CN108179906B - Three-dimensional intelligent parking lot and parking method thereof - Google Patents
Three-dimensional intelligent parking lot and parking method thereof Download PDFInfo
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- CN108179906B CN108179906B CN201711363926.7A CN201711363926A CN108179906B CN 108179906 B CN108179906 B CN 108179906B CN 201711363926 A CN201711363926 A CN 201711363926A CN 108179906 B CN108179906 B CN 108179906B
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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
- 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
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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
- 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
- E04H6/22—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 movable platforms for horizontal transport, i.e. cars being permanently parked on palettes
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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
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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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
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention relates to the field of intelligent parking lots, and provides a three-dimensional intelligent parking lot aiming at the technical problems that the existing mechanical three-dimensional garage has higher driving technical requirements on drivers and is inconvenient for the drivers to use, which comprises: the mechanical stereo garage is internally provided with a plurality of movable parking plates for parking automobiles; a delivery system for a user to park the vehicle and increase the ground clearance of the vehicle chassis; and the transfer system is used for transferring the automobile parked on the delivery system to the parking plate. The invention also discloses a parking method of the three-dimensional intelligent parking lot.
Description
Technical Field
The invention relates to the field of intelligent parking lots, in particular to a three-dimensional intelligent parking lot and a parking method thereof.
Background
With the development of national economy and the improvement of the living standard of people, more and more families with private cars have increasing demands on parking facilities, and thus the mechanical stereo garage is produced. The mechanical stereo garage (especially the lifting and horizontal moving type garage) can be used in a large area, can be arranged by inserting pins at seams, can be combined with a ground parking lot, an underground garage and a parking building for implementation, and is considered to be an effective means for solving the difficulty in parking in cities in recent years.
Compared with the traditional garage, the mechanical stereo garage (mechanical garage for short) shows superiority in many aspects. Firstly, the mechanical stereo garage has the outstanding advantage of land conservation, occupies small space, can greatly save limited land resources and save civil engineering development cost (the space for storing vehicles does not need to be provided with too many driving channels due to upward expansion). However, through the development of recent years, even though the mechanical stereo garage has the advantages, the mechanical stereo garage still cannot be popularized in a large area, and the main reasons are as follows: the mechanical stereo garage is characterized in that a driver stands an automobile to drive the automobile to a parking plate to be stably parked, then the driver leaves the automobile, and the parking plate is lifted or transversely moved under the driving of a lifting mechanism and a transverse moving mechanism of the mechanical stereo garage, so that the parking plate and the automobile on the parking plate are moved together to a proper position in the mechanical stereo garage to finish parking.
Above-mentioned parking mode needs the navigating mate to drive the car to the parking board on, this to many navigating mates drive the vehicle to the parking board on the degree of difficulty higher, when appearing the line ball (when the wheel is located the parking board border promptly), the accident of turning on one's side very easily appears, mechanical type stereo garage is higher to navigating mate's driving technical requirement promptly, the navigating mate use of being not convenient for.
Disclosure of Invention
The invention provides a three-dimensional intelligent parking lot and a parking method thereof, aiming at the technical problems that the existing mechanical three-dimensional garage has higher driving technical requirements on drivers and is inconvenient for the drivers to use.
The basic scheme provided by the invention is as follows: three-dimensional intelligent parking area includes:
the mechanical stereo garage is internally provided with a plurality of movable parking plates for parking automobiles;
a delivery system for a user to park the vehicle and increase the ground clearance of the vehicle chassis;
and the transfer system is used for transferring the automobile parked on the delivery system to the parking plate.
The working principle and the advantages of the invention are as follows: when using, the user drives the car to the delivery system on, the delivery system can improve this vehicle chassis's ground clearance, can let the transit system drive in the belly of this car this moment, then the car on the transit system will the delivery system transports to the parking board on, then the transit system puts down the car, and the transit system drives out the parking board, accomplishes parking of car.
