AUTOMATED PARKING SYSTEM

LINA LO

This Report Is Submitted In Partial Fulfillment Of Requirements For The Degree Of

Bachelor In Electrical Engineering (Industrial Power)

Fakulti Kejuruteraan Elektrik

Universiti Teknikal Malaysia Melaka

May 2008

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“I hereby declared that this report is a result of my own work except for the excerpts

that have been cited clearly in the references.”

Signature :……………………………………………

Name :……………………………………………

Date :……………………………………………

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“I hereby declared that I have read through this report and found that it has comply

the partial fulfillment for awarding the degree of Bachelor of Electrical Engineering

(Industrial Power)”

Signature :……………………………………………

Supervisor’s Name :……………………………………………

Date :……………………………………………

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ABSTRACT

The aim of this project is to design and build a prototype of an automated

parking system which will automatically park and retrieve the vehicle without the

driver. The driver will park his vehicle on a pallet at the platform of the car park.

Then the sensor will detect the available empty parking spaces and display them on

the control panel. After the driver selects the desired parking space on the control

panel, the vehicle will be transported to that parking space. In order to retrieve the

vehicle, the driver will select the location of his vehicle on the control panel. The

system will retrieve the vehicle from the parking space and send it back to the

original position where the driver is waiting. Programmable Logic Controller (PLC)

will be used in the design of the prototype of the automated parking system. The

PLC is used to control the movement needed to transport and retrieve the vehicle to

and from the available parking space based on the signal from the driver. A program

needs to be created for the PLC using CX-Programmer by drawing ladder diagram.

Power window motor and direct current (DC) motor would be used to provide

movements to transport the vehicle in the parking system. Besides that, limit switch

will act as sensor to detect the available parking space and also the location of the

carrier.

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ABSTRAK

Matlamat projek ini adalah untuk mereka dan membina sebuah prototaip

sistem letak kenderaan automatik yang akan memasukkan dan mengeluarkan

kenderaan tanpa pemandu. Pemandu akan meletakkan kenderaannya di atas pelantar

tempat letak kenderaan. Kemudian, pengesan akan mengesan tempat letak kenderaan

yang kosong dan menunjukkannya pada panel pengawal. Selepas pemandu memilih

tempat kenderaan yang dikehendaki pada panel pengawal, kenderaan akan dihantar

kepada tempat letak kenderaan tersebut. Bagi mengeluarkan kenderaan, pemandu

akan memilih lokasi kenderaannya pada panel pengawal. Sistem akan mengeluarkan

kenderaan daripada tempat letak kenderaan dan menghantarnya kembali kepada

lokasi asal di mana pemandu tersebut sedang menunggu. “Programmable Logic

Controller” (PLC) akan digunakan dalam rekaan prototaip sistem letak kenderaan

automatik. PLC digunakan untuk mengawal pergerakan yang diperlukan untuk

memasukkan dan mengeluarkan kenderaan ke dan dari tempat letak kenderaan

berdasarkan isyarat daripada pemandu. Satu program perlu dibuat untuk PLC dengan

menggunakan “CX-Programmer” dengan melukis gambarajah tetangga. Motor

tetingkap kuasa dan motor arus terus akan digunakan bagi menghasilkan pergerakan

untuk menghantar kenderaan dalam sistem letak kenderaan. Selain itu, suis pengehad

akan digunakan sebagai pengesan untuk mengesan tempat letak kenderaan yang ada

dan juga lokasi pengangkat.

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TABLE OF CONTENTS

CHAPTER CONTENTS PAGE

TITLE i

DECLARATION ii

ABSTRACT iii

ABSTRAK iv

TABLE OF CONTENTS v

LIST OF TABLE viii

LIST OF FIGURES ix

LIST OF ABBREVIATIONS xi

1 INTRODUCTION 1

1.1 Project Objective 1

1.2 Scope Of Project 2

1.3 Problem Statement 2

2 LITERATURE REVIEW 4

2.1 Automated Parking 4

2.2 Modular Automated Parking System (MAPS) 4

2.2.1 Model RPS 1000 5

2.2.2 Model RPS 100 6

2.2.3 Model RPS 20W And Model RPS 20L 7

2.3 Hoboken Garage 8

2.3.1 Motion Control System And Robot 8

2.3.2 CIMPLICITY Software 9

2.3.3 Parking And Retrieval Process 9

3 PROJECT THEORY AND BACKGROUND 11

3.1 Programmable Logic Controller (PLC) 11

3.2 Ladder Diagram Programming 12

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3.2.1 Ladder Instructions 13

