CN107575073A - A kind of intelligent parking garage and its parking method - Google Patents
A kind of intelligent parking garage and its parking method Download PDFInfo
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- CN107575073A CN107575073A CN201710587307.XA CN201710587307A CN107575073A CN 107575073 A CN107575073 A CN 107575073A CN 201710587307 A CN201710587307 A CN 201710587307A CN 107575073 A CN107575073 A CN 107575073A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/28—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of turntables or rotary rings for horizontal transport
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
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- Physics & Mathematics (AREA)
- Architecture (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of intelligent parking garage, including garage frame, garage frame includes the three-dimensional Stilt layer with Multilayer parking position and in front of three-dimensional Stilt layer, the traversing framework of vehicle connected as one with each layer of Vierendeel girder of three-dimensional Stilt layer, the traversing framework of vehicle is provided with cross moving track along horizontal X direction of principal axis, cross moving track is provided with the traversing pallet slid along, traversing pallet is provided with the vehicle moved along horizontal Y direction and clamps dolly, the both sides of three-dimensional Stilt layer are respectively equipped with elevator, it is to be depressed in vehicle unloading groove below ground in front of the ground floor of three-dimensional Stilt layer, the rotary-tray dolly moved along horizontal X direction of principal axis is provided with vehicle unloading groove, the rotary-tray of rotary-tray dolly is provided with vehicle clamping dolly, the top surface of rotary-tray is concordant with ground.Vehicle can arbitrarily be parked in Transport Vehicle area, have superb stopping technical without driver, save the Transport Vehicle time, improve efficiency.
Description
Technical field
The present invention relates to intelligent parking garage technical field, in particular to a kind of intelligent parking garage and its parking method.
Background technology
Current parking systems existing on the market, the mode of transport of vehicle mainly have comb-tooth-type, tire clipping type, carrier vehicle
It is board-like, either above-mentioned any mode, it is required for opening vehicle in narrow and small pallet or region before parking, and to vehicle
Park orientation, angle has certain requirement, this undoubtedly improves requirement of the driver to driving efficiency, add driver parking
When psychological burden, also reduce parking efficiency.
The content of the invention
Present invention aim to solve the deficiency of above-mentioned background technology, there is provided one kind has without driver well stops
Driving skills are skilful, quickly stop the intelligent parking garage and its parking method of pick-up.
In order to achieve this, the intelligent parking garage designed by the present invention, including garage frame, the garage frame include tool
There is the three-dimensional Stilt layer of Multilayer parking position and be connected as positioned at three-dimensional Stilt layer front, with each layer of Vierendeel girder of three-dimensional Stilt layer
The traversing framework of vehicle of one, the traversing framework of vehicle are provided with cross moving track along horizontal X direction of principal axis, set on the cross moving track
There is the traversing pallet slid along, the traversing pallet is provided with the vehicle moved along horizontal Y direction and clamps dolly, described vertical
The both sides of body Stilt layer are respectively equipped with elevator, are to be depressed in car below ground in front of the ground floor of the three-dimensional Stilt layer
Unloading groove, the rotary-tray dolly moved along horizontal X direction of principal axis, the rotary-tray dolly are provided with the vehicle unloading groove
Top be provided with rotary-tray, the rotary-tray is provided with vehicle clamping dolly, and top surface and the ground of the rotary-tray are put down
Together.
Specifically, the vehicle clamping dolly includes the clamping trolley body that bottom is provided with roller, the clamping dolly sheet
Body is provided with four wheel clamping devices, two clampings that the wheel clamping device includes grip slipper and is articulated with grip slipper
Arm, the grip slipper are provided with the clamping limb drive mechanism of two clamping limb rotations of driving, contact of the clamping limb with wheel
Face is inclined-plane corresponding with the curved surfaces of wheel.
Specifically, the clamping limb drive mechanism includes clamping limb reducing motor and the motor shaft with clamping limb reducing motor
The clamping limb drive gear of connection, the clamping limb are provided with corresponding with clamping limb drive gear with the bottom surface of the hinged end of grip slipper
The gear teeth.
Preferably, the wheel clamping device also includes a movable frame adjustment mechanism of driving grip slipper, institute
Stating frame adjustment mechanism includes screw mandrel reducing motor, and the output end of the screw mandrel reducing motor is connected with screw mandrel, the screw mandrel
Both ends are arranged in bearing block, and the sidepiece of the grip slipper is fixed with feed screw nut, and the feed screw nut is sheathed on screw mandrel.
More specifically, the clamping trolley body includes the first clamping trolley and the second clamping trolley, described
One end of first clamping trolley and one end of the second clamping trolley are connected through the hinge, the first clamping dolly car
The corner of bottom four of body is respectively equipped with a roller, and the corner of bottom four of the second clamping trolley is also distinguished
Provided with two rollers, two sets of wheel clamping machines are respectively equipped with the first clamping trolley and the second clamping trolley
Structure, the first clamping trolley are respectively arranged on the left side and the right side two directive wheels, a left side for the second clamping trolley
Right both sides are also respectively equipped with two directive wheels.
