Parking system and parking method for automatic loading of large rolling ship automobiles

Abstract

The invention discloses a large rolling ship automobile automatic loading parking system, which comprises an on-board parking point system, a cloud platform system and a port parking robot system, and is characterized in that the on-board parking point system is used for monitoring the use condition of an on-board parking point and sending data to the cloud platform system; vehicle loading information of each layer of cargo hold on a ship is uploaded to the cloud platform system and the port operation platform, and the port operation platform matches a vehicle needing to be loaded with a specified unoccupied parking point on the ship, generates a parking route and sends the parking route to the port parking robot system. And the parking robot system is used for receiving the parking route instruction, transporting the automobile to an appointed parking point on the ship, then withdrawing and transporting the next automobile. The invention further provides a parking method for automatic loading of the rolling ship and the automobile. Manual operation is replaced by automatic driving of the port parking robot, so that the problem that the transportation efficiency of a vehicle rolling ship is low is solved, and the safety of manual vehicle loading is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of roll-on / roll-off ships, and in particular relates to a parking system and a parking method for automatically loading cars on a large roll-on / roll-off ship. Background Art

[0002] With strong export demand for new energy vehicles, ro-ro vessels (RoRo ships) are in short supply. Reducing the speed of vehicle loading from the dock to the ship is crucial to the efficiency of RoRo transport. Currently, each car is manually driven from the dock to the ship, taking an average of 30 minutes to load. Loading a large RoRo ship, such as 7,000 vehicles, requires a significant amount of manpower, resulting in low efficiency and a high incidence of accidents caused by continuous operation. New methods are urgently needed to replace this manual process. Summary of the Invention

[0003] In response to the above problems, the present invention provides a parking system and method for automatic loading of cars on large roll-on / roll-off ships, which replaces manual operation with automatic driving of port parking robots to solve the problem of low efficiency of roll-on / roll-off ship transportation.

[0004] To achieve the above object, the present invention adopts the following technical solutions: A parking system for automatically loading cars onto large roll-on / roll-off ships is characterized by comprising an onboard parking spot system, a cloud platform system, and a port parking robot system. The onboard parking spot system is used to monitor the usage of onboard parking spots and send the data to the cloud platform system. The cloud platform system is used to match vehicles with available parking spots, generate parking routes, and send them to the port parking robot system. The parking robot system is used to receive parking route instructions and transport cars to designated parking spots inside the cargo hold.

[0005] Furthermore, the onboard parking spot system includes a no-parking signal transmitter and a car sensor provided at each parking spot, the car sensor being telecommunication-connected to the no-parking signal transmitter, the no-parking signal transmitter being connected to the cloud platform system, the car sensor being used to send a signal indicating that a car is parked at the parking spot to the no-parking signal transmitter, and the no-parking signal transmitter being used to send a no-parking signal to the cloud platform system.

[0006] Furthermore, the cloud platform system includes a no-parking signal receiver, a roll-on / roll-off ship route planning module and a route transmitter. The no-parking signal receiver is wirelessly connected to the no-parking signal transmitter, and the roll-on / roll-off ship route planning module is telecommunication connected to the route transmitter for calculating the route of the car from the dock to the parking point. The route transmitter is wirelessly connected to the port parking robot system.

[0007] Furthermore, the port parking robot system includes a parking robot body, a driving route receiver, sensors, a navigation system, a communication system, and a real-time data processing module. The driving route receiver is wirelessly connected to the driving route transmitter and the navigation system. The navigation system determines the position and direction of the port parking robot through a positioning system and map data and controls the movement of the parking robot body according to the driving route. The communication system is used to realize communication between the port parking robot and the outside world. The real-time data processing module is telecommunication-connected to the sensors and the navigation system for real-time processing of sensor data, map data, and vehicle status information to make intelligent decisions.