According to the invention, a user does not need to drive the automobile to the parking plate in the mechanical stereo garage, so that the difficulty of driving the automobile to the parking plate by the user can be reduced. The main reason is that the existing mechanical stereo garage is a frame structure, and when a user parks the vehicle, the vehicle needs to be driven to a parking plate in the frame structure, in the process, the purpose of the design of the mechanical stereo garage is to improve the space utilization rate, utilize limited space and park more vehicles, so that the area of the parking plate of the existing mechanical stereo garage is limited (although the difficulty for parking the vehicle to the parking plate can be reduced by improving the floor area of the parking plate, the space utilization is unreasonable due to the design, and the design is contrary to the original intention of the design of the mechanical stereo garage. Moreover, the mechanical stereo garage is of a frame structure, and a user can feel great psychological pressure when driving a car onto a parking plate.
Therefore, when a user does not need to drive the automobile to the parking plate in the mechanical stereo garage, the user experience can be greatly improved, and the technical requirements of the mechanical stereo garage on drivers are reduced.
And the delivery system can provide the ground clearance of vehicle chassis, has also reduced the degree of difficulty that the transport system carried the car. The transfer system can conveniently enter the belly of the automobile to carry the automobile.
According to the three-dimensional intelligent parking lot, due to the fact that the delivery system is arranged, on one hand, a user is prevented from directly parking an automobile on the parking plate, user experience is improved, on the other hand, the delivery system can improve the ground clearance of the automobile, and the transportation system can conveniently transport the automobile.
Further, still include control system, control system includes delivery sensing module and control module, control module respectively with deliver sensing module, transit system signal connection, deliver sensing module and be used for detecting whether there is the vehicle to stop on the delivery system, if deliver the sensor and detect and have the car on the delivery system, then there is the car signal to control module feedback, control module has the car signal to the transmission system transmission, the transmission system will stop the car on the delivery system and transport to the garage in.
The delivery sensing module can be used for detecting whether a vehicle (or an automobile) stops on the delivery system, when a user parks the automobile on the delivery system, the delivery sensing module feeds back an automobile signal to the control module, the control module sends the automobile signal to the transfer system, and the transfer system is started to carry the automobile stopped on the delivery system to the parking plate. The design can enable the rotating system to be automatically started, complete the transportation and realize unmanned operation. The control module is respectively connected with the delivery sensing module and the transfer system in a signal mode, and can transmit signals in a data line (namely wired) mode or a wireless transceiving module.
Furthermore, the mechanical stereo garage is a lifting and transverse moving type garage, and the parking plate can improve the ground clearance of the chassis of the parked vehicle.
Such a design facilitates the transport system to be transported from the delivery system to the parking plate, i.e. facilitates the handling of the transport system.
Furthermore, a sensing system used for detecting the motion state of the parking plate is arranged on the parking plate, the mechanical stereo garage comprises a garage controller used for controlling the parking plate to move, and the sensing system is in signal connection with the garage controller.
When the sensor system detects that the motion state of the parking plate is abnormal, the sensor system feeds back a signal to the garage controller, and the garage controller controls the parking plate to stop moving.
Furthermore, the delivery system is a carrier plate for parking the automobile, the two sides of the carrier plate are high, the middle of the carrier plate is low, and a bridge for facilitating the automobile to run on the carrier plate is arranged at the end part of the carrier plate.
The design discloses a concrete structure of delivery system, and the support plate is with low costs, can be with low costs the realization make things convenient for the purpose of transportation system transport car.
Furthermore, the transfer system comprises a transfer control module, a walking module and a clamping module, the transfer control module is in signal connection with the walking module and the clamping module respectively, the walking module is used for driving the transfer system to move, the clamping module is used for clamping a vehicle parked on the support plate, and the transfer control module controls the walking mechanism to run to the belly of the automobile and then controls the clamping module to clamp and fix the tire of the automobile.
Let the transport system enter into such transportation mode of the belly of car, the transport system can design comparatively small and exquisite, can practice thrift the cost.
Furthermore, the walking sensing module is in signal connection with the transfer control module, the walking sensing module is used for feeding back the collected external information to the transfer control module, and the transfer control module controls the movement of the walking mechanism according to the received external information.
By means of the design, the walking sensing module is used for detecting external information, and the safety of the transfer system is improved. The external information mainly includes external images and obstacle information, and therefore obstacle data can be conveniently scanned.
Further, both sides of the parking plate are of hollow structures.