Specifically, the rotary-tray dolly includes tray trolley car body, the bottom four of the tray trolley car body turns
A road wheel is respectively equipped with angle, gear drive motor, the gear driving are vertically fixed in the tray trolley car body
The motor shaft of motor is connected with rotary drive gear, and the top vertical of the tray trolley car body fixes sprocket drive spindle, the tooth
Wheel shaft is provided with the pallet rotation gear engaged with rotary drive gear, and the rotary-tray is fixed on the top of pallet rotation gear
Portion
A kind of parking method of intelligent parking garage described above, comprises the following steps：
Step 1：Driver drives vehicle into Transport Vehicle area, arbitrarily parks, and gets off and is left after shutting car door；
Step 2：Rotary-tray dolly in vehicle unloading groove carries according to the information of vehicles obtained from identifying system
Vehicle clamping dolly moves along horizontal X axle, rotary-tray rotation, make the axis of vehicle clamping dolly on the rotary-tray with
The axis alignment of vehicle；
Step 3：Vehicle clamping dolly moves along its axis direction and pierces the bottom of vehicle, is obtained according to from identifying system
The wheel position information taken, the clamping limb position of adjustment vehicle clamping dolly, holding-wheel, is reversely moved after vehicle is lifted
Move to rotary-tray；
Step 4：Rotary-tray rotates, and makes the axis of vehicle parallel with horizontal Y-axis, if one layer of three-dimensional Stilt layer is free
Remaining parking stall, then before rotary-tray dolly moves to specified vacant parking stall along horizontal X direction of principal axis, vehicle clamps dolly along horizontal Y-axis
Direction is moved in vacant parking stall, clamping limb rotation, unclamps wheel, vehicle is placed in vacant parking stall, last vehicle clamping
On dolly counter motion to rotary-tray；
If three-dimensional one layer of Stilt layer does not have vacant parking stall, rotary-tray moving of car to elevator front, vehicle folder
Hold dolly to move along horizontal Y direction, into elevator, clamping limb rotation, unclamp wheel, vehicle is placed on lifting electricity
In ladder, vehicle clamping dolly reverse movement, return on rotary-tray, vehicle is taken elevator and moved to along vertical Z-direction
There is the parking stall layer of vacant parking stall, while the traversing pallet equipped vehicle clamping dolly of this layer moves to liter along horizontal X direction of principal axis
Drop in front of elevator, vehicle clamping dolly moves in elevator along horizontal Y direction and pierces vehicle bottom, according to from identification
The wheel position information that system obtains, clamping limb position is adjusted, holding-wheel, vehicle is lifted, vehicle clamping dolly is reversely transported
Move to traversing pallet, traversing pallet equipped vehicle clamping dolly and vehicle move to specified vacant parking along horizontal X direction of principal axis
Before position, vehicle clamping dolly is moved in vacant parking stall along horizontal Y direction of principal axis, clamping limb rotation, is transferred vehicle, is completed to stop
Che Hou, vehicle are clamped on dolly counter motion to traversing pallet.
Specifically, the identifying system in the step 2 is for the vehicle identification system based on fixed radar or based on optical picture
The vehicle identification system of picture or the vehicle identification system based on fixed radar and movable radar.
When identifying system is the vehicle identification system based on fixed radar：Driver will treat that parking is put and drive into parking area
And arbitrarily park, radar scanner scans whole parking area, obtains cloud data, and industrial computer extracts the outline of the vehicle
And handle and obtain position coordinates and the parking stall angle of the vehicle；Industrial computer will handle the obtained vehicle location coordinate, parking stall angle
It is sent to host computer；Host computer driving rotary-tray dolly is moved to vehicle location to be stopped and the corresponding parking stall angle of rotation, car
Clamping dolly, which clamps, treats parking.
When identifying system is the vehicle identification system based on optical imagery：Driver will treat that parking is put and drive into code
Change the parking area of pattern and arbitrarily park, treat that parking obtains vehicle image size and uploaded in industrial camera shooting parking area
To host computer；Host computer obtains vehicle full size according to the imaging scale of vehicle image size × industrial camera and obtains vehicle
The coordinate value of each point in parking area coordinate system, after above-mentioned vehicle full size and the coordinate value each put processing
Obtain treating position coordinates and parking stall angle of the parking in parking area；Industrial computer will handle obtained vehicle location seat
Mark, parking stall angle are sent to host computer；Host computer driving rotary-tray dolly is moved to vehicle location to be stopped and rotation is corresponding
Parking stall angle, vehicle clamping dolly, which clamps, treats parking.
When identifying system is the vehicle identification system based on fixed radar and movable radar：Driver will treat that parking is sailed
Enter parking area and arbitrarily park, radar scanner scans whole parking area, obtains cloud data, and industrial computer extracts the vehicle
Outline and processing obtain position coordinates and the parking stall angle of the vehicle；Industrial computer will handle obtained vehicle location seat
Mark, parking stall angle are sent to host computer；Host computer driving rotary-tray dolly is moved to vehicle location to be stopped and rotation is corresponding
Parking stall angle, vehicle clamping dolly action, single line laser radar are scanned, checked the center of vehicle clamping dolly to full car simultaneously
Coordinate overlaps with vehicle center coordinate, vehicle clamps the angle of dolly and parking stall angle is consistent and overall width clamps dolly without departing from vehicle
Opereating specification, vehicle clamping dolly clamp treats parking.
The beneficial effects of the invention are as follows：Vehicle can arbitrarily be parked in Transport Vehicle area, have superb parking skill without driver
Art；Driver and crew do not have to stop into multi-storied garage with vehicle, and Transport Vehicle can in advance be preengage, save the Transport Vehicle time, carry
High efficiency；It is fast to access vehicle speed, and upgrading can be carried out to existing multi-storied garage, increases parking stall quantity, reduces
Driver's stops pick-up step, has good parking skill without driver, and there is good practicality and market to apply valency
Value.
