CN112681845A

CN112681845A - Three-dimensional parking garage and parking method

Info

Publication number: CN112681845A
Application number: CN202011383474.0A
Authority: CN
Inventors: 吴昊; 屈义; 蔡颖杰
Original assignee: Shenzhen Yee Fung Automation Technology Co Ltd
Current assignee: Shenzhen Yee Fung Automation Technology Co Ltd
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2021-04-20

Abstract

The application discloses a three-dimensional parking garage and a parking method. The parking method comprises the following steps: detecting a vehicle to be parked to judge the type of the vehicle to be parked; if the vehicle to be parked accords with the first preset type, the vehicle to be parked is parked to a first parking space through the vehicle carrying device; and if the vehicle to be parked accords with the second preset type, prompting the driver to park the vehicle to be parked to the second parking space. By the scheme, the three-dimensional parking garage can be used for parking vehicles of various different types, so that the utilization efficiency of the three-dimensional parking garage is improved.

Description

Three-dimensional parking garage and parking method

Technical Field

The application belongs to the technical field of three-dimensional parking garages, and particularly relates to a three-dimensional parking garage and a parking method.

Background

An existing stereo parking garage is generally configured to be a multi-layer structure, and each layer is provided with a plurality of identical parking spaces, that is, the stereo parking garage can only park vehicles of the same type, for example, all the stereo parking garages are generally used for parking household cars. This results in a single type of vehicle for which the parking garage is suitable, and a lower parking efficiency of the parking garage.

Disclosure of Invention

The application provides a three-dimensional parking garage and a parking method, which aim to solve the technical problem.

In order to solve the technical problem, the application adopts a technical scheme that: there is provided a parking method including:

detecting a vehicle to be parked to judge the type of the vehicle to be parked;

if the vehicle to be parked accords with the first preset type, parking the vehicle to be parked to a first parking space through a vehicle carrying device;

and if the vehicle to be parked accords with the second preset type, prompting a driver to park the vehicle to be parked to a second parking space.

Optionally, the detecting the vehicle to be parked to determine the type of the vehicle to be parked includes:

detecting the vehicle to be parked to obtain the parameter specification of the vehicle to be parked;

judging whether the parameter specification of the vehicle to be stopped meets a preset requirement or not;

if the parameter specification of the vehicle to be parked meets a first preset requirement, determining that the vehicle to be parked meets a first preset type;

and if the parameter specification of the vehicle to be parked meets a second preset requirement, determining that the vehicle to be parked meets a second preset type.

Optionally, the parameter specification of the vehicle to be parked includes at least one of a length, a width, a height dimension of the vehicle to be parked, and a weight of the vehicle to be parked.

carrying out appearance detection on the vehicle to be parked to acquire image information of the vehicle to be parked;

matching the image information with image information of vehicles in a preset database;

if the image information is matched with first type image information in the preset database, determining that the vehicle to be parked accords with the first preset type;

and if the image information is matched with second type image information in the preset database, determining that the vehicle to be parked accords with the second preset type.

Optionally, the parking method further comprises:

if the image information is detected to be not in accordance with the first preset type and the second preset type, acquiring the parameter specification of the vehicle to be parked, wherein the parameter specification of the vehicle to be parked comprises at least one of the length, the width and the height of the vehicle to be parked and the weight of the vehicle to be parked;

judging the type of the vehicle to be parked based on the parameter specification;

if the vehicle to be parked is judged to be in accordance with the first preset type, adding the vehicle to be parked into the database, and classifying the image information of the vehicle to be parked into first type image information;

and if the vehicle to be parked is judged to be in accordance with the second preset type, adding the vehicle to be parked into the database, and classifying the image information of the vehicle to be parked into second-class image information.

Optionally, the parking method further comprises:

if the vehicle to be parked accords with the first preset type, prompting a driver to park the vehicle to be parked to a first pre-parking space;

and acquiring the vehicle to be parked on the first pre-parking space through the vehicle carrying device, and carrying the vehicle to be parked to the first parking space.