The design can reduce the weight of the parking plate and can ensure the strength of the parking plate.
The three-dimensional intelligent parking method comprises the following steps:
and S1 delivery step: a user stops the automobile on a delivery system which can improve the ground clearance of the automobile bottom plate;
s2 transferring step: the transfer system transfers the automobile on the delivery system to a parking plate in the mechanical stereo garage.
In the method, the S1 delivery step is realized by a delivery system, and the S2 transfer step is realized by a transfer device, so that the method is the most different from the prior art in that the delivery system is added in the scheme, and the delivery system can improve the ground clearance of the automobile floor. In the industry, although there are transport systems, due to the limited ground clearance of the vehicle chassis, the development of transport systems has been focused more on reducing the thickness of the transport system to facilitate transport (including lifting, moving and unloading) of the vehicle by the transport system. But this scheme has walked around the development technique that is general in this trade, and reverse thinking has abandoned the direction that continues to reduce transit system thickness under the condition that transit system's thickness can also reduce, changes into the ground clearance that increases the automobile bottom plate on the delivery system, reaches the purpose of making things convenient for the transit system transport through such design.
Further, in the S2 transferring step, the parking board has the same structure as the delivery system.
Because the automobile needs to be parked on the delivery system and then transported to the parking plate in the mechanical stereo garage through the transfer system. The structure of the delivery system is the same as that of the parking plate, the delivery system can screen the parked vehicles in advance, namely, the vehicles which can be parked on the delivery system can be parked on the parking plate, and the vehicles which cannot be parked on the delivery system cannot be lifted on the parking plate. Therefore, the situation that a user needs to drive the automobile to the mechanical stereo garage for multiple times of attempts is avoided, the user is more convenient, and the user experience degree is improved.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of a three-dimensional intelligent parking lot of the present invention;
fig. 2 is a schematic structural diagram of the mechanical stereo garage in fig. 1 when fully loaded;
fig. 3 is a schematic structural view of the mechanical stereo garage in fig. 2 after being traversed;
FIG. 4 is a front cross-sectional view of the parking plate;
FIG. 5 is a front cross-sectional view of the cell member;
FIG. 6 is a top view of FIG. 4
Fig. 7 is a side view of a carrier plate;
fig. 8 is a top view of the carrier plate;
FIG. 9 is a schematic diagram of the structure of the transfer system;
FIG. 10 is a schematic view of the magnet wire in positional relationship to an RFID identifier;
FIG. 11 is a logic block diagram of a control system of the intelligent stereo parking lot;
FIG. 12 is a schematic view of the structure of a transfer system in another embodiment;
FIG. 13 is a schematic view of the spatial structure of FIG. 12;
FIG. 14 is a schematic structural view of yet another embodiment of a transfer system;
fig. 15 is a schematic view of a spatial structure of the parking plate;
fig. 16 is a schematic view showing the parking plate of the present invention installed in the same mechanical stereo garage as a conventional parking plate.
Detailed Description
The following is further detailed by the specific embodiments:
reference numerals in the drawings of the specification include: the mechanical stereo garage comprises a mechanical stereo garage 10, a delivery system 20, a transfer system 30, a rack 11, a cross beam 12, a parking plate 13, a transverse moving frame 14, an outer frame 130, unit components 131, a support body 132, a buckling part 133, a carrier plate 21, a bridge 22, a frame 31, a clamping mechanism 32, a regulator 33, a magnet wire 34 and an RFID (radio frequency identification) device 35.
The embodiment is basically as shown in the attached figure 1: three-dimensional intelligent parking area includes: the mechanical stereo garage 10, the delivery system 20 and the transfer system 30;
the mechanical stereo garage 10 is internally provided with a plurality of movable parking plates 13 for parking cars.