[0008] Furthermore, the parking robot body includes a transfer cart, a transfer frame connected to the top of the transfer cart through multiple retractable and foldable supports, a universal wheel is provided under the transfer cart to facilitate 360-degree steering, and an automatic travel signal receiver and an automatic signal receiver are provided on the transfer cart. The automatic travel signal receiver is connected to the terminal control system signal for controlling the automatic travel of the parking robot, and the automatic signal receiver is connected to the parking space contact sensor on the parking space and the terminal control system signal for determining whether the parking position is correct.

[0009] Furthermore, a plurality of positioning receivers are provided on the four peripheral sides of the lower end surface of the support platform. When the vehicle is parked at the positioning position, the positioning receiver contacts the parking space sensor in the cargo hold and the vehicle stops moving.

[0010] A parking method using the above-mentioned parking system for automatic loading of large roll-on / roll-off ships comprises the following steps: S1. The onboard parking system monitors parking usage and sends the data to the cloud platform system; S2. The system administrator matches the vehicles to be loaded and the available parking spots in the cloud platform system. The cloud platform system generates a parking route and sends it to the port parking robot system. S3. The port parking robot system receives the parking route instruction and transports the car to the designated parking spot on the ship according to the parking route instruction.

[0011] Furthermore, S1 is specifically as follows: the car sensor senses whether a car is parked at the parking spot. If the car sensor does not sense a car, it indicates that there is no car parked at the parking spot, and this parking spot can be selected as a parking spot. If the car sensor senses a car, it indicates that a car is parked at the parking spot, and the no-parking signal transmitter sends this signal to the no-parking signal receiver in the cloud platform system, and this parking spot cannot be selected as a parking spot.

[0012] Furthermore, the S2 specifically includes the following steps: S21. Input the three-dimensional model of the hull in the cloud platform system; S22. After the system administrator matches the vehicle to be loaded with the available parking spot, the ro-ro vessel route planning module calculates the parking route for the vehicle to be loaded from the terminal to the parking spot using the three-dimensional ship model. S23. The driving route transmitter sends the parking route to the driving route receiver.

[0013] Furthermore, the S3 specifically includes the following steps: S31. When the car enters the port, the parking robot exercises control system signal instructions according to the terminal 8 to the car floor position; S32. The parking robot body lifts the support panel by raising the folding support until the pillar leaves the ground; S33. The navigation system guides the transfer vehicle to drive automatically according to the parking route received by the driving route receiver. During the automatic driving of the transfer vehicle, the sensor uses the laser radar and camera to perceive the vehicle's surrounding environment and detect obstacles in real time. When an obstacle is detected, the obstacle information is transmitted to the real-time data processing module. The real-time data processing module makes intelligent decisions and adjusts the driving trajectory based on the sensor data, map data and vehicle status information. When the positioning receiver contacts the parking space sensor in the cargo hold, it indicates that the parking robot automatically drives into the designated parking spot, the transfer vehicle stops moving, retracts the folding support, and returns to the starting point after completion.

[0014] Compared with the prior art, the parking system for automatic loading of large roll-on / roll-off ships of the present invention has the following beneficial effects: 1. Improved the transport efficiency of ro-ro ships and reduced human operational errors; 2. Through the car networking and roll-on roll-off ship method, the car can automatically drive on the roll-on roll-off ship, improving the convenience of transportation; 3. By using modern communication technology, the status of cars on the roll-on / roll-off ship can be monitored in real time, further improving the safety of cars during the ship's navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a framework diagram of the parking system for automatic loading of automobiles on large roll-on / roll-off ships according to the present invention.

[0016] Figure 2 It is a structural schematic diagram of the parking robot described in the present invention.

[0017] Figure 3 It is a schematic diagram of the automatic loading of the parking robot described in the present invention.

[0018] Figure 4This is a schematic diagram of the automatic loading and parking method according to the present invention.