Brief description of the drawings
Fig. 1 is the intelligent parking garage front view designed by the present invention；
Fig. 2 is the intelligent parking garage top view designed by the present invention；
Fig. 3 is the intelligent parking garage left view designed by the present invention；
Fig. 4 is rotary-tray dolly top view in the present invention；
Fig. 5 is rotary-tray dolly front view in the present invention；
Fig. 6 clamps dolly top view for vehicle in the present invention；
Fig. 7 is the front view of gripping arm wheel in the present invention；
Fig. 8 is the top view of the vehicle identification system based on fixed radar in the present invention；
Fig. 9 is the parking area schematic diagram of the vehicle identification system based on fixed radar in the present invention；
Figure 10 is the parking area single line radar scanner position of the vehicle identification system based on fixed radar in the present invention
Schematic diagram；
Figure 11 is the parking area Coordinate Conversion principle of the vehicle identification system based on fixed radar in the present invention；
Figure 12 is the radar scanner front view of the vehicle identification system based on fixed radar in the present invention；
Figure 13 is the radar scanner top view of the vehicle identification system based on fixed radar in the present invention；
Figure 14 is the top view one of the vehicle identification system based on optical imagery in the present invention；
Figure 15 is the top view two of the vehicle identification system based on optical imagery in the present invention；
Figure 16 is the single industrial camera working state schematic representation of the vehicle identification system based on optical imagery in the present invention
One；
Figure 17 is the single industrial camera working state schematic representation of the vehicle identification system based on optical imagery in the present invention
Two；
Wherein, 1-three-dimensional Stilt layer, 2-vehicle unloading groove, 3-rotary-tray dolly (3.1-rotary-tray, 3.2-
Tray trolley car body), 4-gear drive motor, 5-rotary drive gear, 6-gear shaft, 7-pallet rotation gear, 8-car
Traversing framework, 9-cross moving track, 10-traversing pallet, 11-vehicle clamping dolly (the 11.1-the first clamping trolley,
11.2-the second clamping trolley), 12-grip slipper, 13-clamping limb, 14-clamping limb reducing motor, 15-clamping limb
Drive gear, 16-screw mandrel reducing motor, 17-screw mandrel, 18-bearing block, 19-feed screw nut, 20-roller, 21-lead
To wheel, 22-vehicle, 23-elevator, 24-wheel, 25-hinge, 26-road wheel, 27-driving speed reducer, 28-OK
Walk motor, 29-parking area, 30-number plate machine, 31-radar scanner (31.1-support, 31.2-motor,
31.3-laser radar), 32-industrial camera, 33-single line radar scanner, A1- parking stalls angle, B1- position of rear view mirror, C1-
Front wheel positions, L1- vehicle commander, D1- rear wheel positions, W1- overall width, W- pick-up Robot actions region, (X1, Y1)-vehicle coordinate.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Intelligent parking garage as shown in Fig. 1-3, including garage frame, garage frame include vertical with Multilayer parking position
Body Stilt layer 1 and the vehicle horizontal stroke connected as one positioned at the three-dimensional front of Stilt layer 1, with each layer of Vierendeel girder of three-dimensional Stilt layer 1
Framework 8 is moved, the traversing framework 8 of vehicle is provided with cross moving track 9 along horizontal X direction of principal axis, and cross moving track 9 is traversing provided with sliding along
Pallet 10, traversing pallet 10 are provided with the vehicle moved along horizontal Y direction and clamp dolly 11, the both sides point of three-dimensional Stilt layer 1
Not She You elevator 23, to be depressed in vehicle unloading groove 2 below ground in front of the ground floor of three-dimensional Stilt layer 1, vehicle turns
The rotary-tray dolly 3 for being provided with groove 2 and being moved along horizontal X direction of principal axis is deposited, the top of rotary-tray dolly 3 is provided with rotary-tray
3.1, rotary-tray 3.1 is provided with vehicle clamping dolly 11, and the top surface of rotary-tray 3.1 is concordant with ground.
As shown in Fig. 6-7, clamping trolley body 11 includes the first clamping trolley 11.1 and second and clamps trolley
11.2, one end of the first clamping trolley 11.1 is connected with one end of the second clamping trolley 11.2 by hinge 25, the
The corner of bottom four of one clamping trolley 11.1 is respectively equipped with a roller 20, the bottom of the second clamping trolley 11.2
Four, portion corner is also respectively equipped with a roller 20, and the first clamping trolley 11.1 and second is clamped in trolley 11.2
Two sets of wheel clamping devices are respectively equipped with, the first clamping trolley 11.1 is respectively arranged on the left side and the right side two directive wheels 21,
The left and right sides of second clamping trolley 11.2 is also respectively equipped with two directive wheels 21.Wheel clamping device includes grip slipper 12
With two clamping limbs 13 being articulated with grip slipper 12, grip slipper 12 is provided with the clamping limb that two clamping limbs 13 of driving rotate and driven
Motivation structure, clamping limb 13 are inclined-plane corresponding with the curved surfaces of wheel 24 with the contact surface of wheel 24.Clamping limb drive mechanism
Clamping limb drive gear 15 including clamping limb reducing motor 14 and with the motor axis connection of clamping limb reducing motor 14, clamping
Arm 13 is provided with and the 15 corresponding gear teeth of clamping limb drive gear with the bottom surface of the hinged end of grip slipper 12.Wheel clamping device is also
Including the movable frame adjustment mechanism of a driving grip slipper 12, frame adjustment mechanism includes screw mandrel reducing motor 16, silk
The output end of bar reducing motor 16 is connected with screw mandrel 17, and the both ends of screw mandrel 17 are arranged in bearing block 18, the sidepiece of grip slipper 12
Feed screw nut 19 is fixed with, feed screw nut 19 is sheathed on screw mandrel 17.
As shown in Fig. 4-5, rotary-tray dolly 3 includes tray trolley car body 3.2, the bottom four of tray trolley car body 3.2
Individual corner is respectively equipped with a road wheel 26, and gear drive motor 4 is vertically fixed in tray trolley car body 3.2, and gear drives
The motor shaft of dynamic motor 4 is connected with rotary drive gear 5, and the top vertical of tray trolley car body 3.2 fixes sprocket drive spindle 6, tooth
Wheel shaft 6 is provided with the pallet rotation gear 7 engaged with rotary drive gear 5, and rotary-tray 3.1 is fixed on pallet rotation gear 7
Top.
