CN113404356B

CN113404356B - Automatic parking system and method based on AGV

Info

Publication number: CN113404356B
Application number: CN202110857812.8A
Authority: CN
Inventors: 陶然
Original assignee: Guangzhou Haige Communication Group Inc Co
Current assignee: Guangzhou Haige Communication Group Inc Co
Priority date: 2021-07-28
Filing date: 2021-07-28
Publication date: 2023-03-07
Anticipated expiration: 2041-07-28
Also published as: CN113404356A

Abstract

The invention discloses an automatic parking system based on an AGV, which comprises an internal system and an external system, wherein the external system is used for receiving and processing external information; the internal system includes: the AGV module is used for bearing a user vehicle and carrying out parking omnidirectional movement control and up-down slope traveling control on the user vehicle according to a control signal of the server module; the server module is used for managing and controlling the AGV module and the terminal equipment; the terminal equipment module is used for acquiring the vehicle information of the user and transmitting the vehicle information to the server for processing; the indoor and outdoor positioning system module is used for positioning according to the environment and further guiding the vehicle to park according to the positioning information; the invention has high operation efficiency and good experience and effectively solves the problem of difficult parking.

Description

Automatic parking system and method based on AGV

Technical Field

The invention relates to the field of research of vehicle parking technologies, in particular to an automatic parking system and method based on an AGV.

Background

As the number of motor vehicles in possession continues to increase and the parking space grows slowly, a problem of difficulty in parking occurs, and thus, it is one of the research hotspots for unmanned parking for the parking problem.

In the prior art, the trays and the AGV are separated, so that the trays are inevitably and intensively stacked, and the traditional method adopts the differential wheels to steer, so that a parking system occupies a large space, and resource waste is easily caused under the condition of the current shortage of space; in addition, the traditional method cannot climb a slope, so that vehicles can only stop on the same plane, and a large number of multi-layer parking lots can appear in the later parking lots for stopping more vehicles, and the market demand cannot be met.

Disclosure of Invention

The invention mainly aims to overcome the defects of the prior art and provide an automatic parking system and a method thereof based on an AGV, which improve the conveying efficiency and the space utilization rate of a parking lot, can finish normal parking and taking of the parking lot with a certain gradient and solve the problem of difficult parking.

A first object of the present invention is to provide an AGV-based automatic parking system.

The second purpose of the invention is to provide an automatic parking method based on the AGV.

The first purpose of the invention is realized by the following technical scheme:

an AGV based automatic parking system comprising:

the system comprises an internal system and an external system, wherein the external system is used for receiving and processing external information; the internal system includes:

the AGV module is used for bearing a user vehicle and carrying out parking omnidirectional movement control and up-down slope traveling control on the user vehicle according to a control signal of the server module;

the server module is used for managing and controlling the AGV module and the terminal equipment;

the terminal equipment module is used for acquiring the vehicle information of the user and transmitting the vehicle information to the server for processing;

and the indoor and outdoor positioning system module is used for positioning according to the environment and further guiding the vehicle to park according to the positioning information.

Further, the AGV module includes:

the electric system unit is used for processing and controlling the information of the AGV module and processing signals of the ultrasonic radar and the camera;

the mechanical system unit is used for bearing the user vehicle and controlling the vehicle to carry out parking omnidirectional movement and up-slope and down-slope walking;

the power system unit is used for providing a power source when the vehicle moves and automatically judging that the AGV module runs to a charging station at an appointed position to carry out automatic charging;

and the control system unit receives the tasks of the server end through the wireless communication device, processes signals of all sensors, formulates a parking route in an area, completes the autonomous walking of the moving direction and the moving speed of the AGV module, and reports each state of the AGV module to the server module through the wireless communication device.

Furthermore, the electric system unit comprises an industrial control computer, a low-voltage distribution control board, a servo motor drive board and a sensor module; the industrial control computer is used for receiving the control instruction and carrying out speed distribution and resolving distribution speed according to the control instruction; the low-voltage distribution control panel is used for judging the residual capacity of the power system unit after acquiring the voltage and the current of the power unit and exchanging data with the power system unit; the sensor module comprises an ultrasonic obstacle avoidance radar, a depth camera and an ultra wide band active tag and is used for acquiring corresponding sensing information.