Machinery stereo garage specifically is lifting and horizontal moving type garage, includes: a frame 11; the frame 11 is fixed on the ground, five groups of beams 12 are fixedly welded on the frame 11 in the vertical direction, and the frame 11 is divided into six layers by the five groups of beams 12 (namely, the beams 12 are not arranged at the bottommost part);
the uppermost layer is the top layer, the lowermost layer is the bottom layer, the bottom layer contacts with the ground, the width of reserving six parking spaces is left on each layer, five parking plates 13 are arranged on each layer except the top layer, six parking plates 13 are arranged on the top layer, the parking plates 13 except the top layer can move transversely, and the parking plates 13 except the bottom layer can lift. That is, the parking plate 13 on the top layer can only be lifted and the parking plate 13 on the bottom layer can only be moved laterally. The parking plate 13 except the top layer and the bottom layer can be lifted and moved transversely.
A traverse frame 14 is sleeved outside the liftable parking plate 13, and the traverse frame 14 can traverse along with the parking plate 13 (or the parking plate 13 can traverse along with the traverse frame 14). The parking plate 13 on the top layer is also covered with the traverse frame 14, and the traverse frame 14 on the top layer does not traverse because the parking plate 13 on the top layer does not slide. A lifting motor for lifting the parking plate 13 and a traverse motor for enabling the parking plate 13 to transversely move left and right are fixedly arranged on the traverse frame 14, and the parking plate 13 is in sliding connection with the ground and the cross beam 12.
Specifically, the sideslip motor adopts 0.4 kW's gear motor, and elevator motor has 2 kinds of specifications, adopts 2.2kW gear motor 3 layers and below 3 layers, adopts 3.7kW gear motor 4 layers and above.
When the mechanical stereo garage 10 is fully loaded, as shown in fig. 2, and when a third vehicle needs to get down from right to left on the third floor, the parking plate 13 moves laterally as shown in fig. 3.
The parking plate 13 includes an outer frame 130, wherein the outer frame 130 has two high sides and a low middle (as shown in fig. 4), 10 unit members 131 (as shown in fig. 6) are arranged in the outer frame 130, the unit members 131 have two high ends and a low middle, the unit members 131 are embedded in the outer frame 130 side by side, and the laying direction of the unit members 131 is consistent with the length direction of the outer frame 130. The unit member 131 is high at both ends and concave in the middle, and the unit member 131 is integrally formed.
Specifically, the unit member 131 is further provided with a support 132 and an engaging portion 133 at both ends thereof, the support 132 is located at both sides of the unit member 131, the engaging portion 133 is perpendicular to the support 132, the engaging portion 133 faces the unit member 131, and the unit member 131 is integrally formed with the support 132 and the engaging portion 133 (see fig. 5, 15, and 16). The design can enhance the force strength of the unit member 131 in the vertical direction, i.e., prevent the parking plate from being deformed by the pressure of the vehicle, by forming the fastening portion in a hollow structure at both sides of the parking plate.
In another embodiment, a gyroscope for detecting the motion state of the parking plate 13 is arranged on the parking plate 13, the mechanical stereo garage 10 includes a garage controller for controlling the movement of the parking plate 13, the gyroscope is in signal connection with the garage controller, and after the gyroscope feeds back the state of the parking plate 13 to the garage controller, the gyroscope controls the parking plate 13 to stop moving (or when other motion states are abnormal).
Preferably, can also set up the shielding plate above leading to the groove, the shielding plate below is provided with recoverable hydraulic pump, is provided with on the extension board and detects whether the wheel parks suitable pressure sensitive sensor, detects the wheel and parks suitable back at pressure sensitive sensor, and the hydraulic pump downstream shielding plate is retrieved, exposes logical groove.
In other embodiments, delivery system 20 may optionally include two parallel racks, the racks being fixed to the ground, the racks having support plates on the upper surface thereof, and a through-slot being formed between the two racks.
In another embodiment, the delivery system 20 may further include a bottom portion, and wheel portions disposed on both sides of the bottom portion, wherein the wheel portions are used for supporting wheels of the vehicle, and a hydraulic cylinder for lifting the wheel portions upward is disposed below the wheel portions.
The transfer system 30 is used to transfer a vehicle resting on the delivery system 20 to the parking deck 13.
