier body frame 321, the rotating shaft of the walking servo motor 3271 is connected to the first end of the transmission shaft through the diaphragm coupling 3272, and the second end of the transmission shaft is connected to the walking wheel 3273 through the bearing seat 3274.

[0039] When the handling operation of the parked vehicle is specifically performed, one clamping structure moves to the front wheel of the vehicle under the drive of the travel drive assembly 327, and the other clamping structure moves to the rear wheel of the vehicle under the drive of the travel drive assembly 327. At this time, the unfolding process of the active clamping arm 322 and the driven clamping arm 323 is explained by taking the clamping structure aimed at the front wheel as an example. The clamping structure power assembly 326 drives the second screw to rotate. Since the active nut 3245 and the second screw are threadedly matched, the active nut 3245 slides on the second screw; when the active nut 3245 moves to make the screw in the waist-shaped hole on the first end of the fourth active connecting rod 3241 located at the lower limit position, the active nut 3245 pushes the second driven connecting member 325, thereby driving the driven clamping arm 3231 to open. The active nut 3245 continues to move, thereby driving the driven nut 3244 to move, and the nut walking wheel 3246 is bolted to the driven nut 3244. The driven nut 3244 drives the active clamping arm 322 to open through the fifth active connecting rod 3242 and the sixth active connecting rod 3243. (The spring 3247 mainly provides additional thrust to make the active nut 3245 pop open); the clamping motor in the clamping structure power assembly 326 continues to rotate, and the active nut 3245 and the driven nut 3244 continue to move, so that the active clamping arm 322 approaches the driven clamping arm 323, thereby clamping the wheel.

[0040] Among them, it should be noted that in the above process, a waist-shaped hole is provided on the first end of the fourth active connecting rod 3241, and its main purpose is to control the opening and retraction of the driven clamp arm 323 when the active nut 3245 is at the two end positions of the waist hole, while the movable clamp arm 322 remains retracted. When the active clamp arm 322 and the driven clamp arm 323 are opened, only the driven clamp arm 323 can be opened first, and the active clamp arm 322 can be opened later. When the active clamp arm 322 and the driven clamp arm 323 are retracted, only the active clamp arm 322 can be retracted first, and the driven clamp arm 323 can be retracted later. Finally, the travel drive assembly drives the clamping structure to move, so as to realize the transportation of the vehicle to be parked from one position to another, such as specifically transporting it from the initial parking area to the target parking space corresponding to the end position of the target planning path.

[0041] Corresponding to the above AGV-based intelligent parking garage, the present invention also provides an intelligent control method for an AGV-based intelligent parking garage. Figure 6 As shown, the multi-parking space automatic charging system is applied to the AGV-based smart parking garage described in any of the above embodiments, and the intelligent control method of the AGV-based smart parking garage includes steps S110~S130.

[0042] S110. When the initial parking area image acquisition device in the image acquisition device group acquires the vehicle image of the vehicle to be parked in the initial parking area of ​​the non-parking area of ​​the garage, the initial parking area image acquisition device sends the vehicle image to the control component.

[0043] In this embodiment, again refer to Figure 1-Figure 4 , the vehicle to be parked must first be driven or transported by other transport structures (such as a lift structure, etc.) to the initial parking area 20A in the garage non-parking area 20. Then, the initial parking area image acquisition device in the image acquisition device group 200 can be aimed at the initial parking area 20A to shoot the vehicle to be parked in the parking state, mainly to acquire the image of the vehicle to be parked including the license plate area of ​​the front part or the rear part of the vehicle (this can be achieved by setting the angle at which the initial parking area image acquisition device is aimed at the initial parking area 20A).

[0044] S120: The control component generates a carrier movement instruction based on the image of the vehicle to be parked, and sends the carrier movement instruction to a target AGV smart carrier that is in an idle state among the multiple AGV smart carriers.

[0045] In this embodiment, still refer to Figure 1-Figure 4The control component 100 generates a carrier movement instruction based on the image of the vehicle to be parked, and sends the carrier movement instruction to a target AGV smart carrier that is in an idle state among the multiple AGV smart carriers 300. At the same time, the control component 100 also needs to perform path planning based on the current stop position of the target AGV smart carrier, the current position of the vehicle to be parked, and the target parking space to obtain a target planned path, and send the target planned path to the target AGV smart carrier.