The parking method of intelligent parking garage designed by the present invention, comprises the following steps：
Step 1：Driver drives vehicle 22 into Transport Vehicle area, arbitrarily parks, and gets off and is left after shutting car door；
Step 2：Rotary-tray dolly 3 in vehicle unloading groove 2 is taken according to the information of vehicles obtained from identifying system
Carrier vehicle clamping dolly 11 moves along horizontal X axle, and rotary-tray 3.1 rotates, and makes the vehicle clamping on rotary-tray 3.1 small
The axis of car 11 aligns with the axis of vehicle 22；
Step 3：Vehicle clamping dolly 11 moves along its axis direction and pierces the bottom of vehicle 22, is according to from identification
The wheel position information that system obtains, the position of clamping limb 13 of adjustment vehicle clamping dolly 11, holding-wheel 24, by the support of vehicle 22
Moved backward after raising to rotary-tray 3.1；
Step 4：Rotary-tray 3.1 rotates, and makes the axis of vehicle 22 parallel with horizontal Y-axis, if the one of three-dimensional Stilt layer 1
Layer has vacant parking stall, then before the dolly of rotary-tray 3.1 moves to specified vacant parking stall along horizontal X direction of principal axis, vehicle clamping dolly
11 move in vacant parking stall along horizontal Y direction, and clamping limb 13 rotates, and unclamp wheel 24, vehicle 22 is placed on into vacant car
On position, on the last vehicle clamping counter motion of dolly 11 to rotary-tray 3.1；
If three-dimensional 1 one layers of Stilt layer does not have vacant parking stall, rotary-tray dolly 3 moves to the front of elevator 23, car
Clamping dolly 11 moves along horizontal Y direction, and into elevator 23, clamping limb 13 rotates, and wheel 24 is unclamped, by vehicle
22 are placed in elevator 23, and vehicle clamping dolly 11 moves backward, and returns on rotary-tray 3.1, vehicle 22 takes lifting
Elevator 23 moves to the parking stall layer of vacant parking stall, while the equipped vehicle of traversing pallet 10 folder of this layer along vertical Z-direction
Hold dolly 11 and move to the front of elevator 23 along horizontal X direction of principal axis, vehicle clamping dolly 11 moves to liter along horizontal Y direction
In drop elevator 23 and the bottom of vehicle 22 is pierced, according to the wheel position information obtained from identifying system, adjusts the position of clamping limb 13,
Holding-wheel 24, vehicle 22 is lifted, on the vehicle clamping counter motion of dolly 11 to traversing pallet 10, traversing pallet 10 carries car
Before clamping dolly 11 and vehicle 22 move to specified vacant parking stall along horizontal X direction of principal axis, vehicle clamps dolly 11 along level
Y direction is moved in vacant parking stall, and clamping limb 13 rotates, and transfers vehicle 22, and after completing parking, vehicle clamping dolly 11 is anti-
To moving on traversing pallet 10.
In the present invention, some Transport Vehicle areas are set outside intelligent parking garage, Transport Vehicle area length and width dimensions should meet on the market
Most passenger cars are arbitrarily parked with the angle for being not less than 15 ° with transverse horizontal line.Set and turn in intelligent parking garage ground floor
Area is deposited, sets the traversing framework 8 of vehicle, traversing pallet 10, vehicle clamping dolly 11 and elevator 23 real on intelligent parking garage
Existing movement of the vehicle 22 on three horizontal X axle, horizontal Y axles and vertical Z axis directions.Vehicle 22 is set easily to be put in storage.
Identifying system obtains the data such as the model of vehicle for being parked in Transport Vehicle area, coordinate, orientation, size, in transient area
Rotary-tray dolly 3 according to these data, adjust the position of rotary-tray 3.1 and angle, clamping dolly 11 by vehicle pierces
Body bottom lifts vehicle 22, then vehicle 22 reversely is shipped back into one layer of transient area, and now, rotary-tray dolly 3 is adjustable certainly
Body angle clamps dolly 11 by storing cycle to one layer of vacant parking stall to parallel with Y-axis, by vehicle, also can be by Z axis unloading
Device (elevator 23) parks vehicle 22 to the vacant parking stall of upper strata.
Pick-up process and bicycle parking process are on the contrary, vehicle 22 is transferred to transient area, then adjusts vehicle 22 by transferring device
Position and angle, then vehicle 22 is transported to Transport Vehicle area.
Identifying system can be the vehicle identification system based on fixed radar or the vehicle identification system based on optical imagery
Or the vehicle identification system based on fixed radar and movable radar.
As a kind of vehicle identification system based on fixed radar for intelligent garage shown in Fig. 8-14, including for
The parking area 29 that parks cars, for scanning obtain in parking area 29 radar scanner 31 of vehicle location coordinate and for controlling
The host computer that rotary-tray dolly 3 and vehicle clamping dolly 11 processed works；Being provided at both ends with along its length of parking area 31
Radar scanner 31；Multiple single line radars for being used to obtain vehicle tire central point are disposed with the long side of parking area 31 to sweep
Imaging apparatus 33；Height of the laser emission point of single line radar scanner 33 apart from ground is less than 100 millimeters；Single line radar is swept
The Laser emission line of imaging apparatus 33 is parallel to level ground；Radar scanner 31 includes support 31.1, the and of motor 31.2
Laser radar 31.3；Motor 31.2 is vertically fixed in the upper end of support 31.1；The output end of motor 31.2 and laser thunder
Up to 31.3 connections；The number plate machine 30 for obtaining automotive license plate in parking area 29 is also connected with the traversing framework 8 of vehicle.Based on solid
The vehicle storage method for determining the vehicle identification system of radar is the point cloud using whole parking area 29 and the car in parking area 29
Point cloud altitude data relatively show that vehicle is located at the position coordinates of parking area 29；Rotary-tray dolly 3 is according to above-mentioned car
Position coordinates moves to the relevant position in the front of vehicle 22, while rotary-tray 3.1 rotates respective angles, vehicle clamping dolly
11, according to its position of clamping limb 13 of vehicle location Coordinate Adjusting, move to the bottom of vehicle 22 gripping vehicle 22.Positioned at parking area 29
Vehicle location coordinate acquisition methods it is as follows：Two radar scanners 31 collaboration scanning on intelligent garage, which obtains, entirely to stop
The outline cloud data in car area 29 and in parking area 29 vehicle the outline cloud data (outline of parking area 29
Height value of the height value of cloud data not equal to the outline cloud data of vehicle), and send data processing equipment to；Data
Processing equipment is according to the outline point of the vehicle 22 according to the outline cloud data for comparing parking area 29 and in parking area 29
Above-mentioned all data are divided into ground data and non-ground data by the high level of cloud data, and non-ground data is projected into ground