3.2.1.1 LOAD And LOAD NOT 13

3.2.1.2 AND And AND NOT 14

3.2.1.3 OR And OR NOT 14

3.2.1.4 Combining AND And OR instructions 15

3.2.1.5 OUTPUT And OUTPUT NOT 16

3.2.1.6 END Instruction 16

3.3 CX-Programmer 17

3.3.1 Creating Symbols 18

3.3.2 Creating A Ladder Program 18

3.3.3 Compiling And Automatically Checking 18

The Program

3.3.4 Transferring The Program To And From 19

A PLC

3.3.5 Comparing The Program With The PLC 19

Program

3.3.6 Monitoring The Program During Execution 19

3.3.7 Performing An Online Edit If Its Necessary 19

3.4 Operation Of The Prototype Of Automated 20

Parking System

4 METHODOLOGY 22

4.1 Introduction 22

4.2 Software Development 22

4.2.1 Park In Ladder Diagram Programming 23

4.2.2 Retrieve Ladder Diagram Programming 28

4.3 Hardware Development 32

4.3.1 Devices And Components Used For Hardware 33

4.4 Gantt Chart 39

5 RESULTS 40

5.1 Results From Software 40

5.2 Results From Hardware 45

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6 CONCLUSION 51

6.1 Discussion 51

6.2 Suggestions 52

6.3 Conclusion 54

REFERENCES 55

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LIST OF TABLE

NO TITLE PAGE

4.1 Gantt chart of the progress of project 39

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LIST OF FIGURES

NO TITLE PAGE

2.1 Model RPS 1000 6

2.2 Model RPS 100 6

2.3 Model RPS 20W 7

2.4 Model RPS 20L 7

2.5 Hoboken Garage uses electronic and automation 8

technology

2.6 Vehicle is transported on pallet using carrier and lift 10

3.1 Ladder diagram 12

3.2 Normally open and normally closed condition 13

3.3 LOAD and LOAD NOT instruction 14

3.4 LOAD, AND NOT and AND instruction 14

3.5 LOAD NOT, OR NOT and OR instruction 15

3.6 Combination of AND and OR instruction 15

3.7 OUTPUT and OUTPUT NOT 16

3.8 END instruction 17

3.9 Park in process flow 20

3.10 Retrieve process flow 21

4.1 Flow chart of the methods in developing the software 23

4.2 Part of ladder diagram to detect and display empty 24

parking spaces

4.3 Part of ladder diagram to energize the motor to move the 25

carrier up

4.4 Part of ladder diagram to provide latching 26

4.5 Part of ladder diagram to energize motor to turn the conveyer 27

left or right

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4.6 Part of ladder diagram to stop the parking in process and return 28