[0046] In one embodiment, before step S120, the method further includes:

[0047] The control component obtains a new energy vehicle recognition result corresponding to the image of the vehicle to be parked based on the image of the vehicle to be parked and a license plate recognition model.

[0048] In this embodiment, the license plate recognition model in the control component performs license plate color recognition and license plate number recognition on the image of the vehicle to be parked, so as to quickly obtain a new energy vehicle recognition result of whether the vehicle to be parked is a new energy vehicle.

[0049] During specific implementation, the license plate recognition model includes at least a license plate color recognition sub-model (such as a license plate color recognition model based on corner point detection, etc.) and a license plate number recognition sub-model (such as a YOLO v3 model, a YOLO v5 model, etc.). The license plate color recognition sub-model is used to determine the color recognition result corresponding to the license plate area in the image of the vehicle to be parked, such as the color recognition result is specifically a first preset color corresponding to a new energy vehicle, or the color recognition result is specifically a second preset color corresponding to a non-new energy vehicle.

[0050] The license plate number recognition sub-model can also be used to determine the license plate number recognition result corresponding to the license plate area in the image of the vehicle to be parked, and the total number of license plate number character digits corresponding to the license plate number recognition result is counted, such as the total number of license plate number character digits of the new energy vehicle corresponds to the first preset number of character digits, and the total number of license plate number character digits of the non-new energy vehicle corresponds to the second preset number of character digits. When it is determined that the color recognition result is the first preset color and the total number of license plate number character digits corresponds to the first preset number of character digits, the new energy vehicle recognition result is determined to be a new energy vehicle type; when it is determined that the color recognition result is the second preset color and the total number of license plate number character digits corresponds to the second preset number of character digits, the new energy vehicle recognition result is determined to be a non-new energy vehicle type. It can be seen that by performing license plate image recognition on the image of the vehicle to be parked and obtaining the corresponding new energy vehicle recognition result, the target parking space to which the vehicle to be parked is transported can be more accurately determined.

[0051] In one embodiment, step S120 includes:

[0052] If the control component determines that the new energy vehicle identification result is a new energy vehicle type, it generates a new energy vehicle transporter mobilization instruction based on the image of the vehicle to be parked, and sends the new energy vehicle transporter mobilization instruction to a target AGV smart transporter that is idle and used to transport the new energy vehicle among the multiple AGV smart transporters.

[0053] In this embodiment, among the multiple AGV smart carriers, a part of the AGV smart carriers can be set to be dedicated to transporting new energy vehicles, and another part of the AGV smart carriers can be set to be dedicated to transporting non-new energy vehicles. After the control component determines that the new energy vehicle identification result is a new energy vehicle type, it can generate a new energy vehicle carrier mobilization instruction based on the image of the vehicle to be parked. This new energy vehicle carrier mobilization instruction can be sent to a target AGV smart carrier that is idle and used to transport new energy vehicles among the multiple AGV smart carriers, and subsequent transport operations are performed through the target AGV smart carrier, such as transporting the vehicle to be parked from the initial parking area to the target parking space corresponding to the end position of the target planned path according to the target planning path.

[0054] S130, the target AGV intelligent carrier lifts the vehicle to be parked from the initial parking area based on the carrier mobilization instruction, and obtains the target planned path from the control component to transport the vehicle to be parked from the initial parking area to the target parking space corresponding to the end position of the target planned path.

[0055] In this embodiment, still refer to Figure 1-Figure 4 , the target AGV intelligent transporter moves to the initial parking area based on the target planning path, and transports the vehicle to be parked from the initial parking area to the target parking space corresponding to the end position of the target planning path. It can be seen that the above method realizes that the AGV intelligent transporter automatically transports the vehicle to be parked to the target parking space, thereby completing automatic parking.

[0056] In one embodiment, after step S130, the method further includes:

[0057] The target AGV intelligent transporter sends the target movement duration and target movement distance corresponding to the target planned path to the control component;

[0058] The control component determines a current updated path planning model based on the target movement duration, the target movement distance and the path planning optimization strategy.