[0019] Among them, 1-terminal parking lot, 2-small car, 3-vehicle travel route, 4-roll-on / roll-off ship cargo hold deck, 5-car parking space on the roll-on / roll-off ship cargo hold deck, 6-parking space direction indicator, 7-parking space contact sensor, 8-terminal control system, 9-parking platform system, 100-universal wheel, 101-transfer vehicle bracket, 102-positioning receiver, 103-automatic travel signal receiver, 104-automatic signal receiver, 105-retractable folding support. DETAILED DESCRIPTION

[0020] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0021] like Figures 1-4 As shown, a parking system for automatically loading cars on large roll-on / roll-off ships includes an onboard parking spot system, a cloud platform system, and a port parking robot system. The onboard parking spot system is used to monitor the usage of the onboard parking spots and send the data to the cloud platform system. The cloud platform system is used to match vehicles with available parking spots, generate parking routes, and send them to the port parking robot system. The parking robot system is used to receive parking route instructions and transport cars to designated parking spots on the ship.

[0022] With this setup, the ship's parking spot system monitors parking spot usage and sends the data to the cloud platform. The system administrator matches vehicles with available parking spots on the cloud. The cloud platform generates parking routes and sends them to the parking robot system. The parking robot system receives the parking route instructions and transports the car to the designated parking spot on the ship.

[0023] Furthermore, the onboard parking spot system includes a no-parking signal transmitter and a car sensor provided at each parking spot, the car sensor being signal-connected to the no-parking signal transmitter, the no-parking signal transmitter being signal-connected to the cloud platform system, the car sensor being used to send a signal indicating that a car is parked at the parking spot to the no-parking signal transmitter, and the no-parking signal transmitter being used to send a no-parking signal to the cloud platform system.

[0024] The car sensor is responsible for receiving and sensing whether there is a car parked at the parking spot. If the car sensor does not sense a car, it means that there is no car parked at the parking spot, and this parking spot can be selected as a parking spot. If the car sensor senses a car, it means that a car has been parked at the parking spot, and the no-parking signal transmitter will send this signal to the cloud platform system, and this parking spot cannot be selected as a parking spot.

[0025] Specifically, the cloud platform system includes a no-parking signal receiver, a roll-on / roll-off ship route planning module, and a route transmitter. The no-parking signal receiver is wirelessly connected to the no-parking signal transmitter, and the roll-on / roll-off ship route planning module is telecommunication connected to the route transmitter to calculate the route of the car from the dock to the parking point. The route transmitter is wirelessly connected to the port parking robot system.

[0026] The cloud platform system uses a no-parking signal receiver to identify available parking spots. After the administrator selects a parking spot, the route planning program calculates the route for the car from the dock to the parking spot, and the route transmitter sends the route to the port parking robot system.

[0027] Specifically, the port parking robot system includes a parking robot body, a driving route receiver, sensors, a navigation system, a communication system, and a real-time data processing module. The driving route receiver is wirelessly connected to the driving route transmitter and the navigation system. The navigation system uses a positioning system and map data to determine the position and direction of the port parking robot and controls the movement of the parking robot body according to the driving route. The communication system is used to enable communication between the port parking robot and the outside world. The real-time data processing module is connected to the sensors and navigation system in telecommunication and is used to process sensor data, map data, and vehicle status information in real time to make intelligent decisions.

[0028] like Figure 2 and Figure 3 As shown, the parking robot body includes a transfer vehicle, a transfer frame 101 is connected to the top of the transfer vehicle through multiple retractable folding supports 105, a universal wheel 100 is provided under the transfer vehicle 1 to facilitate 360-degree steering, multiple positioning receivers 102 are provided around the transfer frame 101, and an automatic travel signal receiver 103 and an automatic signal receiver 104 are provided on the transfer vehicle 1. The automatic travel signal receiver 103 is connected to the terminal control system 8 signal for controlling the automatic travel of the parking robot, and the automatic signal receiver 104 is connected to the parking space contact sensor 7 on the parking space and the terminal control system 8 signal for determining whether the parking position is correct.