Using Shadow marks, (being because of the ground for when vehicle 22 is in parking area 29, just necessarily there is a panel region can not be by laser
Scan, and when laser is crossed vehicle 22 and scanned again to ground, it is equivalent to vehicle 22 and forms on the ground
One shadow region)；Whether the shadow shapes that data processing equipment projects to ground by more non-ground data meet vehicle
Outline so that it is determined that vehicle 22 be located at parking area 29 position coordinates (while using effective cloud data in vehicle region,
The data such as the length and width height to vehicle 22 are modified)；Data processing equipment includes host computer and industrial computer；Host computer receives work
The outline cloud data for the whole parking area 29 that control machine transmits and in parking area 29 vehicle outline point cloud number
According to and after judging, non-ground data is projected as ground data (shade) first so as to obtain one in the horizontal plane
Rectangle；The position coordinates of vehicle 22 is determined by the cornerwise intersection point of rectangle；Pass through rectangular central axis and parking
The angle of internal coordinate system of area 29 determines the parking stall angle of vehicle 22；Vehicle 22 is determined by the position coordinates and parking stall angle of vehicle 22
Position in parking area 29；Industrial computer will handle the obtained vehicle location coordinate, parking stall angle is sent to host computer；It is upper
Machine control rotary-tray dolly 3 and vehicle clamping dolly 11 clamp vehicle；The vehicle of vehicle identification system based on fixed radar
Storage method comprises the following steps：Step 1, driver will treat that parking is put and drive into parking area 29 and arbitrarily park, and treat parking
When driving into parking area 29, number plate machine 30 obtains number plate of vehicle；Step 2, vehicle 22 come to a complete stop after driver leaves, radar scanning dress
31 motor 31.2 is put to drive the scanning of laser radar 31.3 to obtain the outline data that park cars and pass through the data
Industrial computer is sent to host computer；Step 3, host computer obtain parking cars positioned at parking after handling the outline data
Position coordinates and parking stall angle in area 29；Step 4, host computer driving rotary-tray dolly 3 be moved to park cars position with
And rotary-tray 3.1 rotates corresponding parking stall angle, vehicle clamping dolly clamping parks cars and it is put in storage safely；When parking cars
When not having number plate, host computer assigns the unique vehicle code name that parks cars.Parking area 29 in technical scheme
Several the even region of tens automobiles can be accommodated by being one, for such a region, when driver drives car into the region
When, can arbitrarily it park.The both ends in the region have two fixed laser radars not stop to scan to the region under the cooperation of motor,
To obtain the length into vehicle, parking stall angle, wheel position, position of rear view mirror etc., and when car enters the region, number
Board machine 30 can obtain to number plate of vehicle, if without number plate, host computer can be that it assigns a code name, and code name is in the entire system
It is unique.J points are laser radar, drive the Plane of rotation for the motor that it rotates back and forth parallel to WJV planes, laser
The scanning plane of radar is perpendicular to WJV planes.Rotation forms scanning plane to laser radar at a high speed, and motor driven radar rotary is into opposition
The scanning in body space.In figure, Data Point are arrived in laser radar J scannings, and obtaining laser radar J according to time flight theory arrives
Data Point distance R.Data Point to plane UJV intersection point is point A.Converted according to triangle, JA length is：JA
=R × COS (ω)；Coordinate values of the Data Point in UVW coordinate systems be respectively：U1=R × COS (ω) × SIN (α)；
V1=R × COS (ω) × COS (α)；W1=R × SIN (ω).In accompanying drawing 11, XYZ coordinate system is parking area coordinate system, is to grab
Car device captures the coordinate system used during vehicle.And to be coordinate system XYZ translated to come coordinate system UVW by vectorial OJ, by changing
Calculate, you can try to achieve coordinates of the Data Point in coordinate system XYZ.All pip data acquisition systems can obtain the three-dimensional of parking area
Image.Industrial computer calculates the length of vehicle, parking stall angle, wheel position, position of rear view mirror etc., is then forwarded to upper
Machine, host computer to grab car device send grab car instruction；During work, first, radar J itself has a coordinate system UVW, the radar
It can be 0 to 360 degree rotations, have single line laser radar, also have multi-thread radar, when the motor of single line radar does not drive its rotation,
When one limited solid space that it is scanned, single line radar scanning is exactly a face.Motor rotation is formed a solid
Space.The scanning theory of radar is exactly the time to reach principle, launches laser, runs into object and reflect, when this transmission receives
Between be very accurately, then the pip to radar precisely calculates apart from can.And motor is with encoder, motor
How many degree are have rotated, and it is pinpoint.Radar scanning point distance, R and angle ω is just obtained in figure.Radar is not only
Vehicle is scanned, it all obtains the pip scanned in scanning range, and car is extracted by algorithm further according to the feature of car
, the two radars are like the eyes of people, and its data can be sent to an industrial computer, what industrial computer sent to handle it
Data.The two radars are synchronous workings.In order to strengthen the positioning to automobile tire, it is distributed with the long side of parking area solid
Fixed single line laser radar, its laser emission point terrain clearance are less than 100 millimeters, and Laser emission line is parallel to level ground.It is single
There is vehicle entrance in the front of line radar scanner 33, and the other parts that we simulate car are only left tire.Single line radar is swept
The scanning of imaging apparatus 33, according to time flight theory, can calculate each pip to single line radar to a tire of automobile
The distance of scanning means 33.We can be nearly a rectangle, i.e. tire perpendicular projection the overhead view image of automobile tire
To the projection of level ground.The laser of LASER Light Source transmitting can only at most touch rectangular two sides, according to measuring
The distance of every it is in different size, the length on this two sides can be obtained.Then the central point of the tire is calculated.Obtain vapour
After the central point of four tires of car, the parking stall angle of automobile can be calculated, when radar scanner 31 scans vehicle 22, radar
Scanning means 31 can only get a line of tire, but the number plate machine 5 and single line radar on the side of radar scanner 31 are swept
Imaging apparatus 33 can cooperate with radar scanner 31 to complete the scanning to the automobile tire, so as to obtain the central point of tire.