[0059] In this embodiment, each AGV intelligent transporter sends the target movement time and target movement distance consumed by transporting the vehicle to be parked from the initial parking area to the target parking space corresponding to the terminal position of the target planning path to the control component based on the target planning path. In the control component, the target movement time and target movement distance can be compared with the historical average movement time and historical average movement distance corresponding to the vehicle transportation process using the same planning path, and a path planning optimization instruction is generated when it is determined that the target movement time is greater than the historical average movement time and / or the target movement distance is greater than the historical average movement distance. Afterwards, the control component can obtain the current path planning algorithm and the preset path planning optimization strategy (such as downloading the latest path planning algorithm from the cloud) based on the path planning optimization instruction to update the current path planning model to obtain the current updated path planning model. It can be seen that based on the above-mentioned path planning model evaluation and update method, it can be ensured that the path planning model can be updated in the control component in a timely manner.

[0060] It can be seen that the embodiment of the method is based on the image acquisition device group capturing the image of the vehicle to be parked, and then the control component quickly determines an idle target AGV intelligent transporter from multiple AGV intelligent transporters, so as to automatically transport the vehicle to be parked from the initial parking area to the target parking space, which not only improves the efficiency of positioning to the idle parking space, but also realizes fully automated parking.

[0061] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0062] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0063] The steps in the method of the embodiment of the present invention can be adjusted in order, combined and deleted according to actual needs. The units in the device of the embodiment of the present invention can be combined, divided and deleted according to actual needs. In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0064] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, terminal, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention.

[0065] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An AGV-based intelligent parking garage, characterized in that: It comprises a garage parking area and a garage non-parking area; a control component, an image acquisition device group and a plurality of AGV intelligent carriers arranged in the garage non-parking area; wherein the plurality of AGV intelligent carriers and the image acquisition device group are all in communication connection with the control component; the initial parking area image acquisition device in the image acquisition device group is used to collect vehicle images of the initial parking area in the garage non-parking area, and when the image of the vehicle to be parked in the initial parking area is collected, the image of the vehicle to be parked is sent to the control component; the control component generates a carrier mobilization instruction based on the image of the vehicle to be parked, and sends the carrier mobilization instruction to a target AGV intelligent carrier that is in an idle state among the plurality of AGV intelligent carriers; the target AGV intelligent carrier lifts the vehicle to be parked from the initial parking area based on the carrier mobilization instruction, and obtains the target planned path from the control component to transport the vehicle to be parked from the initial parking area to the target parking space corresponding to the end position of the target planned path; Each of the plurality of AGV intelligent carriers is a split-type AGV intelligent carrier; The split AGV intelligent carrier includes at least two clamping structures, and two adjacent clamping structures are separately arranged; The clamping structure includes a carrier body frame, an active clamping arm, a passive clamping arm, a second active connecting member, a second passive connecting member, a clamping structure power assembly, a travel drive assembly, a support wheel assembly and a guide wheel assembly; the active clamping arm, the passive clamping arm, the second active connecting member, the second passive connecting member, the clamping structure power assembly, the travel drive assembly, the support wheel assembly and the guide wheel assembly are all arranged on the carrier body frame; the active clamping arm is connected to the clamping structure power assembly through the second active connecting member and can move under the drive of the clamping structure power assembly; the passive clamping arm is connected to the carrier body frame through the second passive connecting member, and the active nut on the clamping structure power assembly can move to abut against the second passive connecting member and the passive clamping arm is driven to move by the second passive connecting member.