Optionally, the parking method further comprises:

if the vehicle to be parked accords with a first preset type, further acquiring the parameter specification of the vehicle to be parked;

and matching the vehicle carrying device matched with the vehicle to be parked according to the parameter specification of the vehicle to be parked.

Optionally, before the step of parking the vehicle to be parked in the first parking space by the vehicle handling device or the step of prompting the driver to park the vehicle to be parked in the second parking space, the method further includes:

detecting the parking condition of the vehicle in each first parking space and each second parking space to determine whether the vehicle is parked in each first parking space and each second parking space;

parking the vehicle to be parked into the first parking space or the second parking space of an unparked vehicle.

Optionally, the step of parking the vehicle to be parked to the first parking space by the vehicle handling device comprises:

detecting whether an obstacle exists in the process of parking the vehicle to be parked to a first parking space by the vehicle carrying device;

and if the obstacle is detected, correcting the movement route of the vehicle carrying device according to the parameter specification of the vehicle to be stopped.

In order to solve the above technical problem, another technical solution adopted by the present application is: providing a stereo parking garage comprising a plurality of parking spaces and coupled detection and control devices;

the parking spaces comprise first parking spaces, second parking spaces and detection parking spaces which are arranged at intervals;

the detection device is arranged adjacent to the detection parking space and is used for detecting the vehicle to be parked in the detection parking space;

the control device is used for judging the type of the vehicle to be parked based on the detection result of the detection device;

if the vehicle to be parked is determined to be in accordance with the first preset type, the control device sends a first control instruction to control the vehicle carrying device to park the vehicle to be parked to the first parking space;

if the vehicle to be parked is determined to be in accordance with the second preset type, the control device sends a second control instruction to prompt a driver to park the vehicle to be parked to the second parking space.

The beneficial effect of this application is: according to the embodiment of the application, different types of parking spaces are matched with the vehicle carrying device for use, so that the space utilization rate of the three-dimensional warehouse-out can be improved; whether the vehicle to be parked meets the preset type or not can be judged by detecting the vehicle to be parked, so that the vehicle to be parked can be parked on different types of parking spaces according to different preset types of the vehicle to be parked, and the use efficiency of the stereo garage can be improved; meanwhile, the driving route of the vehicle carrying device can be adjusted according to the specification of the vehicle to be parked by confirming the specification of the vehicle to be parked, so that the problems of collision or scratch and the like of the vehicle to be parked in the parking or taking process are avoided.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:

FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a parking method provided herein;

FIG. 2 is a schematic structural diagram of an embodiment of a stereo garage provided by the present application;

FIG. 3 is a schematic view of a first parking space in the stereo parking garage shown in FIG. 2;

4a-4d are schematic diagrams of a pick-up process for a vehicle handler provided herein;

fig. 5 is a schematic flow chart of parking a vehicle to be parked by the vehicle carrier in the present embodiment;

fig. 6 is a schematic view of the distribution structure of a first parking space in the stereo parking garage shown in fig. 2.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a parking method according to an embodiment of the present disclosure. The parking method specifically comprises the following steps:

s110: and detecting the vehicle to be parked to judge the type of the vehicle to be parked.

In this step, when the driver needs to park the vehicle driven by the driver, the vehicle to be parked can be driven to a preset detection parking space for detection, so that the type of the vehicle to be parked is determined.

The parking detection method comprises the steps that a vehicle to be parked can be detected when the vehicle to be parked is parked in the preset detection parking space; in other embodiments, the predetermined detection location may also be a stretch of travel, i.e. the vehicle to be parked is detected during its operation on the stretch of travel.

In this step, the detecting of the vehicle to be parked includes detecting a parameter specification of the vehicle to be parked, for example, detecting a size specification of the vehicle to be parked, for example, detecting the length, width, height, and the like of the vehicle to be parked, and simultaneously detecting the weight of the vehicle to be parked.