Vehicle identification system based on fixed radar and movable radar is then in the above-mentioned vehicle identification based on fixed radar
On the basis of system, single line laser radar is added, and an angle theta between the scanning plane of single line laser radar and ground be present,
15°<θ<90°.Single line laser radar carries out dynamic scan to full car, the vehicle checked clamps the centre coordinate and vehicle of dolly 11
Centre coordinate overlaps, the angle of vehicle clamping dolly 11 is consistent with parking stall angle and overall width operates model without departing from vehicle clamping dolly 11
Enclose, clamping, which parks cars, makes it be put in storage safely.When single line laser radar scans, each single line laser radar itself is to rotate at a high speed
, so as to form a scanning plane, after scanning and arriving vehicle 22, the scanning plane and vehicle 22 are intersecting to obtain a line, according to
TOF, and triangle conversion, the position of the intersecting lens at per a moment is calculated, then vehicle clamping dolly 11 is finely tuned, it is ensured that clamping limb
Vehicle will not be touched during 13 gripping.When single line laser radar scanning arrive vehicle tyre, calculate single line laser radar with relatively
The relative position for the tire answered, the position of clamping limb is adjusted, so as to accurately capture tire.
As a kind of vehicle identification system based on optical imagery for intelligent garage shown in Figure 15 to Figure 17, including
For park cars parking area 29, the industrial camera 32 for obtaining vehicle location coordinate in parking area 29 and for controlling
The host computer of rotary-tray dolly 3 and vehicle clamping dolly 11；It is provided with ground in the region of parking area 29 for reinforcement pair
Than the code pattern of degree；The top of the traversing framework 8 of vehicle is provided with multiple cantilevers, and the end set of each cantilever has industrial phase
Machine 32；Industrial camera 32 is located at the top of parking area 29；Codeization pattern includes Quick Response Code or bar code or gridiron pattern, works as the present invention
Code pattern when using bar code or gridiron pattern, its main function is in order to strengthen contrast, so as to improve industrial camera
32 catch the accuracy of vehicle outline coordinate points, when the code pattern of the present invention during Quick Response Code, first in parking area 29
Quick Response Code is paved with, and assigns each Quick Response Code to coordinate of the necessarily given coordinate value corresponding to the coordinate system of parking area 29, when
The work shooting of industrial camera 32 in the parking area 29 when parking cars, the Quick Response Code of the circle of vehicle periphery one can be obtained, passed through
It is scaled single coordinate value to Quick Response Code and plan turns to the outline of vehicle so as to obtain the actual coordinate of vehicle and car
The data such as length, overall width, parking stall angle, the use of Quick Response Code can effectively improve industrial camera 32 and obtain vehicle position in parking area 29
The accuracy of confidence breath, consequently facilitating vehicle clamping dolly 11 captures storage of cars；Each industrial camera 32 can at least photograph
One section of region and all industrial cameras 32 in parking area 29 can photograph whole parking area 29.When laying in parking area 29
When having bar code or gridiron pattern, coordinate system mark is provided with parking area 29, industrial camera 32 passes through positioned at parking area 29
Interior vehicle outline and coordinate system mark directly obtain vehicle position information, and coordinate system, which is identified as to be located at, is identified in parking area
The reference axis of 29 long sides and broadside, coordinate identification system is provided with each industrial camera 32；Garage seat is provided with parking area 29
Mark system；The each point that each point coordinate value in coordinate identification system is converted into after being handled by host computer conversion in garage coordinate system is sat
Scale value.During using the system, first, after every industrial camera 32 installs, a demarcation can be done.According to it to code
The imaging on ground and distance between the two, imaging ratio of the ground in industrial camera 32 can be drawn by image-forming principle
Example.According to ratio, picture size can is converted into the size of material object.We establish a coordinate to image, then in image
Every bit can all have a coordinate value, also according to image-forming principle and ratio, you can converse each in parking area coordinate system
The coordinate of point.Again, to the vehicle photographic of entrance, split by feature extraction, edge, this is selected in computer software center
Automobile, then according to overall height, we take this value of 0.75m to correct the distance between camera and made thing.Car is in phase
If imaging in machine converts by the distance between ground and camera, obtained size can be relatively larger than automobile actual size.We
This value of 0.75m has been taken to carry out corrected range in computer software, the rectangle frame in the frame such as accompanying drawing 17 that finally obtain.The square
The length of shape frame and the wide length and width that can be similar to automobile reality；Coordinate of the midpoint as automobile of rectangle frame is chosen again.Specifically
Implementation steps include：Step 1, driver will treat that parking is put and drive into the parking area 29 with code pattern and arbitrarily park,
When parking area 29 is driven into parking, number plate machine 30 obtains number plate of vehicle；When park cars there is no number plate when, host computer assign
The unique vehicle code name that parks cars；Step 2, vehicle 22 come to a complete stop after driver leaves, and the shooting of industrial camera 32 stops
Parking cars in car area 29 obtains vehicle image size and is uploaded to host computer；Step 3, host computer is according to vehicle image chi
Imaging scale × 0.8 of very little × industrial camera 32 obtains vehicle full size and obtains vehicle being located in parking area coordinate system
Each point coordinate value, to obtaining parking cars after above-mentioned vehicle full size and the coordinate value each put processing positioned at stopping
Position coordinates and parking stall angle in car area 29；Step 4, host computer driving rotary-tray dolly 3 are moved to the position that parks cars
Put and rotary-tray 3.1 rotates corresponding parking stall angle, vehicle clamping dolly 11 realizes the crawl to vehicle 22.The present invention's
Parking area 29, which is one, in technical scheme can accommodate several the even region of tens automobiles, for such a region, when
When driver drives car into the region, can arbitrarily it park.The top in the region has industrial camera 32 to coordinate in parking area 29
Codeization pattern obtains the length into vehicle, parking stall angle, wheel position, position of rear view mirror etc..And enter in car and be somebody's turn to do
During region, number plate machine 30 can obtain to number plate of vehicle, if without number plate, host computer can be that it assigns a code name, and code name exists
It is unique in whole system.
The above described is only a preferred embodiment of the present invention, not the structure of the present invention is done any formal
Limitation.Any simple modification, equivalent change and modification that every technical spirit according to the present invention is made to above example,
In the range of still falling within technical scheme.