2. An AGV-based intelligent parking garage, characterized in that: It comprises a garage parking area and a garage non-parking area; a control component, an image acquisition device group and a plurality of AGV intelligent carriers arranged in the garage non-parking area; wherein the plurality of AGV intelligent carriers and the image acquisition device group are all in communication connection with the control component; the initial parking area image acquisition device in the image acquisition device group is used to collect vehicle images of the initial parking area in the garage non-parking area, and when the image of the vehicle to be parked in the initial parking area is collected, the image of the vehicle to be parked is sent to the control component; the control component generates a carrier mobilization instruction based on the image of the vehicle to be parked, and sends the carrier mobilization instruction to a target AGV intelligent carrier that is in an idle state among the plurality of AGV intelligent carriers; the target AGV intelligent carrier lifts the vehicle to be parked from the initial parking area based on the carrier mobilization instruction, and obtains the target planned path from the control component to transport the vehicle to be parked from the initial parking area to the target parking space corresponding to the end position of the target planned path; Each of the plurality of AGV intelligent carriers is an integrated AGV intelligent carrier; The integrated AGV intelligent carrier includes: a carrier body mechanism, a first movable clamping arm mechanism, a carrier driving mechanism and a carrier auxiliary wheel mechanism; the first movable clamping arm mechanism, the carrier driving mechanism and the carrier auxiliary wheel mechanism are all arranged on the carrier body mechanism; The first movable clamping arm mechanism comprises a first movable clamping arm body, a first movable clamping arm power assembly, a first active clamping arm assembly, a first driven clamping arm assembly, a first active connecting piece and a first driven connecting piece; the first movable clamping arm power assembly is arranged on the first movable clamping arm body; the first active clamping arm assembly is connected to the first movable clamping arm power assembly through the first active connecting piece and can move under the drive of the first movable clamping arm power assembly; the first driven clamping arm assembly is connected to the first movable clamping arm body through the first driven connecting piece, and the first screw nut on the first movable clamping arm power assembly can move to abut against the first driven connecting piece and the first driven connecting piece drives the first driven clamping arm assembly to move; The carrier body mechanism comprises a body frame, a fixed clamp arm assembly, a movable clamp arm power assembly and a power battery; the fixed clamp arm assembly, the movable clamp arm power assembly and the power battery are all arranged on the body frame; the movable clamp arm power assembly is connected to the first movable clamp arm body; The carrier auxiliary wheel mechanism includes a plurality of auxiliary support wheels and a plurality of side guide wheels. The plurality of auxiliary support wheels are arranged at the bottom end of the vehicle frame and the bottom end of the first movable clamping arm body, and the plurality of side guide wheels are arranged on the side wall of the vehicle frame.

3. An intelligent control method for an AGV-based intelligent parking garage, applied to the AGV-based intelligent parking garage as claimed in claim 1 or 2, characterized in that: The AGV-based smart parking garage includes a garage parking area and a garage non-parking area; a control component, an image acquisition device group and a plurality of AGV smart carriers arranged in the garage non-parking area; wherein the plurality of AGV smart carriers and the image acquisition device group are all communicatively connected with the control component; the intelligent control method of the AGV-based smart parking garage includes: When the initial parking area image acquisition device in the image acquisition device group acquires the image of the vehicle to be parked in the initial parking area of ​​the non-parking area of ​​the garage, the image of the vehicle to be parked is sent to the control component; The control component generates a carrier mobilization instruction based on the image of the vehicle to be parked, and sends the carrier mobilization instruction to a target AGV smart carrier that is in an idle state among the multiple AGV smart carriers; The target AGV intelligent carrier lifts the vehicle to be parked from the initial parking area based on the carrier mobilization instruction, and obtains the target planned path from the control component to transport the vehicle to be parked from the initial parking area to the target parking space corresponding to the end position of the target planned path.

4. The method according to claim 3, characterized in that After the step of acquiring the target planned path from the control component to transport the vehicle to be parked from the initial parking area to the target parking space corresponding to the end position of the target planned path, the method further includes: The target AGV intelligent transporter sends the target movement duration and target movement distance corresponding to the target planned path to the control component; The control component determines a current updated path planning model based on the target movement duration, the target movement distance and the path planning optimization strategy.

5. The method according to claim 4, characterized in that Before the control component generates a carrier mobilization instruction based on the image of the vehicle to be parked, and sends the carrier mobilization instruction to a target AGV smart carrier that is in an idle state among the multiple AGV smart carriers, the method also includes: the control component obtains a new energy vehicle recognition result of the image of the vehicle to be parked based on the image of the vehicle to be parked and a license plate recognition model.

6. The method according to claim 5, characterized in that The control component generates a carrier mobilization instruction based on the image of the vehicle to be parked, and sends the carrier mobilization instruction to a target AGV smart carrier that is in an idle state among the multiple AGV smart carriers, including: If the control component determines that the new energy vehicle identification result is a new energy vehicle type, it generates a new energy vehicle transporter mobilization instruction based on the image of the vehicle to be parked, and sends the new energy vehicle transporter mobilization instruction to a target AGV smart transporter that is idle and used to transport the new energy vehicle among the multiple AGV smart transporters.

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