Further, the power system unit comprises a walking motor module and a lifting motor module; the walking motor module comprises a direct-current servo motor and a speed reducer, and drives corresponding Mecanum wheels to complete omnidirectional movement through the direct-current servo motor; the lifting motor module comprises a lifter, and a tilt control instruction is sent out through tilt information detected by the electrical system unit to control the angle of the lifter and finish the walking on the up-down slope.

Furthermore, the control system unit comprises a control decision processing unit, a low-voltage power distribution and control unit, a communication unit and a positioning unit; the control decision processing unit is used for receiving the data information processed by the positioning label and exchanging data with the low-voltage power distribution and control unit; the low-voltage distribution and control unit is used for judging the residual capacity of the power system and exchanging data with the electric system unit; the communication unit is used for interaction between the AGV module and the server module; the positioning unit outputs absolute position information and attitude information in a UWB manner.

Further, the server module comprises a scheduling system unit; the scheduling system unit comprises a display module and a scheduling module; the dispatching module generates a system task and distributes the task, and after receiving the system task, the AGV module integrates an electronic map, positioning information, traffic control and running state information and autonomously marks a known point from a parking lot map to move to another known point.

Further, the terminal application system comprises a gate control terminal and a large-screen monitoring terminal; the gate control terminal is arranged at a parking entrance and used for acquiring and confirming vehicle information; the large-screen monitoring terminal is used for data communication between the server module and the display and monitoring operation, parking space information and operation and alarm information of the AGV module.

Further, the indoor and outdoor positioning system, when detecting outdoors: a GNSS/SINS combined navigation mode is adopted, a GNSS system adopts RTK positioning, the positioning precision reaches cm level, and accurate positioning in an open area or a partially shielded area is realized through satellite inertial combination; when detected indoors: an SINS/ultra-wideband cooperative positioning/two-dimension code positioning combined navigation mode is adopted, UWB positioning is adopted at the entrance of a parking lot for realizing synchronization of an indoor world coordinate system and an outdoor world coordinate system, a vehicle is navigated to the position of a two-dimension code at the entrance and then is positioned indoors by the two-dimension code, and the vehicle is guided to the position of a parking space.

An automatic parking method based on an AGV comprises the following steps:

when the gate control terminal detects that a vehicle is ready to park, the gate control terminal sends a signal for parking production to the server module;

the server module detects parking spaces in the parking lot to obtain parking space information;

the AGV module carries out path planning according to the parking space information, automatically searches an optimal parking path and moves the AGV module to a waiting space;

the gate control terminal returns parking space information and informs whether the vehicle can park or not;

moving the vehicle to be parked to a parking space through an AGV module;

when a user gets the vehicle, the gate control terminal obtains vehicle information through the user information and matches the vehicle information;

the AGV module delivers the vehicle to the exit location through the matched vehicle information.

Further, the path planning specifically includes:

the AGV server receives information sent by the AGV and the UWB through a communication module of the AGV server, the AGV server accurately sends a scheduling instruction to the AGV according to the information, and the AGV automatically searches an optimal path from a waiting position to a parking position according to a static map stored in advance; the received information comprises coordinate position information, battery electric quantity information and speed information; the issued scheduling instruction comprises position information, path information and start and stop information.

Compared with the prior art, the invention has the following advantages and beneficial effects:

1. the invention realizes the omnidirectional movement through the AGV module, namely the switching between the forward movement and the side movement can be realized, and the original place convolution can be carried out to adjust the direction to enter a parking area and the parking without turning, thereby greatly reducing the width of the passageway; and a symmetrical arrangement structure is adopted, on the premise of ensuring sufficient strength and rigidity, the weight of the vehicle body is reduced as much as possible by carrying out optimization analysis through ANSYS software, and the effective bearing capacity is improved.

2. The invention can satisfy the parking lot environment with slope through the up-down slope walking technology, thereby improving the space utilization rate.

3. According to the technical scheme, the trays are parked in the parking spaces, the trays are not stacked, and the efficiency is improved.