the carrier back to its original position

4.7 Part of the ladder diagram to start the retrieving process 28

4.8 Part of ladder diagram to energize motor to move the carrier 29

up to the desired floor

4.9 Part of ladder diagram to provide latching for energizing motor 30

4.10 Part of ladder diagram to energize the motor to turn right or left 31

4.11 Part of ladder diagram to stop the retrieval process and return 32

the carrier to its original position

4.12 Flow chart of methods in building the hardware 33

4.13 OMRON PLC model CQM1H 34

4.14 12V power window motor 34

4.15 Relay 35

4.16 Limit switch with wheel 35

4.17 Limit switch 36

4.18 Push button 36

4.19 Light emitting diode (LED) 37

4.20 Resistor 37

4.21 Aluminium, screws and nuts 38

4.22 Conveyer with gearbox and direct current (DC) motor 38

5.1 Program to park vehicle into the empty parking space 41

5.2 Program to retrieve vehicle from the parking space 43

5.3 Control board for park in process 46

5.4 Control board for retrieve process 46

5.5 Circuit diagram of connection between control boards and PLC 47

5.6 Relay board 48

5.7 Circuit diagram of relay connection 48

5.8 Location of limit switches on the prototype 49

5.9 Frame of the prototype of automated car park 50

5.10 Prototype and circuit boards connected to PLC 50

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LIST OF ABBREVIATIONS

PLC - Programmable Logic Controller

MAPS - Modular Automated Parking System

HMI - Human machine interface

ft - feet

PC - Programmable Controller

LED - Light Emitting Diode

V - Volt

DC - Direct current

K - kilo

M - mili

A - Ampere

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CHAPTER 1

INTRODUCTION

According to An English-Reader’s Dictionary by Oxford University Press

[1],

• automatic means self acting or self moving machine that is able to work

without attention

• park is a place where vehicles are left for a certain time

• system is a group of things or parts working together in a relation

Therefore, from what that is understood, automated parking system is a group

of self acting or self moving machine, things or parts that work together in a relation

without attention to build up a place where vehicles can be left for a certain period of

time.

1.1 Project Objectives

The automated parking system has a few objectives to be achieved. These

objectives are:

1. To design and build up a prototype of an automated car park system

2. To learn how to control the operation of the prototype of automated parking

system using Programmable Logic Controller (PLC).

3. To learn how to program Programmable Logic Controller (PLC) using CX-

Programmer software.

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1.2 Scope of Project

The scope of this project is to develop a prototype of an automated parking

system which is able to park and retrieve the vehicle by itself even without the

driver. All the movements needed to transport a vehicle in the automated parking

system are controlled using Programmable Logic Controller (PLC) as it is the

controller in this system. Programming for PLC is done in a software named CX-

Programmer by using ladder logic method. Besides programming, simulation can

also be done in CX-Programmer to detect errors in the program created. This will

allow modifications and corrections to be done to the program before connecting the

prototype to a PLC trainer. OMRON CQM1H is used as the PLC trainer in this

automated parking system project because it has task dedicated inner boards,

specialized input and output and also high speed communication module. Therefore,

it is a powerful and user friendly model of PLC.

1.3 Problem Statement

As it is known, the land is becoming less but the population of human is

growing day by day. This scenario is very obvious in modern developed cities.

Therefore, land is very limited and spaces need to be saved in every aspect of life. By

building an automated parking system which allows high space utilisation, less space

is needed compared to the conventional car park. This is because in the automated

car park, the parking space can be more compact by having vehicles parked nearer to

each other and also less space is required for runways or paths in the parking space

as vehicles are transferred to parking spaces using elevators and conveyers. Thus,

optimized usage of spaces can be achieved.

Other than that, once the vehicles are in the car park, they will slow down to

search for an empty parking space. This slow moving traffic will cause the queue of

cars to be longer. Eventually, traffic jam will occur when the car park is crowded. In

the automated parking system, the problem of traffic jam can be avoided because the

parking spaces are located using sensors. So, drivers do not need to search for the

space one by one as they are notified by the system regarding where the empty

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parking space are located before the vehicle is transported to the desired parking

space. In this way, a lot of time can be saved in the car park and vehicles are parked

efficiently by the system. The automated parking system is simple and convenient for

storing vehicles in the shortest time.

While the development of the country and nation is growing in a quick pace,

crime rates are also increasing daily. Therefore, security has become one of the main

concerns in everyday life of the society. Car park is also one of the places where

individuals are attacked frequently. Theft and robbery happen in car park because it

is considered a quiet place where not many people would be in the car park all the

time. By having an automated car park, safety for both the driver and vehicle is less

at risk because the public is not allowed into the car park. The automated car park

can help in parking the vehicles without the driver going into the car park. In that

way, security for individuals and vehicles are more guaranteed.

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CHAPTER 2

LITERATURE REVIEW

2.1 Automated Parking

Automated parking is a method of automatically parking and retrieving cars

or vehicles to solve the problem of increasing demand for safe and convenient

parking as the number of vehicles are increasing day by day. The driver parks his car

at the entrance of the car park structure and from there, the car is automatically

moved through the garage and stored in an open parking space. All these are done by

utilizing computer controlled system of pallets, conveyors, shuttles, carriers and lifts

in transporting cars from the arrival level to a parking space and vice versa without

human assistance. Later the car will be returned to the driver using a signaling device

outside the building [2].