The transfer system 30 is a carrying cart, and includes a frame 31, a transfer controller, a steering wheel, a driving wheel, and a clamping mechanism 32 (as shown in fig. 9), wherein a driving servo motor for driving the driving wheel, a clamping servo motor for driving the clamping mechanism 32, and a steering servo motor for controlling a steering angle of the steering wheel are disposed on the frame 31. The transfer system 30 can enter the belly of the parked car on the delivery system 20 from the through slot, and then the clamping servo motor starts to work, and four groups of clamping mechanisms 32 are arranged to respectively clamp the front wheel and the rear wheel of the car. Each of the clamping mechanisms 32 has the same structure and includes a front clamping block, a rear clamping block, and a front servo motor and a rear servo motor for driving the front clamping block and the rear clamping block, respectively. All the servo motors are respectively connected with the transfer controller through signals.
A motor base is arranged between the front servo motor and the frame 31, an adjusting rail is arranged between the motor base and the frame 31, a speed reducer and a worm are arranged between the front servo motor and the front clamping block, the front servo motor transmits power to the speed reducer, the speed reducer transmits the power to the worm, the front clamping block is hinged to the frame 31, a turbine used for driving the front clamping block to rotate is arranged at the hinged position of the front clamping block, and the turbine is meshed with the worm. The connection mode of the rear servo motor, the frame 31 and the rear clamping block is the same as the connection mode of the front servo motor, the frame 31 and the front servo motor. Both the front servo motor and the rear servo motor can slide on the adjusting cabinet. Wherein, the front servo motor and the rear servo motor are both 0.4kW servo motors.
In order to reduce the requirements on the capacity and power of the battery, the clamping mechanism 32 adopts a time-sharing clamping mode, and clamps 2 front wheels of the vehicle firstly and then clamps 2 rear wheels of the vehicle.
In other embodiments, in order to adapt to vehicles with different wheelbases, the length of the frame 31 is adjustable, that is, the frame 31 is provided with an adjuster 33, the adjuster 33 comprises 1 0.1kW servo motor and an adjusting screw rod, one end of the adjusting screw rod is hinged with the frame 31, the other end of the adjusting screw rod is provided with a screw rod on the frame 31 of the frame 31, and the 0.1kW servo motor is meshed with the adjusting screw rod through a gear. The design can adjust the whole length of the frame 31 and change the center distance of the front clamping arm and the rear clamping arm, thereby being suitable for vehicles with different wheelbases. The wheel comprises 2 driving wheels and 2 driven wheels. The front wheels are driving wheels and are controlled by 2 0.75kW servo motors to realize the front and back movement of the frame 31; the rear wheel is a driven wheel and is controlled by 2 servo motors of 0.1kW, so that the steering of the frame 31 is realized. In other embodiments, the structure of the adjuster is a frame structure (as shown in fig. 12 and 13), and 1 servo motor and adjusting screw rod of 0.1kW are arranged at two ends of the adjuster 33.
In another embodiment, the clamping mechanism 32 of the transfer system 30 is driven by hydraulic pressure, 8 telescopic cylinders are disposed on the frame 31, clamping seats (as shown in fig. 14) are disposed on the outer sides of the telescopic cylinders, the telescopic cylinders can respectively drive the clamping seats to move outwards or fold inwards, the clamping cylinders are fixedly disposed on the clamping seats, and clamping blocks are disposed at the ends of the clamping cylinders and can move relatively to clamp the tires of the vehicle. An automatic adjusting guide rail is arranged between the clamping seat and the frame 31, namely the automatic adjusting guide rail is fixed on the frame 31, and the clamping seat is connected with the automatic adjusting guide rail in a sliding manner. When the clamping block clamps the tire of the automobile, the clamping seat can slide on the automatic adjusting guide rail to a certain extent due to the reaction force applied to the clamping seat, so that the clamping block is suitable for the wheelbases of different vehicles. In this embodiment, adopt the side to move earlier, the mode of pressing from both sides tight again, can form very stable centre gripping to the vehicle, because the existence of automatically regulated guide rail, the wheel base of the different vehicles of adaptation that can be more convenient moreover.
All servo motors in the transfer system 30 communicate with the transfer controller via RS232/485 interfaces (such as CAN bus, Modbus, Profibus, etc.). The servo motors act independently or cooperatively to realize the transfer work.