Drawings

FIG. 1 is a block diagram of an AGV based automatic parking system according to the present invention;

FIG. 2 is a schematic diagram showing the structure of an AGV based automatic parking system according to embodiment 1 of the present invention;

fig. 3 is a block diagram of the internal system structure in embodiment 1 of the present invention;

fig. 4 is a view showing a structure of an electric system unit in embodiment 1 of the present invention;

fig. 5 is a schematic diagram of the operation of the electric system unit in embodiment 1 of the present invention;

FIG. 6 is a structural view of a tray in the embodiment 1 of the present invention;

FIG. 7 is a diagram showing the construction of an AGV according to embodiment 1 of the present invention;

fig. 8 is a structural view of a guiding and carrying module of a mechanical system unit according to embodiment 1 of the present invention;

FIG. 9 is a functional block diagram of an AGV control system according to embodiment 1 of the present invention;

fig. 10 is a block diagram of a control system unit in embodiment 1 of the present invention;

fig. 11 is a diagram of a physical structure of communication in embodiment 1 of the present invention;

fig. 12 is a schematic diagram illustrating a scheduling system reporting a task execution result to an ERP in embodiment 1 of the present invention;

FIG. 13 is a schematic diagram of an indoor-outdoor integrated positioning software according to embodiment 1 of the present invention;

FIG. 14 is a schematic view of an indoor and outdoor integrated positioning system according to example 1 of the present invention;

fig. 15 is a block diagram of a parking lot according to embodiment 1 of the present invention;

FIG. 16 is a schematic diagram showing the AGV module moving in the embodiment 1 of the present invention;

FIG. 17 is a schematic view showing AGV module side movement in embodiment 1 of the present invention;

fig. 18 is a schematic view showing the climbing when walking on the uphill and downhill in embodiment 1 of the present invention;

FIG. 19 is a schematic diagram showing the operation of the AGV driving into an inclined road in the embodiment 1 of the present invention;

fig. 20 is a flowchart of automatic parking based on an AGV according to embodiment 2 of the present invention.

Detailed Description

The present invention will be described in further detail with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.

Example 1:

an automatic parking system based on an AGV, as shown in fig. 1, and a detailed structural diagram is shown in fig. 2, comprising:

the system comprises an internal system and an external system, wherein the external system is used for receiving and processing external information; the internal system is shown in fig. 3 and comprises:

1. AGV (automatic guided vehicle) module

An AGV (automatic guided vehicle) module includes:

the electric system unit is used for processing and controlling information of the AGV module and processing signals of the ultrasonic radar and the camera;

the electric system unit comprises an industrial control computer, a low-voltage power distribution and control panel, a servo motor driving plate and a sensor (ultrasonic obstacle avoidance radar, a depth camera and an ultra-wide band active tag), and is an information processing and control center of the AGV. The structure is shown in fig. 4. In the aspect of chassis control design, the invention adopts a Mecanum wheel motion scheme, and the whole driving process is shown in figure 5. The main work flow is that the power battery supplies power to the motor driving plate, the lifter and the driver. The lifting controller unit realizes the lifting motion of the tray, and the rotation motion and the translation motion are mutually coordinated to control the lifting platform to move up and down; the chassis controller receives a remote controller or an upper control instruction, performs speed distribution according to the instruction to calculate distribution speed, the closed-loop speed of the motor driver and the rotation of the Mecanum wheel driven by the transmission shaft.

The mechanical system unit is used for bearing a user vehicle and controlling the vehicle to perform parking omnidirectional movement and up-down slope walking; the AGV comprises a vehicle body, wheels and a vehicle frame, which are the basic parts of the whole AGV; the vehicle body and the vehicle frame are formed by welding steel structural members, and other parts are arranged on the vehicle body and the vehicle frame, wherein a vehicle body chassis is of a three-dimensional frame structure and is used for mounting various motors, storage batteries, shells and the like; the vehicle frame is used for mounting various control and communication equipment, and the chassis and the vehicle frame are connected in a detachable mode for convenient mounting and maintenance; the wheels are Mecanum wheels (Mecanum wheels) capable of moving in all directions, and can realize the movement modes of forward movement, transverse movement, oblique movement, rotation, combination of the forward movement, the transverse movement, the oblique movement and the rotation. The pallet is used to prevent the carrier vehicle from rolling off and is designed to lift the vehicle.

The whole machine of the invention is divided into a tray and a chassis.