Claims (10)
1. a kind of intelligent parking garage, including garage frame, it is characterised in that：The garage frame is included with Multilayer parking position
Three-dimensional Stilt layer (1) and connected as one in front of the three-dimensional Stilt layer (1), with each layer of Vierendeel girder of three-dimensional Stilt layer (1)
The traversing framework of vehicle (8), the traversing framework of vehicle (8) is provided with cross moving track (9), the traversing rail along horizontal X direction of principal axis
Road (9) is provided with the traversing pallet (10) slid along, and the traversing pallet (10) is provided with the car moved along horizontal Y direction
Clamping dolly (11), the both sides of the three-dimensional Stilt layer (1) are respectively equipped with elevator (23), the three-dimensional Stilt layer (1)
Ground floor in front of to be depressed in vehicle unloading groove (2) below ground, be provided with the vehicle unloading groove (2) along horizontal X axle
The rotary-tray dolly (3) of direction movement, the top of the rotary-tray dolly (3) is provided with rotary-tray (3.1), the rotation
Pallet (3.1) is provided with vehicle clamping dolly (11), and the top surface of the rotary-tray (3.1) is concordant with ground.
A kind of 2. intelligent parking garage as claimed in claim 1, it is characterised in that：The vehicle clamping dolly (11) includes bottom
Clamping trolley body provided with roller (20), the clamping trolley body are provided with four wheel clamping devices, the wheel folder
Holding mechanism includes grip slipper (12) and two clamping limbs (13) being articulated with grip slipper (12), and the grip slipper (12) is provided with
The contact surface of the clamping limb drive mechanism of driving two clamping limbs (13) rotation, the clamping limb (13) and wheel (24) is and car
Take turns inclined-plane corresponding to the curved surfaces of (24).
A kind of 3. intelligent parking garage as claimed in claim 2, it is characterised in that：The clamping limb drive mechanism includes clamping limb
Reducing motor (14) and the clamping limb drive gear (15) with the motor axis connection of clamping limb reducing motor (14), the clamping limb
(13) gear teeth corresponding with clamping limb drive gear (15) are provided with the bottom surface of the hinged end of grip slipper (12).
A kind of 4. intelligent parking garage as claimed in claim 2, it is characterised in that：The wheel clamping device also includes a drive
The movable frame adjustment mechanism of dynamic grip slipper (12), the frame adjustment mechanism includes screw mandrel reducing motor (16), described
The output end of screw mandrel reducing motor (16) is connected with screw mandrel (17), and the both ends of the screw mandrel (17) are arranged in bearing block (18),
The sidepiece of the grip slipper (12) is fixed with feed screw nut (19), and the feed screw nut (19) is sheathed on screw mandrel (17).
A kind of 5. intelligent parking garage as claimed in claim 2, it is characterised in that：The clamping trolley body (11) includes first
Clamp trolley (11.1) and second clamping trolley (11.2), it is described first clamping trolley (11.1) one end and
One end of second clamping trolley (11.2) is connected by hinge (25), the bottom of the first clamping trolley (11.1)
Four corners are respectively equipped with a roller (20), and the corner of bottom four of the second clamping trolley (11.2) is also divided
Not She You a roller (20), the first clamping trolley (11.1) and second clamps and set respectively on trolley (11.2)
There are two sets of wheel clamping devices, the first clamping trolley (11.1) is respectively arranged on the left side and the right side two directive wheels
(21), the left and right sides of the second clamping trolley (11.2) is also respectively equipped with two directive wheels (21).
A kind of 6. intelligent parking garage as claimed in claim 1, it is characterised in that：The rotary-tray dolly (3) includes pallet
Trolley (3.2), the corner of bottom four of the tray trolley car body (3.2) are respectively equipped with a road wheel (26), institute
State and gear drive motor (4) is vertically fixed in tray trolley car body (3.2), the motor shaft of the gear drive motor (4) connects
Rotary drive gear (5) is connected to, the top vertical of the tray trolley car body (3.2) fixes sprocket drive spindle (6), the gear shaft
(6) the pallet rotation gear (7) engaged with rotary drive gear (5) is provided with, the rotary-tray (3.1) is fixed on pallet rotation
The top of rotating disk (7).
A kind of 7. parking method of intelligent parking garage as claimed in claim 1, it is characterised in that：Comprise the following steps：
Step 1：Driver drives vehicle (22) into Transport Vehicle area, arbitrarily parks, and gets off and is left after shutting car door；
Step 2：Rotary-tray dolly (3) in vehicle unloading groove (2) is taken according to the information of vehicles obtained from identifying system
Carrier vehicle clamping dolly (11) moves along horizontal X axle, rotary-tray (3.1) rotation, makes the vehicle on rotary-tray (3.1)
The axis of clamping dolly (11) aligns with the axis of vehicle (22)；
Step 3：Vehicle clamping dolly (11) moves along its axis direction and pierces the bottom of vehicle (22), is according to from identification
The wheel position information that system obtains, clamping limb (13) position of adjustment vehicle clamping dolly (11), holding-wheel (24), by vehicle
(22) moved backward after lifting to rotary-tray (3.1)；
Step 4：Rotary-tray (3.1) rotates, and makes the axis of vehicle (22) parallel with horizontal Y-axis, if three-dimensional Stilt layer (1)
One layer has vacant parking stall, then before rotary-tray (3.1) dolly moves to specified vacant parking stall along horizontal X direction of principal axis, vehicle clamping
Dolly (11) is moved in vacant parking stall along horizontal Y direction, clamping limb (13) rotation, wheel (24) is unclamped, by vehicle (22)
It is placed in vacant parking stall, on last vehicle clamping dolly (11) counter motion to rotary-tray (3.1)；
If three-dimensional (1) one layer of Stilt layer does not have vacant parking stall, rotary-tray dolly (3) is moved in front of elevator (23),
Vehicle clamping dolly (11) moves along horizontal Y direction, interior into elevator (23), clamping limb (13) rotation, unclamps wheel
(24), vehicle (22) is placed in elevator (23), vehicle clamping dolly (11) reverse movement, returns to rotary-tray
(3.1) on, vehicle (22) takes the parking stall layer that elevator (23) moves to vacant parking stall along vertical Z-direction, simultaneously
Traversing pallet (10) equipped vehicle clamping dolly (11) of this layer is moved in front of elevator (23) along horizontal X direction of principal axis, car
Clamping dolly (11) moves in elevator (23) along horizontal Y direction and pierces vehicle (22) bottom, according to from identification
The wheel position information that system obtains, clamping limb (13) position is adjusted, holding-wheel (24), vehicle (22) is lifted, vehicle folder
Dolly (11) counter motion is held to traversing pallet (10), traversing pallet (10) equipped vehicle clamping dolly (11) and vehicle (22)
Before moving to specified vacant parking stall along horizontal X direction of principal axis, vehicle clamping dolly (11) moves to vacant stop along horizontal Y direction
In parking stall, clamping limb (13) rotation, decentralization vehicle (22), after completing parking, vehicle clamps dolly (11) counter motion to traversing
On pallet (10).