Preferably, a magnet wire 34 is disposed between the delivery system 20 and the mechanical stereo garage 10, and a sensor for identifying the magnet wire 34 is disposed at the bottom of the carriage 31, so as to facilitate the vehicle to navigate between the delivery system 20 and the mechanical stereo garage 10, and realize automatic transportation. To facilitate the determination of the path, an RFID code card is disposed at each intersection of the magnet wires 34 (as shown in fig. 10), an RFID identifier 35 is disposed at the bottom of the transit system 30, and the RFID identifier 35 is in signal connection with the transit controller, so that the path can be identified, stored, and navigated by identifying different RFID code cards on different magnet wires 34. Namely, AGV magnetic navigation system technology.
In other embodiments, an autopilot module, i.e., an existing autopilot system from ***, inc, may also be installed on the transit system 30. Automatic driving of the delivery system 20 to the mechanical stereo garage 10 is achieved. Optionally, a laser detector (also referred to as a laser radar sensor) may be installed, and the laser detector may scan the environment, autonomously construct a map, and perform path planning. The transfer system 30 achieves accurate tracking by a laser detector.
The embodiment also discloses a three-dimensional intelligent parking method, which comprises the following steps:
and S1 delivery step: the user stops the vehicle on a delivery system 20 that increases the ground clearance of the vehicle floor;
s2 transferring step: the transfer system 30 transfers the vehicle on the delivery system 20 to a parking plate 13 in the mechanical stereo garage 10, and the parking plate 13 is identical to the delivery system 20 in structure.
In particular, the user first parks the vehicle on the delivery system 20 and then transports the vehicle to the parking plate 13 in the mechanical stereo garage 10 through the transfer system 30. By making the delivery system 20 have the same configuration as the parking board 13, the delivery system 20 can perform preliminary screening of the parked vehicles. The delivery system 20 can increase the ground clearance of the automobile floor, so as to facilitate the transportation of the transfer system 30.
In other embodiments of the foregoing, there is also disclosed a stereo intelligent parking lot (as shown in fig. 11), including:
the delivery subsystem is used for realizing unmanned delivery of the user vehicle, and comprises a photoelectric sensor (certainly, other sensors capable of detecting a parking position can be used, specifically, a camera or a laser radar or a pressure-sensitive sensor arranged on the parking plate 13 is available, in the embodiment, the photoelectric sensor is selected), a position correction servo motor and a delivery controller (specifically, P L C is selected in the embodiment), wherein the photoelectric sensor is used for detecting position information of the vehicle and feeding back the position information to the delivery controller, the position correction servo motor is used for driving a front wheel or a rear wheel of the parked vehicle or simultaneously driving the front wheel or the rear wheel of the parked vehicle to adjust the position of the parked vehicle (specifically, a transmission belt is arranged on two sides of a through groove and is used for supporting the support plate of the parked vehicle, the transmission belt and the support plate are driven to rotate by the position correction servo motor, the running direction of the transmission belt can be parallel to an axis of the wheel or can be perpendicular to the axis of the wheel), and the delivery controller is used for controlling the position correction servo motor to adjust the position;
the transfer subsystem is used for controlling the movement of the carrying trolley and comprises an AGV magnetic navigation sensor, a laser radar sensor, an RFID recognizer 35, a walking servo motor, a steering servo motor, a clamping servo motor, a wheel base adjusting servo motor and a transfer controller (specifically, P L C is selected in the embodiment), wherein the AGV magnetic navigation sensor is used for recognizing a magnetic wire 34 installed on the ground and feeding back the magnetic wire to the transfer controller, the laser radar sensor is used for sensing the surrounding environment and feeding back the surrounding environment to the transfer controller, the RFID recognizer 35 is used for detecting an RFID label installed at the intersection of the magnetic wire 34 and feeding back the RFID label to the transfer controller, and the transfer controller respectively controls the walking servo motor, the steering servo motor, the clamping servo motor and the wheel base adjusting servo motor (the transfer controller controls the walking servo motor and the steering servo motor to walk and turn as in the automatic driving technology, belongs to the prior art, and is not repeated here;
the stereo garage subsystem is used for controlling the movement of the parking plate 13 and comprises a travel switch, a gyroscope (fixedly mounted on the parking plate 13), a photoelectric switch (mounted on the rack 11), a parking plate 13 servo motor and a garage controller (specifically, P L C is selected in the embodiment, and the original name is adopted for description and explanation because P L C is selected in the embodiment), wherein the travel switch is used for detecting a position signal of the parking plate 13 after the parking plate 13 moves and feeding back the position signal to the garage controller, the gyroscope is used for dynamically monitoring the moving state of the parking plate 13 and feeding back the moving state to the garage controller, the photoelectric switch is used for detecting whether a person intrudes and feeding back the position signal to the garage controller, the parking plate 13 servo motor is used for driving the parking plate 13 to lift or move transversely, the garage controller controls the parking plate 13 servo motor to drive the parking to lift or move transversely, and the attitude, and data such as speed, acceleration, displacement and the like detected by the gyroscope are fed back to the garage controller.