The skeleton of tray is the welding steelframe, and wheel backup pad and stopper/board are installed to the top, as shown in fig. 6. The car is stopped on the tray in the process of being transported by the AGV and is not held tightly by electric equipment or mechanisms, in order to avoid the car from moving due to inertia in the transportation process, the friction force of the bearing platform on the tray is increased by adopting a process of spraying the diamond dust, and compared with a flat aluminum alloy plate, the sliding friction coefficient of the surface of the aluminum plate sprayed with the diamond dust to rubber is 18 times that of the aluminum alloy plate in design parameters.

The chassis consists of 4 drive wheel modules + elevator modules + chassis frame + other equipment as shown in fig. 7. The elevator module consists of 2 lead screw elevators +1 motor +4 guide bearing modules (fig. 8). The stroke of a push rod motor of the guide bearing module is consistent with that of the screw rod lifter, so that the problem that the tray inclines left and right due to unbalanced load can be corrected, and the tray and the load are stable and do not shake when the chassis lifts the tray and then runs; in addition, the guiding and bearing module is also provided with a mandrel and a sliding bearing, and when the chassis is loaded and climbs a slope, the mandrel bears the landslide force of the tray and the car under the limiting of the sliding bearing.

The power system unit is used for providing a power source when the vehicle moves and automatically judging that the AGV module runs to a charging station at an appointed position to perform automatic charging; the system has the advantages that the storage battery is used as a power source, the system has the characteristics of low noise, small pollution and the like, when the power is insufficient, the AGV can judge and automatically drive to a charging station at an appointed position to perform automatic charging, and a person does not need to replace the battery; the traveling motor is 4 direct current servo motors and a speed reducer, the lifting motor is 2 lifters in synchronous linkage, and the maximum total load is 3 tons.

And the control system unit receives the tasks of the server end through the wireless communication device, processes signals of all sensors, formulates a parking route in an area, completes the autonomous walking of the moving direction and the moving speed of the AGV module, and reports each state of the AGV module to the server module through the wireless communication device. The control system unit is a direct control center of the AGV and integrates functions of a motor system, signal processing of each sensor, a positioning algorithm of the AGV, an electronic map, wireless communication and the like, and the control system unit has the main functions of receiving tasks of a server end through a wireless communication device, completing autonomous walking of the moving direction and the moving speed of the AGV and reporting each state of the AGV to the server through the wireless communication device; the function modules of the AGV control system are divided into a main control device, a positioning navigation device, a walking & lifting motor driving control device, a power management device, an obstacle avoidance device, a safety control device, a lighting control device, a wireless communication device and a remote operation device, as shown in fig. 9.

The specific scheme and the connection relationship are shown in fig. 10, and generally include a control decision processing unit, a low-voltage power distribution and control unit, a communication unit, and a positioning unit.

(1) And the control decision unit is a control center of the control system unit, receives the data information and the visual information processed by the positioning label, and exchanges data with the low-voltage power distribution and control unit.

(2) The low-voltage distribution and control unit is a control center of the power system and the chassis system, is responsible for judging the residual capacity of the power system, and exchanges data with a drive control system of the servo motor through the CAN.

(3) The communication unit is a channel for interaction between the AGV and the server, and the transmission bandwidth is not less than 3Mbps @100 meters.

(4) The positioning unit outputs absolute position information and attitude information in a UWB manner.

2. Server module

(1) The AGV module is connected with the server through WiFi, and as shown in the figure 11, the AGV module is in a physical communication structure; the dispatching system unit is divided into a display module and a dispatching module, the display module is mainly used for visualizing tasks and displaying real-time state and data of the dispatching system, the dispatching module is mainly used for generating system tasks and distributing the tasks, the AGV receives the tasks and then integrates an electronic map, positioning information, traffic control and running state information to automatically move from one known point to another known point, and the points are marked in the yard map in advance;

(2) The background management adopts php or jsp technology, the database is mysql, and the management module comprises garage positioning point management, positioning point association management, parking space management, charging equipment management, AGV car management, task record management, user authority management, garage map management and external interface management;

(3) The task information of the scheduling system is from the ERP system, and meanwhile, the task execution results including status query, task assignment, task modification or cancellation, and task condition report are obligatory to the ERP, as shown in fig. 12.