2.2 Modular Automated Parking System (MAPS)

The Modular Automated Parking System (MAPS) integrates computerization

with mechanical lifts, pallets, carriers and conveyors to park and retrieve vehicles in

multilevel modular garages. These garages have units that are standard in size and

design and they can be arranged or fitted together in a variety of ways. They can also

be fully customized system to achieve specific requirements besides ensuring

optimum occupancy of spaces by vehicles. There are four models of MAPS, which

are

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1. Model RPS 1000

2. Model RPS 100

3. Model RPS 20W

4. Model RPS 20L

Operation of MAPS is made possible by flexibility transfer technology. This

is a type of transport technology that is also being used in automobile assembly lines.

Improvement that has been done in MAPS is that a new fuzzy logic based

technology has been developed and integrated with the flexible transfer application

in order to optimize the movement of the carriers and lifts. Other than that, it also

allows several cars to be moved independently through the garage. This will help in

making the vehicle storage and retrieval in a shorter time.

MAPS is monitored by computer and human machine interface (HMI) will

show real time car movements. Besides that, the HMI facilitates the maintenance and

diagnostics of the car park system. The computer which is installed at the garage is

accessible from any remote location. Additionally, all systems are equipped with

back up system and are based on the safety philosophy of one out of two failures.

This means that at least two of every major component is installed on site. At all

times, every parking space can be monitored simultaneously by at least two

independent units [3].

2.2.1 Model RPS 1000

Model RPS 1000 is a large parking garage which is able to accommodate

from 200 to 5000 cars. It is a very flexible and modular design suitable for

applications above ground, underground, inside a building, on top of a building or

under a building. This model offers one of the highest level of redundancy in the

industry and a greater level of reliability. This is because all major components have

at least one back up system. Thus, the chances of inoperable of the system due to

failures are very low. Other than that, the HMI offers a very sophisticated system of

diagnostics which provides high level of detection in advance of any failures. It is

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understood that any mechanical or electronic devices can fail but this failure can be

overcome by early warning signals and repair.

Figure 2.1 : Model RPS 1000

2.2.2 Model RPS 100

Model RPS 100 is an intermediate sized automated parking garage with a

capacity of 30 to 200 cars. It is an ideal solution for small sites with a high demand

for parking. This model also provides redundancy and the HMI diagnostic tool helps

in ensuring the operation of the garage is not interrupted. It is an intermediate sized

garage with true redundancy which means it has the actual back up of the complete

unit. Therefore the capability of the system to operate with minimal failures is

guaranteed.

Figure 2.2 : Model RPS 100

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2.2.3 Model RPS 20W And Model RPS 20L

Model RPS 20W and Model RPS 20L are the ultimate space efficient

solution. They are automated parking systems for small applications with a need of

10 to 30 cars per model. However, the capability of occupying more cars can be

achieved by building the model adjacently. These models are ideally suited for

condominium, apartment, hotel and small office building development projects

where land is limited and expensive. In the function wise, there is no difference

between Model RPS 20W and Model RPS 20L. But they do have difference

physically in design where the way of entering, leaving and also the arrangement of

car park spaces are not the same [4].

Figure 2.3 : Model RPS 20W

Figure 2.4 : Model RPS 20L

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2.3 Hoboken Garage

Hoboken Garage is an automated parking system operating in New Jersey,

United States of America since May 2002. However it was officially opened only in

October 2002. A total of $6.2 million has been spent on this facility. The Hoboken

Garage automated parking system offers a patented Modular Automated Parking

System (MAPS) which uses the latest electronic and automation technology.

The Hoboken parking garage is capable to accommodate 312 cars in its seven

storey residential parking garage which in comparison, a conventional ramp style

garage can only accommodates 90 cars. It is developed on a 1000ft2 lot, standing 56ft

high and with about 7.5ft from level to level. The garage also allocates parking

spaces for the incoming cars, retrieves parked cars as requested and monitors the

whole system to prevent failures and also for maintenance.

Figure 2.5 : Hoboken Garage uses electronic and automation technology

2.3.1 Motion Control System And Robot

A GE Fanuc integrated motion control system manages 35 independently

operating robots. These robots will transport vehicles from the entrance bay into an

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open parking space utilizing the automated system to move pallets, lifts and carriers.

As it is noticed, each axis of motion employs a pair of servo systems in sharing the

load. Either motor can independently supply adequate power to move vehicles during

maintenance as the servos are sized to accommodate such load.