[0029] When a car enters the port, the parking robot's automatic travel signal receiver 103, based on signals received from the terminal control system 8, automatically moves to the car's chassis. After retracting and lifting the car with its folding support 105, the parking robot follows its route to the ship's cargo hold and automatically drives to the designated parking spot. There, it locates the parking space contact sensor 7 on the parking space. The positioning receiver 102 contacts the parking space contact sensor 7, and the automatic signal receiver 104 exchanges the received signal from the parking space contact sensor 7 with the terminal control system 8 to determine whether the berth is correct. During this time, the parking robot moves horizontally or vertically using the universal wheels 100 on the transfer vehicle 1. Upon reaching the parking spot, the folding support 105 retracts and contacts the ro-ro ship deck, and the robot returns to its starting point.

[0030] A parking method using the above parking system specifically comprises the following steps: S1. The onboard parking system monitors parking usage and sends the data to the cloud platform system; S2. The system administrator matches the vehicles to be loaded and the available parking spots in the cloud platform system. The cloud platform system generates a parking route and sends it to the port parking robot system. S3. The port parking robot system receives the parking route instruction and transports the car to the designated parking spot on the ship according to the parking route instruction.

[0031] Specifically, S1 is as follows: the car sensor senses whether a car is parked at the parking spot. If the car sensor does not sense a car, it indicates that there is no car parked at the parking spot, and this parking spot can be selected as a parking spot. If the car sensor senses a car, it indicates that a car is parked at the parking spot, and the no-parking signal transmitter sends this signal to the no-parking signal receiver in the cloud platform system, and this parking spot cannot be selected as a parking spot.

[0032] The S2 specifically includes the following steps: S21. Input the three-dimensional model of the hull in the cloud platform system; S22. After the system administrator matches the vehicle to be loaded with the available parking spot, the ro-ro vessel route planning module calculates the parking route for the vehicle to be loaded from the terminal to the parking spot using the three-dimensional ship model. S23. The driving route transmitter sends the parking route to the driving route receiver.

[0033] The S3 specifically includes the following steps: S31. When the car enters the port, the parking robot exercises control system signal instructions according to the terminal 8 to the car floor position; S32. The parking robot body lifts the support panel by raising the folding support until the pillar leaves the ground; S33. The navigation system guides the transfer vehicle to drive automatically according to the parking route received by the driving route receiver. During the automatic driving of the transfer vehicle, the sensor uses the laser radar and camera to perceive the vehicle's surrounding environment and detect obstacles in real time. When an obstacle is detected, the obstacle information is transmitted to the real-time data processing module. The real-time data processing module makes intelligent decisions and adjusts the driving trajectory based on the sensor data, map data and vehicle status information. When the positioning receiver 102 contacts the parking space contact sensor 7 in the cargo hold, it indicates that the parking robot automatically drives into the designated parking spot, the transfer vehicle stops moving, and the folding support retracts. After completion, it returns to the starting point.

[0034] Those skilled in the art should understand that the above description is only a specific embodiment of the invention and is not intended to limit the invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the invention should be included in the scope of protection of the invention.

Claims

1. A parking system for automatic loading of large roll-on / roll-off ships, characterized in that: It includes an onboard parking point system, a cloud platform system and a port parking robot system. The onboard parking point system is used to monitor the usage of onboard parking points and send the data to the cloud platform system. The cloud platform system is used to match vehicles with available parking points, generate parking routes and send them to the port parking robot system. The parking robot system is used to receive parking route instructions and transport the car to the designated parking point inside the cargo hold.

2. The parking system for automatic loading of large roll-on / roll-off ships according to claim 1, characterized in that: The onboard parking spot system includes a no-parking signal transmitter and a car sensor provided at each parking spot. The car sensor is telecommunication-connected to the no-parking signal transmitter, which is connected to the cloud platform system. The car sensor is used to send a signal indicating that a car is parked at the parking spot to the no-parking signal transmitter, which is used to send a no-parking signal to the cloud platform system.

3. The parking system for automatic loading of large roll-on / roll-off ships according to claim 2, characterized in that: The cloud platform system includes a no-parking signal receiver, a roll-on / roll-off ship route planning module, and a route transmitter. The no-parking signal receiver is wirelessly connected to the no-parking signal transmitter, and the roll-on / roll-off ship route planning module is telecommunication connected to the route transmitter to calculate the route of the car from the dock to the parking spot. The route transmitter is wirelessly connected to the port parking robot system.