3. Terminal application system

(1) Gate control terminal

The gate control terminal is positioned at the parking entrance;

after a customer parks, confirming parking information including a license plate number, whether to extinguish a fire, whether to pull a hand brake, whether to close a door and a window and the like;

accessing a server through an http protocol by using an android system;

when the client operates, the face data of the client is collected, and the user can swipe the face of the mobile phone to pick up the car when picking up the car;

(2) Large screen monitoring terminal

Accessing a background management system through a Web browser;

and developing a large-screen display terminal by using HTML5 to monitor the operation of the AGV, the parking space condition and the operation/alarm information.

4. Fig. 13 shows an indoor and outdoor integrated positioning software scheme of the indoor and outdoor positioning system.

Outdoor: the GNSS/SINS combined navigation mode is adopted, the GNSS system adopts RTK positioning, the positioning precision can reach cm level, and the precise positioning in an open area or a partially shielded area is realized through satellite inertial combination.

Indoor: an SINS/ultra-wideband co-location/two-dimensional code location combined navigation mode is adopted, UWB location is adopted at the entrance of a parking lot for realizing synchronization of indoor and outdoor world coordinate systems, a vehicle is navigated to the position of a two-dimensional code at the entrance and the position of the two-dimensional code at the indoor, and the vehicle is guided to the position of a parking space. Fig. 14 is a scheme diagram of an indoor and outdoor integrated positioning system.

External system

The external system comprises an APP applet, an oa system, an ERP system and a charging system.

Path planning

Because the current underground parking garage is reformed transform, consequently there are a lot of stands in the parking garage for many AGV path planning problem has improved the degree of difficulty, simultaneously, because should satisfy operator's the biggest increase-volume rate, the width of the AGV route of traveling in the parking garage diminishes, consequently faces many cars and meets and the deadlock scheduling problem, solves these problems and is the key point of path planning.

When a user parks the vehicle, the upper computer sends a working instruction to one idle AGV, the AGV automatically searches an optimal path from a waiting space to a parking space according to a static map stored in advance, the theoretical time is usually not more than 5 minutes, and after the corresponding instruction is executed, the AGV returns to the waiting space to wait; when the user picks up the car, the AGV likewise delivers the car to an exit location, so the actual path planning is done in a static environment. As shown in fig. 15.

Performance and index

AGV automatic parking system function

(1) The positioning function is as follows: the AGV provides a positioning equipment receiving device interface, meets the basic requirement on high positioning accuracy, can still be positioned in an environment shielded by obstacles, and achieves higher positioning accuracy;

(2) An interface is reserved for the AGV to meet the requirement of communication with the server;

(3) Driving in the front and back direction, steering on site and ascending and descending slopes;

(4) Lifting a common household vehicle, stably driving to a designated area, and safely and reliably operating;

(5) Emergency braking and alarming under the condition of sudden failure, and feeding back to the server;

(6) Under the fault environment, the vehicle can drive to a designated area through human intervention;

(7) Providing illumination in a dim environment;

(8) Actively avoiding obstacles; autonomous driving and autonomous rectification;

(9) Giving a starting point pose and a terminal point pose, and planning an optimal path from a target starting point to a target terminal point on the premise of certain constraint;

(10) The AGV parking lot needs low cost, is properly reformed, does not damage the original structure and frame, and is convenient for a client to stop and take the vehicle;

(11) The AGV parking lot can improve the number of parking places of the original parking lot and increase the overall effective utilization rate;

(12) The AGV parking lot system provides an interface for an external system to call;

(13) The AGV parking lot system has the functions of parking guidance, parking space reservation, electronic self-service payment, rapid access and the like;

(14) The AGV parking lot system has the advantages that the requirement for storing and taking a plurality of automobiles is met, and the AGV parking lot system is suitable for being used in special-shaped land garage.

In addition, in the present application,

1. the tray is parked at the parking space

(1) Cycle (1): the AGV with the tray enters a parking spot, and after a user parks the vehicle, the AGV with the tray sends the vehicle to a parking space; after unloading the car and the tray, the AGV enters other parking places to take the tray, and returns to a parking point to fill the parking place for waiting. (if the number of the position-compensated waiting reaches the upper limit, the AGV returns to the charging)

(2) Cycle (2): the AGV that charges gets into the parking stall and gets the car, takes the AGV of tray to deliver to the car and get the car point, and the user drives the back with the car, and the AGV that takes the tray gets into the parking point and mends the position and waits. (if the number of the position-compensated waiting reaches the upper limit, the AGV returns to the charging)

(3) Cycle (3): if the number of the positions for supplementing parking spots and waiting positions is less than a certain proportion, the AGV at the charging position enters the parking position to take the tray, and enters the parking spot for supplementing parking spots and waiting.