Alternatively, the type of the vehicle to be parked may be determined by performing appearance detection on the vehicle to be parked, as described later.

S120: if the vehicle to be parked accords with the first preset type, the vehicle to be parked is parked to the first parking space through the vehicle carrying device.

In this step, the first predetermined type may refer to a size and a weight of a vehicle that may be used to park in the first parking space.

For example, the first parking space may be a plurality of parking spaces on an upper layer of a stereo parking garage; and when the vehicle to be parked accords with the first preset type, the vehicle to be parked can be a small vehicle such as a common household car.

When the vehicle to be parked accords with the first preset type, the vehicle carrying device can be used for parking the vehicle to be parked into the first parking space. The vehicle transportation device may be an automatic transporter such as an agv (automated Guided vehicle) transportation cart or a child-mother transportation cart.

The primary and secondary carriers include a primary carrier and a secondary carrier which can be separated from each other. The child vehicle is generally movably arranged on the parent vehicle, when the vehicle needs to be acquired, the child-parent carrier moves to a position adjacent to the vehicle to be parked, then the child vehicle gradually moves to the position below the vehicle to be parked from the parent vehicle and supports the vehicle to be parked, the child vehicle supports the vehicle to be parked and then moves reversely to a preset position on the parent vehicle to be fixed, and then the child vehicle and the vehicle to be parked borne on the child vehicle can be transported to a position adjacent to a first parking space through the parent vehicle; the sub-vehicle further moves, so that the vehicle to be parked borne by the sub-vehicle can be transported into the first parking space, and the parking of the vehicle to be parked is completed.

In this step, it is noted that the vehicle to be parked can be parked in the first parking spaces arranged on different floors by the primary and secondary transport vehicles. The primary vehicle in the primary and secondary carrier can comprise a lifting platform, the secondary vehicle is arranged on the lifting platform, the primary vehicle can lift the secondary vehicle on the lifting platform and the vehicle to be parked borne by the secondary vehicle to a required height through the lifting platform, the lifting platform can be in butt joint with the first parking space on the height, then the secondary vehicle can further move to the first parking space along the lifting platform, and parking of the vehicle to be parked is completed.

S130: and if the vehicle to be parked accords with the second preset type, prompting the driver to park the vehicle to be parked to the second parking space.

Similarly, in this step, the second preset type may refer to a vehicle that is sized and weighted to be parked in a second parking space as described later.

For example, the second parking space may be a plurality of parking spaces disposed at a lower layer of the stereo parking garage; and when the vehicle to be parked accords with the second preset type, the vehicle to be parked can be a large-medium vehicle such as a truck or a passenger car.

And when the fact that the vehicle to be parked accords with the second preset type is determined, prompting the driver to directly park the vehicle to the second parking space.

In this embodiment, optionally, a control device and a detection device coupled to each other may be included in the stereo parking garage, and the detection device may be an image acquisition device, such as a camera.

The method for detecting the vehicle to be parked to determine whether the vehicle to be parked conforms to the first preset type may further include: carrying out appearance detection on the vehicle to be parked through an image acquisition device so as to acquire image information of the vehicle to be parked; matching the image information with image information of the vehicle in a preset database; and if the image information is matched with the image information of the vehicle in the preset database, the vehicle to be parked accords with the preset type.

Specifically, after the image acquisition device performs appearance detection on the vehicle to be parked to acquire the image information of the vehicle to be parked, the image information can be sent to the control device, the control device matches the received image information with the image information of the vehicle in the preset database, if the image information identical to the image information can be matched in the first type of image information in the preset database, the control device judges that the vehicle to be parked accords with a first preset type, and then the control device sends a first control instruction to control the vehicle carrying device to park the vehicle to be parked to a first parking space.