2.3.2 CIMPLICITY Software

The GE Fanuc hardware is linked to a software named CIMPLICITY. It is an

open system framework that provides a graphical environment to monitor and control

the automation system. It also provides a graphical interface with real time displays.

Additionally, CIMPLICITY collects and compiles data from the parking system.

CIMPLICITY will generate maintenance and diagnostics reports to increase

troubleshooting, efficiency and to enable a quick response when system problems

occur.

2.3.3 Parking And Retrieval Process

The Hoboken Garage is a monthly garage only for local residents. Therefore

each patron has a card similar to a pass. As the patron drives to the garage, the card

that is positioned in their windshield is detected by a sensor and sends signal to the

computer that a patron is approaching. A green light at an available bay indicates

entrance for the patron. Then they will proceed into the open bay, position their car,

get out of the car and push a button to initiate the parking process.

The central computer system guides a carrier on steel rails along an open aisle

way to a position adjacent to the arrival station and the pallet at the arrival station.

An additional rack entry module moves above the upper surface of the carrier and is

inserted beneath the pallet. Then the pallet and the vehicle are transferred to the

carrier. Under the direction of the computer, the carrier with the pallet and vehicle is

moved from the arrival station to a multilevel lifting device. Then the pallet and the

vehicle are transferred to the lift. When the lift reaches the designated parking level,

the pallet and the vehicle are transferred to another carrier. As shown in Figure 2.6,

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this carrier will transport the pallet and the vehicle to the designated parking slot.

Lastly, the pallet and the vehicle are transferred into the parking slot by the rack

entry module.

When the patron’s car needs to be retrieved, the patron will go to the lobby

and enters a pin number into a keypad. Then their car is automatically located and

retrieved in a forward drive position to an available bay. The patron’s name is

displayed on a marquee indicating which bay their car will be brought to. The vehicle

is retrieved and is placed in the bay in about one and a half or two minutes. Once the

car arrives, the patron can simply just drive away [5].

Figure 2.6 : Vehicle is transported on pallet using carrier and lift

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CHAPTER 3

PROJECT THEORY AND BACKGROUND

3.1 Programmable Logic Controller (PLC)

Programmable Logic Controller (PLC) was originally named Programmable

Controller (PC) but this has caused some confusion when personal computers

became more common. Thus to avoid confusion, PLC is widely used compared to

PC. The original PLC was just a simple on and off device. Therefore it was very

suitable to replace simple relay applications. Since the early days, manufacturers of

PLC have added numerous features and enhancements to PLC. Now it has the

capability to handle complex tasks such as position control, process control and other

difficult applications. The speed of operation and case of programming has also

improved drastically [6].

PLC is really an industrial computer as its hardware and software have been

specifically adapted to the industrial environment. It is an electronic microprocessor

based control system that monitors input signals to detect changes from devices such

as limit switches, push buttons and sensors. Based on the status of input signals, PLC

will react by producing output signals to drive output devices like motors, relays,

alarm and contactors to on or off state. This is done with a control application

program stored within the PLC memory. The program will execute according to pre

defined sequence of operations.

PLC is widely used in the industrial sector as it has some major advantages.

First of all, the wiring of PLC is much less compared to conventional relay control

system. Modification can be quite difficult with all these wiring in the conventional

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control panel. But in PLC, modification of control sequence or application can easily

be done by programming through the console of PLC or computer software without

the need to change the wiring if no additional input or output devices required.

Besides that, the complicated wiring in conventional system may also cause the

troubleshooting to be quite troublesome. In comparison, the PLC self diagnostic

functions enable easy and fast troubleshooting of the system [7].

3.2 Ladder Diagram Programming

A ladder diagram consists of one line running down on the left side and there

are lines branching off to the right just like the one in Figure 3.1. The line on the left

is called the bus bar. The branching lines are called instruction lines or rungs. Along

the instruction lines are placed conditions that lead to other instructions on the right

side. The logical combinations of these conditions will determine when and how the

instructions at the right are executed.

Figure 3.1 : Ladder diagram

As it is shown in Figure 3.2, instruction lines can branch apart and then join

back together. The vertical pairs of lines are called conditions. The conditions

without a diagonal line through them are called normally open conditions while

conditions with a diagonal line through them are called normally closed conditions.

The number above each condition indicates the operand bit for the instruction. The

status of the bit associated with each condition determines the execution condition