2. Omnidirectional vehicle technology

In order to improve the space utilization rate of the parking lot, the AGV has an omnidirectional movement function and does not adopt the steering mode of a traditional automobile. The AGV that omni-directional moved can realize just moving, the switching of side removal, also can carry out pivot gyration adjustment direction, gets into the parking area and parks and all need not the turn, and this passageway width that can reduce greatly. The AGV adopts four motors to drive, each motor drives one wheel set, and each wheel set is connected with two 'Michelson' wheels in parallel. The Mecanum wheels are used for the automatic parking AGV, and the automatic parking AGV has the advantages of being strong in omnidirectional mobility, capable of reducing the width of the aisle to the maximum extent and enabling a parking lot to be provided with more parking spaces. The AGV can realize the switching of positive movement and lateral movement by adjusting the combination of positive and negative rotation of the four motors, and does not need to turn when entering a parking area and parking. The aisle width can be greatly reduced.

The overall structure of the omnidirectional moving AGV is simple and reliable in design, and the requirement for functionality of the AGV is met, namely the performance requirements of the omnidirectional vehicle during uniform running and acceleration are met in strength and rigidity, the mass of each component is reduced as much as possible, so that the additional load borne by the vehicle body is avoided, and the main bearing weight of the omnidirectional vehicle is from the vehicle, a battery, the self weight of the AGV and the additional load of an actuating mechanism and the like.

The whole motorcycle type of omnidirectional vehicle removal AGV adopts symmetrical arrangement structure, by four mecanum wheels, four servo motor independent drives, a plurality of universal wheel, and the rectangular pipe, combination welding such as square pipe forms, wherein mecanum wheel symmetry installation, arrange in automobile body central line both sides, every drive wheel subassembly all contains a servo motor and accurate planetary reducer, the universal wheel is arranged at automobile body middle part and vertical central line symmetry, body frame is guaranteeing sufficient intensity, under the prerequisite of rigidity, optimize the analysis through ANSYS software, lighten automobile body weight as far as possible, improve effective bearing capacity.

The outer contour part of the vehicle body has no sharp edges and corners and is protruded, so that the collision to other objects is effectively avoided. Fig. 16 and 17 are diagrams of switching between the forward movement and the side movement;

3. up and down slope walking technology

The AGV has the advantages that the AGV can normally take a vehicle and send the vehicle in the parking lot with a certain gradient. The schematic view is shown in fig. 18.

When the AGV drives into an inclined road surface and an inclination angle sensor on a low-voltage distribution and control system board detects the inclination condition, information is fed back to an industrial control computer immediately, the industrial control computer sends an instruction to reduce the driving speed, and after the slope driving is finished, the speed is recovered to the working condition of horizontal driving. Fig. 19 is a schematic diagram of the overall operation module.

Example 2:

an AGV-based automatic parking method, as shown in fig. 20, includes the following steps:

moving the vehicle to be parked to a parking space through an AGV module;

Further, the path planning specifically includes: the AGV comprises an AGV server, a communication module of the AGV server, a UWB (ultra wide band) module and a control module of the AGV server, wherein the AGV server receives information sent by the AGV and the UWB module, accurately sends a scheduling instruction to the AGV according to the information, and the AGV automatically searches an optimal path from a waiting position to a parking position according to a static map stored in advance; the received information comprises coordinate position information, battery electric quantity information and speed information; the issued scheduling instruction comprises position information, path information and start and stop information.

The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims

1. An AGV based automatic parking system comprising:

the AGV module comprises a mechanical system unit which is used for bearing a user vehicle and controlling the vehicle to perform parking omnidirectional movement and up-down slope walking;

the AGV module is provided with four Mecanum wheels, a chassis and an inclination angle sensor;

the Mecanum wheels are symmetrically arranged and are arranged on two sides of the center line of the vehicle body;

the chassis includes: the lifting mechanism comprises a driving wheel module, a lifting machine module and a chassis framework, wherein the lifting machine module comprises a screw rod lifting machine, a motor and a guide bearing module;

the stroke of a push rod motor of the guide bearing module is consistent with that of the lead screw lifter, the guide bearing module comprises a mandrel and a sliding bearing, and the mandrel bears the landslide force of the tray and the car under the limiting of the sliding bearing when the chassis load climbs a slope;

the tilt sensor is used for detecting tilt information;