The preset database can be a memory which is in communication connection with a control device of the stereo parking garage, and image information of various vehicles can be stored in the memory; or, the preset database may also be a network database such as a server or a data cloud library, that is, the control device may be in network connection with the preset database, that is, the control device may match the image information received by the control device with the image information of different vehicles stored in the network database such as the server or the data cloud library, so as to determine whether the vehicle to be parked conforms to the first preset type.

The image information may include the shape of the vehicle, a trademark of the vehicle, or a license plate.

Specifically, the shape of the vehicle to be parked can be obtained through the detection device, so that the size parameter of the vehicle can be obtained, and then the weight of the vehicle to be parked is detected, so that whether the vehicle to be parked meets the first preset type (that is, whether the vehicle to be parked can be parked in the first parking space) can be determined.

Or, the appearance and the vehicle trademark identification of the vehicle to be parked, which are obtained by the detection device, can be used for further determining the manufacturer and the model of the vehicle to be parked, and the parameter specification corresponding to the vehicle to be parked can be obtained through the manufacturer and the model of the vehicle to be parked, so that whether the vehicle to be parked meets the first preset type or not can be determined.

Or, the registration information of the vehicle corresponding to the license plate can be determined by detecting the license plate of the vehicle to be parked, the information of the manufacturer, the model and the like of the vehicle to be parked can be determined by the registration information, and the parameter specification corresponding to the vehicle to be parked can be further acquired to determine whether the vehicle to be parked meets the first preset type.

Further, if the image information of the vehicle to be parked detected by the image acquisition device is not matched with the image information of the vehicle in the preset database, the vehicle to be parked does not conform to the first preset type. Therefore, it is necessary to continue to match the image information of the vehicle to be parked to determine whether the vehicle to be parked satisfies the second preset type.

Similarly, in this embodiment, the determination of whether the vehicle to be parked satisfies the second preset type is communicated with the aforementioned method for determining whether the vehicle to be parked satisfies the first preset type, that is, the image acquisition device may perform appearance detection on the vehicle to be parked to acquire the image information of the vehicle to be parked; matching the image information with image information of the vehicle in a preset database; and if the image information can be matched with the second type of image information in the preset database, the vehicle to be parked accords with a second preset type.

It should be noted that, in the above embodiment, it is first determined whether the vehicle to be parked conforms to a first preset type, and then when the vehicle to be parked does not conform to the first preset type, it is further determined whether the vehicle to be parked conforms to a second preset type; in other embodiments, it may also be determined whether the vehicle to be parked conforms to the second preset type, and then when the vehicle to be parked does not conform to the second preset type, it is determined whether the vehicle to be parked conforms to the first preset type; or whether the vehicle to be parked conforms to the first preset type or the second preset type can be judged at the same time.

In this step, in the preset database, the plurality of image information stored therein may be classified into first-class image information and second-class image information; the first type of image information is image information of a vehicle meeting a first preset type; the second type of image information is image information of a vehicle satisfying a second preset type.

When the control device receives the image information of the vehicle to be parked, the image information can be respectively matched with the first type of image information and the second type of image information; if the image information of the vehicle to be parked can be matched with the image information in the first type of image information, the vehicle to be parked meets the first preset type, and if the image information of the vehicle to be parked can be matched with the image information in the second type of image information, the vehicle to be parked meets the second preset type.

Further, the image information of the vehicles in the preset database is not necessarily comprehensive due to the increasing types or models of the vehicles. Therefore, when the detected image information does not conform to the first preset type or the second preset type, the parameter specification of the vehicle to be parked can be obtained through a manual obtaining process. For example, the parameter specification of the vehicle to be parked can be directly measured and obtained by a stereo garage manager; or a voice device in the stereo parking garage sends out a prompt, and a driver of the vehicle to be parked provides information of a manufacturer, a model and the like of the vehicle to be parked, so that the parameter specification corresponding to the vehicle to be parked can be acquired.