Wherein, the delivery controller, the transfer controller and the garage controller are respectively in signal connection (certainly, a workstation can also be arranged and respectively in signal connection with the delivery controller, the transfer controller and the garage controller).
When in specific use: the user drives the vehicle onto the support plate 21, tires of the vehicle are respectively positioned on the support plates at the moment, a carrying channel for the carrying trolley to drive in is reserved between the support plates, after the user stops the vehicle, the parking posture of the vehicle is detected by the photoelectric sensor and fed back to the delivery controller, the delivery controller controls the position correction servo motor to be started in the forward direction or the reverse direction, the posture of the vehicle is adjusted, and the posture adjustment of the vehicle is completed.
After the photoelectric sensor detects that the posture of the automobile is adjusted, the photoelectric sensor feeds back a signal to the delivery controller, the delivery controller sends a transfer signal capable of starting to transport to the transfer controller, and after the transfer controller receives the signal, the AGV magnetic navigation sensor (recognizing the magnetic wire 34 embedded on the ground), the laser radar sensor (recognizing the surrounding environment to prevent safety accidents), the RFID recognizer 35 (determining the running track on the magnetic wire 34) and the transfer controller (controlling the running direction) are matched, so that the carrying trolley automatically runs to the carrying channel, and the automobile stopped on the support plate is carried.
Before the carrying is completed, the model of the vehicle can be identified by the vehicle type identification system, the parameters of the vehicle about the wheel base can be acquired after the model of the vehicle is identified, the vehicle type identification system sends the signal to the transfer control system, and after the transfer control system receives the signal, the wheel base is controlled to adjust the servo motor to rotate, so that the carrying trolley is adjusted to a mode suitable for the wheel base of the vehicle. The vehicle type recognition system is also used for judging whether the vehicle is overlong, superwide or overweight.
Then the carrying trolley clamps and carries the tires of the vehicle, finally the vehicle is placed on the parking plate 13, the parking plate 13 also adopts a structure with two high sides and a low middle, the transfer trolley can drive into the structure with the low middle, the vehicle is placed on the parking plate 13, and the tires of the vehicle are supported by the higher parts of the two sides of the parking plate 13. Then the carrying trolley drives out the parking plate 13, the transfer controller feeds back a parking completion signal to the garage controller, and the garage controller controls the parking plate 13 to lift and move transversely after receiving the parking completion signal, so that parking is completed.