4. The parking system for automatic loading of large roll-on / roll-off ships according to claim 3, characterized in that: The port parking robot system includes a parking robot body, a driving route receiver, sensors, a navigation system, a communication system, and a real-time data processing module. The driving route receiver is wirelessly connected to the driving route transmitter and the navigation system. The navigation system determines the position and direction of the port parking robot through a positioning system and map data and controls the movement of the parking robot body according to the driving route. The communication system is used to enable the port parking robot to communicate with the outside world. The real-time data processing module is telecommunication-connected to the sensors and navigation system for real-time processing of sensor data, map data, and vehicle status information to make intelligent decisions.

5. The parking system for automatic loading of large roll-on / roll-off ships according to claim 4, characterized in that: The parking robot body includes a transfer cart, a transfer frame connected to the top of the transfer cart by multiple retractable and foldable supports, a universal wheel is provided under the transfer cart to facilitate 360-degree steering, and an automatic travel signal receiver and an automatic signal receiver are provided on the transfer cart. The automatic travel signal receiver is connected to the terminal control system signal for controlling the automatic travel of the parking robot, and the automatic signal receiver is connected to the parking space contact sensor on the parking space and the terminal control system signal for determining whether the parking position is correct.

6. The parking system for automatic loading of large roll-on / roll-off ships according to claim 5, characterized in that: A plurality of positioning receivers are provided around the transfer rack. When the vehicle is parked at the positioning position, the positioning receiver contacts the parking space sensor in the cargo hold and the vehicle stops moving.

7. A parking method using the parking system for automatic loading of large roll-on / roll-off ships according to claim 6, characterized in that: The specific steps include: S1. The onboard parking system monitors parking usage and sends the data to the cloud platform system; S2. The system administrator matches the vehicles to be loaded and the available parking spots in the cloud platform system. The cloud platform system generates a parking route and sends it to the port parking robot system. S3. The port parking robot system receives the parking route instruction and transports the car to the designated parking spot on the ship according to the parking route instruction.

8. The parking method according to claim 7, characterized in that: Specifically, S1 is as follows: the car sensor senses whether a car is parked at the parking spot. If the car sensor does not sense a car, it indicates that there is no car parked at the parking spot, and this parking spot can be selected as a parking spot. If the car sensor senses a car, it indicates that a car is parked at the parking spot, and the no-parking signal transmitter sends this signal to the no-parking signal receiver in the cloud platform system, and this parking spot cannot be selected as a parking spot.

9. The parking method according to claim 8, characterized in that: The S2 specifically includes the following steps: S21. Input the three-dimensional model of the hull in the cloud platform system; S22. After the system administrator matches the vehicle to be loaded with the available parking spot, the ro-ro vessel route planning module calculates the parking route for the vehicle to be loaded from the terminal to the parking spot using the three-dimensional ship model. S23. The driving route transmitter sends the parking route to the driving route receiver.

10. The parking method according to claim 9, characterized in that: The S3 specifically includes the following steps: S31. When the car enters the port, the parking robot exercises command signals according to the terminal control system 8 to the car floor position; S32. The parking robot body lifts the support panel by raising the folding support until the pillar leaves the ground; S33. The navigation system guides the transfer vehicle to drive automatically according to the parking route received by the driving route receiver. During the automatic driving of the transfer vehicle, the sensor uses the laser radar and camera to perceive the vehicle's surrounding environment and detect obstacles in real time. When an obstacle is detected, the obstacle information is transmitted to the real-time data processing module. The real-time data processing module makes intelligent decisions and adjusts the driving trajectory based on the sensor data, map data and vehicle status information. When the positioning receiver contacts the parking space sensor in the cargo hold, it indicates that the parking robot automatically drives into the designated parking spot, the transfer vehicle stops moving, retracts the folding support, and returns to the starting point after completion.

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