After the control device obtains the parameter specification, the control device can further judge the preset type met by the vehicle to be parked (namely, judge whether the vehicle to be parked meets the first preset type or the second preset type).

When the control device judges that the vehicle to be parked meets the first preset type, the image information of the vehicle to be parked can be stored in a preset database, the image information of the vehicle to be parked is classified into first type image information, and then a first control instruction can be sent out so as to control the vehicle carrying device to park the vehicle in the first parking space.

When the control device judges that the vehicle to be parked meets the second preset type, the image information of the vehicle to be parked can be stored in a preset database, and the image information of the vehicle to be parked is classified into the second type of image information, so that a driver of the vehicle to be parked is prompted to directly park the vehicle in the second parking space.

Further, in this embodiment, when the control device determines that the vehicle to be parked satisfies the first preset type, the driver may be prompted to park the vehicle to be parked in the first pre-parking space, and then a first control instruction is issued to control the vehicle handling device to move to a position adjacent to the first pre-parking space so as to obtain the vehicle to be parked on the first pre-parking space, and the vehicle to be parked is handled to the first parking space.

Optionally, in this step, a plurality of different types of vehicle handling devices may be included in the stereo garage; if the vehicle to be parked accords with the first preset type, the parameter specification of the vehicle to be parked can be further acquired, and the vehicle carrying device matched with the vehicle to be parked is matched according to the parameter specification of the vehicle to be parked. The method for obtaining the parameter specification of the vehicle to be parked may be as described above, and is not described herein again.

Alternatively, in this embodiment, the parking condition of the vehicle in each first parking space and each second parking space may be detected to determine whether the vehicle is parked in each first parking space and each second parking space.

Specifically, a detection mechanism may be disposed in each parking space (a first parking space or a second parking space) and codes each parking space, and the detection mechanism may detect whether there is a vehicle in the corresponding parking space, that is, whether there is a vehicle in each parking space may be detected by disposing the detection mechanism in each parking space; therefore, the control device can acquire the code of the parking space of each non-parked vehicle and determine the position of the corresponding parking space in the three-dimensional parking garage through the code. The control device can further select the nearest parking space of the vehicle which is not parked, and plan the optimal driving route; then controlling the vehicle carrying device to park the vehicle to be parked into the first parking space through the optimal driving route; or the optimal driving route is sent to the driver of the vehicle to be parked, and then the driver of the vehicle to be parked can park the vehicle to be parked into the second parking space according to the optimal driving route.

Furthermore, in the process that the vehicle carrying device parks the vehicle to be parked to the first parking space, whether an obstacle exists on the traveling route of the vehicle carrying device can be detected through the vehicle carrying device; if the obstacle is detected, the movement path of the vehicle conveying device is corrected according to the parameter specification of the vehicle to be parked so as to avoid the obstacle, and therefore the vehicle to be parked conveyed by the vehicle conveying device can be prevented from being scratched or bruised.

Meanwhile, when the vehicle conveying device turns, the movement path of the vehicle conveying device can be corrected according to the parameter specification of the vehicle to be parked, so that the vehicle to be parked conveyed by the vehicle conveying device can be prevented from being scratched or bruised.

Further, the present application also provides a stereo parking garage, please refer to fig. 2 and fig. 3, fig. 2 is a schematic structural diagram of an embodiment of the stereo parking garage provided by the present application; fig. 3 is a schematic structural diagram of a first parking space in the stereo parking garage shown in fig. 2.

As shown in fig. 2, a top view of the stereo garage 20 is shown. The stereo parking garage 20 may implement the parking method as described in the foregoing.

The stereo parking garage 20 includes a vehicle travel route 210, a plurality of first parking spaces 220 disposed along the vehicle travel route 210, a plurality of second parking spaces 230, a detection device (not shown), and a control device (not shown).