Certainly, in the parking process, the information of the vehicle corresponds to the number information of the parking plate 13, after a user takes the vehicle and takes the vehicle (the vehicle taking request can be taken out to a workstation or a garage controller through a cloud server), the garage controller can receive the signal, the stereo garage controller controls the parking plate 13 to ascend and descend to the bottommost layer, then the garage controller sends a transfer signal to the transfer controller, the transfer controller controls the transfer trolley to drive into the parking plate 13 to transfer the vehicle onto the carrier plate 21, after the photoelectric sensor detects that the vehicle is parked on the carrier plate 21, the signal is fed back to the delivery control, and the delivery controller (through the cloud server or the workstation) feeds back the signal capable of taking the vehicle to the user. The user drives the vehicle on the carrier plate 21 away from the carrier plate 21 to finish the vehicle taking.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (3)
1. Three-dimensional intelligent parking area includes:
the mechanical stereo garage is internally provided with a plurality of movable parking plates for parking automobiles; it is characterized by also comprising:
a delivery system for a user to park the vehicle and increase the ground clearance of the vehicle chassis;
the transfer system is used for transferring the automobile parked on the delivery system to the parking plate;
the system comprises a delivery system, a control system and a transfer system, wherein the control system comprises a delivery sensing module and a control module, the control module is respectively in signal connection with the delivery sensing module and the transfer system, the delivery sensing module is used for detecting whether a vehicle stops on the delivery system, if the delivery sensor detects that the vehicle stops on the delivery system, a vehicle signal is fed back to the control module, the control module sends the vehicle signal to the transfer system, and the transfer system transfers the vehicle stopped on the delivery system to a garage;
the mechanical stereo garage is a lifting and transverse moving type garage, and the parking plate can improve the ground clearance of a chassis for parking vehicles;
the parking plate comprises an outer frame, the two sides of the outer frame are high, the middle of the outer frame is low, unit components are arranged in the outer frame, the two ends of each unit component are high, the middle of each unit component is low, the unit components are embedded in the outer frame side by side, and the laying direction of the unit components is consistent with the length direction of the outer frame;
the two ends of the unit component are also provided with a supporting body and a buckling part, the supporting body is positioned on the two sides of the unit component, the buckling part and the supporting body form a right angle, the buckling part faces the unit component, and the unit component, the supporting body and the buckling part are integrally formed;
the mechanical stereo garage comprises a garage controller used for controlling the movement of the parking plate, and the sensing system is in signal connection with the garage controller;
the delivery system is a carrier plate for parking the automobile, the two sides of the carrier plate are high, the middle of the carrier plate is low, and the end part of the carrier plate is provided with a bridge for facilitating the automobile to run on the carrier plate;
the transfer system comprises a transfer control module, a walking module and a clamping module, wherein the transfer control module is respectively in signal connection with the walking module and the clamping module, the walking module is used for driving the transfer system to move, the clamping module is used for clamping a vehicle parked on the carrier plate, and the transfer control module controls the walking mechanism to run to the belly of the automobile and then controls the clamping module to clamp and fix the tire of the automobile; the walking sensing module is in signal connection with the transfer control module and is used for feeding back the acquired external information to the transfer control module, and the transfer control module controls the movement of the walking mechanism according to the received external information;
the two sides of the parking plate are of hollow structures.
2. A parking method of a stereoscopic intelligent parking lot according to claim 1, comprising the following steps:
and S1 delivery step: a user stops the automobile on a delivery system which can improve the ground clearance of the automobile bottom plate; the photoelectric sensor detects the parking attitude of the automobile and feeds the parking attitude back to the delivery controller, and the delivery controller controls the position correction servo motor to be started in the forward direction or the reverse direction, so that the attitude of the automobile is adjusted, and the attitude adjustment of the automobile is completed;
s2 transferring step: before the transportation is finished, the model of the vehicle is identified, and after the model of the vehicle is identified, the parameters of the vehicle wheelbase are obtained, so that the transfer trolley is adjusted to a mode suitable for the vehicle wheelbase; the transfer system transfers the automobile on the delivery system to a parking plate in the mechanical stereo garage.
3. The parking method of a stereoscopic intelligent parking lot according to claim 2, wherein: in the S2 transferring step, the parking board is the same structure as the delivery system.
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| CN201711363926.7A CN108179906B (en) | 2017-12-18 | 2017-12-18 | Three-dimensional intelligent parking lot and parking method thereof |
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| CN201711363926.7A CN108179906B (en) | 2017-12-18 | 2017-12-18 | Three-dimensional intelligent parking lot and parking method thereof |
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| CN109544972A (en) * | 2018-10-26 | 2019-03-29 | 盛世大联保险代理股份有限公司 | A kind of the vehicle value added service management method and intelligent parking lot in parking lot |
| CN109577712B (en) * | 2018-11-26 | 2024-06-21 | 扬州中恒智启机械科技有限公司 | Stereo garage with telescopic folding belt pose adjustment function |
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| JP6498001B2 (en) * | 2015-03-19 | 2019-04-10 | 三菱重工機械システム株式会社 | Pallet transport device |
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