2. An AGV-based automatic parking system according to claim 1 wherein the AGV module further comprises:

the power system unit is used for providing a power source when the vehicle moves and automatically judging that the AGV module runs to a charging station at an appointed position to perform automatic charging;

3. An AGV based automatic parking system of claim 2 wherein said electrical system unit includes an industrial control computer, a low voltage distribution control panel, a servo motor drive board, a sensor module; the industrial control computer is used for receiving the control instruction and carrying out speed distribution and resolving distribution speed according to the control instruction; the low-voltage distribution control panel is used for judging the residual capacity of the power system unit after acquiring the voltage and the current of the power unit and exchanging data with the power system unit; the sensor module comprises an ultrasonic obstacle avoidance radar, a depth camera and an ultra wide band active tag and is used for acquiring corresponding sensing information.

4. An AGV-based automatic parking system according to claim 2 wherein the power system unit includes a travel motor module and a lift motor module; the walking motor module comprises a direct-current servo motor and a speed reducer, and drives corresponding Mecanum wheels to complete omnidirectional movement through the direct-current servo motor; the lifting motor module comprises a lifter, and the inclination information detected by the electrical system unit sends an inclination control instruction to control the angle of the lifter so as to finish walking up and down slopes.

5. The AGV based automatic parking system of claim 2 wherein the control system unit comprises a control decision processing unit, a low voltage distribution and control unit, a communication unit, a positioning unit; the control decision processing unit is used for receiving the data information processed by the positioning label and exchanging data with the low-voltage power distribution and control unit; the low-voltage distribution and control unit is used for judging the residual capacity of the power system and exchanging data with the electric system unit; the communication unit is used for interaction between the AGV module and the server module; the positioning unit outputs absolute position information and attitude information in a UWB manner.

6. An AGV-based automatic parking system according to claim 1 wherein said server module includes a dispatch system unit; the scheduling system unit comprises a display module and a scheduling module; the dispatching module generates a system task and distributes the task, and after receiving the system task, the AGV module integrates an electronic map, positioning information, traffic control and running state information and autonomously marks a known point from a parking lot map to move to another known point.

7. The AGV based automatic parking system of claim 1, wherein the terminal device module comprises a gate control terminal and a large screen monitoring terminal; the gate control terminal is arranged at a parking entrance and used for acquiring and confirming vehicle information; the large-screen monitoring terminal is used for communicating data of the server module and the display and monitoring operation, parking space information and operation and alarm information of the AGV module.

8. An AGV-based automatic parking system according to claim 1 wherein said indoor and outdoor positioning system, when detected outdoors: a GNSS/SINS combined navigation mode is adopted, a GNSS system adopts RTK positioning, the positioning precision reaches cm level, and accurate positioning in an open area or a partially shielded area is realized through satellite inertial combination; when the detection is indoors: an SINS/ultra-wideband cooperative positioning/two-dimensional code positioning combined navigation mode is adopted, UWB positioning is adopted at an entrance of a parking lot for realizing synchronization of an indoor world coordinate system and an outdoor world coordinate system, a vehicle is navigated to a two-dimensional code position at the entrance and is positioned indoors by a two-dimensional code, and the vehicle is guided to a parking space position.

9. An automatic parking method based on an AGV provided with the automatic parking system based on an AGV of any one of claims 1 to 8, comprising the steps of:

moving the vehicle to be parked to a parking space through an AGV module;

when a user gets a vehicle, the brake control terminal acquires vehicle information through user information and matches the vehicle information;

the AGV module sends the vehicle to the exit position through the matched vehicle information.

10. An AGV-based automatic parking method according to claim 9, wherein the path planning specifically includes: the AGV comprises an AGV server, a communication module of the AGV server, a UWB (ultra wide band) module and a control module of the AGV server, wherein the AGV server receives information sent by the AGV and the UWB module, accurately sends a scheduling instruction to the AGV according to the information, and the AGV automatically searches an optimal path from a waiting position to a parking position according to a static map stored in advance; the received information comprises coordinate position information, battery electric quantity information and speed information; the issued scheduling instruction comprises position information, path information and start and stop information.