In this embodiment, the vehicle operation lines 210 can include a first operation line 211 disposed outside the stereo parking garage 20 and a second operation line 212 disposed inside the stereo parking garage 20. Wherein the first operation line 211 and the second operation line 212 may be separated by a garage door of the stereo garage 20, and the plurality of first parking spaces 220 and the plurality of second parking spaces 230 may be sequentially arranged along the second operation line 212.

In this embodiment, the vehicle may park in the first parking space 220 or the second parking space 230 from the first travel route 211 and the second travel route 212.

Wherein the detection device may be disposed at a position adjacent to a connection portion of the first operation line 211 and the second operation line 212. In this embodiment, the detection device can be arranged adjacent to a garage door of the stereo garage 20. The detection device may be an image acquisition device for acquiring image information of the vehicle.

When the vehicle to be parked moves to the position of the garage door of the adjacent three-dimensional parking garage 20 along the first operation line 211, the vehicle to be parked stops moving, which indicates that the vehicle to be parked enters the preset detection parking space as described above; furthermore, the detection device can detect the vehicle to be parked in the preset detection parking space so as to acquire the image information of the vehicle, and then the control device judges the type of the vehicle according to the image information.

When it is determined that the vehicle to be parked is of the first preset type, the driver of the vehicle to be parked may further enter the second operation line 212 along the first operation line 211, and then the driver of the vehicle to be parked may further park the vehicle to be parked driven by the driver along the second operation line 212 into the preset second parking spaces 230 disposed along the opposite sides of the second operation line 212.

When it is determined that the vehicle to be parked is of the first preset type, the driver of the vehicle to be parked may further enter the second operation line 212 along the first operation line 211, and then move to the first pre-parking space 240 along the second operation line 212; then, the driver of the vehicle to be parked may leave, and the control device further issues a first instruction, so that the vehicle carrier 300 moves to the first pre-parking space 240, the vehicle to be parked in the first pre-parking space 240 is obtained through the vehicle carrier 300, and the vehicle to be parked is transported and parked in the preset first parking space 220 through the vehicle carrier 300.

In this embodiment, the vehicle carrier 300 may be a child-mother carrier. Please refer to fig. 3 and fig. 4a-4 d. Fig. 4a to 4d are schematic diagrams of a vehicle taking process of the vehicle carrier provided by the present application.

The vehicle carrier 300 shown in fig. 4a includes an automated guided vehicle having a sub-vehicle 310 and a main vehicle 320 which can be separated from each other. The secondary vehicle 310 is generally movably disposed on the primary vehicle 320, and when the vehicle needs to be obtained, the vehicle carrier 300 moves to a position adjacent to the vehicle to be parked, and the primary vehicle 320 is parked adjacent to the vehicle to be parked; further, as shown in fig. 4b and 4c, the sub-vehicle 310 gradually moves from the main vehicle 320 to below the vehicle to be parked and holds up the vehicle to be parked, wherein the sub-vehicle 310 may be a rotating clip arm type vehicle handling device, wherein after the sub-vehicle 310 moves to below the vehicle to be parked, the vehicle to be parked may be held up by rotating its clip arm; further, as shown in fig. 4d, the child car 310 holds the vehicle to be parked and moves reversely to a preset position on the parent car 320 for fixing, and then the child car 310 and the vehicle to be parked carried by the child car 310 on the parent car 320 can be transported to a position adjacent to the first parking space by the parent car 320; the sub-vehicle 310 moves further, so that the vehicle to be parked carried by the sub-vehicle can be transported into the first parking space 220, and the parking of the vehicle to be parked is completed.

Referring to fig. 2 and fig. 3, in the present embodiment, each first parking space 220 may include at least two sub-parking spaces 221 stacked and spaced, and a vehicle to be parked may be parked in the sub-parking spaces 221 disposed on different floors by the vehicle carrier 300. The primary vehicle 320 of the vehicle carrier 300 may include a lifting platform, the secondary vehicle 310 is disposed on the lifting platform, the primary vehicle 320 may lift the secondary vehicle 310 on the lifting platform and the vehicle to be parked carried by the secondary vehicle 310 to a required height through the lifting platform, so that the lifting platform may be abutted to the secondary parking space 221 at the height, and then the secondary vehicle 310 may further move into the secondary parking space 221 along the lifting platform, thereby completing parking of the vehicle to be parked.