A kind of 8. parking method of intelligent parking garage as claimed in claim 7, it is characterised in that：Identification in the step 2
System is the vehicle identification system based on fixed radar；Driver will treat that parking is put and drive into parking area (29) and arbitrarily park,
When parking area (29) are driven into parking, radar scanner (31) scans whole parking area, obtains cloud data, industrial computer
Extract the outline of the vehicle and processing obtains position coordinates and the parking stall angle of the vehicle；Industrial computer will handle the obtained car
Position coordinates, parking stall angle are sent to host computer；Host computer driving rotary-tray dolly (3) be moved to vehicle location to be stopped and
Corresponding parking stall angle is rotated, vehicle clamping dolly (11), which clamps, treats parking.
A kind of 9. parking method of intelligent parking garage as claimed in claim 7, it is characterised in that：Identification in the step 2
System is the vehicle identification system based on optical imagery；Driver will treat that parking is put and drive into the parking area with code pattern
(29) and arbitrarily park, treat that parking obtains vehicle image size and is uploaded in industrial camera (32) shooting parking area (29)
Host computer；Host computer obtains vehicle full size according to the imaging scale of vehicle image size × industrial camera and obtains vehicle position
In the coordinate value of each point in parking area coordinate system, to being obtained after above-mentioned vehicle full size and the coordinate value each put processing
To the position coordinates and parking stall angle for treating that parking is located in parking area (29)；Industrial computer will handle obtained vehicle location seat
Mark, parking stall angle are sent to host computer；Host computer driving rotary-tray dolly (3) is moved to vehicle location to be stopped and rotation is corresponding
Parking stall angle, vehicle clamping dolly (11) clamp treats parking.
A kind of 10. parking method of intelligent parking garage as claimed in claim 7, it is characterised in that：Knowledge in the step 2
Other system is the vehicle identification system based on fixed radar and movable radar；Driver will treat that parking drives into parking area (29) simultaneously
Arbitrarily park, radar scanner (31) scans whole parking area, obtains cloud data, and industrial computer extracts the foreign steamer of the vehicle
Wide and processing obtains position coordinates and the parking stall angle of the vehicle；Industrial computer will handle obtained vehicle location coordinate, the parking stall
Angle is sent to host computer；Host computer driving rotary-tray dolly (3) is moved to vehicle location to be stopped and the corresponding parking stall of rotation
Angle, vehicle clamping dolly (11) action, mobile single line laser radar are scanned to full car, check vehicle clamping dolly simultaneously
(11) centre coordinate overlaps with vehicle center coordinate, vehicle clamps the angle of dolly (11) and parking stall angle is consistent and overall width does not surpass
Go out the opereating specification of vehicle clamping dolly (11), vehicle clamping dolly (11), which clamps, treats parking.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710587307.XA CN107575073B (en) | 2017-07-18 | 2017-07-18 | Intelligent parking garage and parking method thereof |
| PCT/CN2018/094870 WO2019015497A1 (en) | 2017-07-18 | 2018-07-06 | Intelligent parking garage and parking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710587307.XA CN107575073B (en) | 2017-07-18 | 2017-07-18 | Intelligent parking garage and parking method thereof |
Publications (2)
| Publication Number | Publication Date |
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| CN107575073A true CN107575073A (en) | 2018-01-12 |
| CN107575073B CN107575073B (en) | 2019-12-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710587307.XA Active CN107575073B (en) | 2017-07-18 | 2017-07-18 | Intelligent parking garage and parking method thereof |
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| WO (1) | WO2019015497A1 (en) |
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| CN109339528A (en) * | 2018-11-23 | 2019-02-15 | 住友富士电梯有限公司 | A kind of parking systems elevator |
| CN109339530A (en) * | 2018-11-23 | 2019-02-15 | 住友富士电梯有限公司 | A kind of more door-opening elevators of parking systems |
| CN109339526A (en) * | 2018-11-22 | 2019-02-15 | 住友富士电梯有限公司 | A kind of parking systems secure parking method |
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| CN110145151A (en) * | 2019-06-04 | 2019-08-20 | 安徽博微联控科技有限公司 | A kind of parking device and its application method of warehouse style machinery garage |
| CN110805336A (en) * | 2019-11-13 | 2020-02-18 | 武汉智象机器人有限公司 | Underground intelligent garage with rotary tray and use method |
| CN111561208A (en) * | 2020-05-22 | 2020-08-21 | 重庆贻晨兴工业设计有限责任公司 | Intelligent parking lot guidance equipment and use method thereof |
| CN111550106A (en) * | 2020-05-26 | 2020-08-18 | 天津理工大学 | Parking device for residential area |
| CN113622725A (en) * | 2021-07-24 | 2021-11-09 | 浙江龙马建设有限公司 | Municipal administration parking area |
| CN113622725B (en) * | 2021-07-24 | 2022-05-13 | 浙江龙马建设有限公司 | Municipal administration parking area |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107575073B (en) | 2019-12-27 |
| WO2019015497A1 (en) | 2019-01-24 |
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Denomination of invention: An intelligent parking garage and its parking method Effective date of registration: 20220304 Granted publication date: 20191227 Pledgee: Wuhan area branch of Hubei pilot free trade zone of Bank of China Ltd. Pledgor: WUHAN ZHIXIANG ROBOT Co.,Ltd. Registration number: Y2022420000051 |