In the present embodiment, please refer to fig. 5, fig. 5 is a schematic flow chart illustrating a process of parking a vehicle to be parked by the vehicle carrier in the present embodiment. The process of parking the vehicle to be parked using the vehicle carrier 300 may include the following process.

S201: and when the vehicle to be parked meets the first preset type, parking the vehicle to be parked into the first pre-parking space, and judging whether the vehicle to be parked is parked well.

In this step, it is determined whether the vehicle to be parked is parked, by detecting whether the vehicle is away from the driver in the vehicle to be parked and whether the vehicle has stalled.

S202: and if the vehicle to be parked is parked in the first pre-parking space, matching the vehicle to be parked with the corresponding first parking space.

In this step, the first pre-parking space may be the first pre-parking space 240 as described above, and the corresponding first parking space may be the nearest first parking space.

S203: and controlling the vehicle carrier to obtain the vehicle to be parked in the first pre-parking space and transporting the vehicle to be parked to the position adjacent to the first parking space.

In this step, the vehicle carrier 300 includes the above-mentioned secondary vehicle 310 and the primary vehicle 320, and the specific steps of obtaining and carrying the vehicle to be parked in the first pre-parking space 240 by the vehicle carrier 300 can be referred to the above specifically, and are not described herein again.

In this embodiment, each first parking space 220 may include at least two sub-parking spaces 221 stacked and spaced apart from each other. Therefore, the parking of the vehicle to be parked by using the child vehicle 310 and the parent vehicle 320 in the present embodiment further includes parking the vehicle to be parked on the child vehicle 310 into the preset child parking space 221.

Specifically, the control device may determine the sub-parking spaces 221 in which the vehicle to be parked is parked according to the parking conditions of the vehicles in the respective sub-parking spaces 221 of the first parking space 220.

That is, after step S203 is completed, the process proceeds to step S2031: and judging whether the sub-vehicle needs to be lifted or not.

If it is determined that the sub-vehicle does not need to be lifted, the process proceeds to step S2032.

If it is determined that the child vehicle needs to be lifted, the process proceeds to step S2033, and then the process proceeds to step S2032. Step S2032 and step S2033 are specifically described below.

S2032: and controlling the sub-vehicle to park the vehicle to be parked in the preset sub-parking space.

In this step, the control device controls the sub-vehicle 310 to move directly from the parent vehicle 320 to the corresponding sub-parking space 221, and the vehicle to be parked is parked in the sub-parking space 221; specifically, when the child car 310 does not need to be lifted, the child car 310 moves directly from the parent car 320 to the child parking space 221 on the first floor; when the child car 310 needs to be lifted, the child car 310 moves from the parent car 320 to the child parking space 221 of the corresponding height.

S2033: and controlling the primary vehicle to lift the secondary vehicle to a preset height.

In this step, when the child car 310 and the mother car 320 move to the parking space 220 corresponding to the adjacent child parking space 221, the control device controls the mother car 320 to lift the lifting platform to a preset height, so that the lifting platform can be abutted to the child parking space 221 on the second floor.

S204: the vehicle transport device is recovered.

In this step, after the parking of the vehicle to be parked is completed, the control device may further return the sub-vehicle 310 to the main vehicle 320, and control the main vehicle 320 to drive the sub-vehicle 310 to move to the preset parking position for recycling.

In this step, in step S203, when the vehicle to be parked is parked in the sub-parking space 221 on the second floor, the lifting platform of the parent vehicle 320 needs to be controlled to be lifted. Therefore, it is also necessary to determine whether the elevating platform on the parent car 320 needs to be lowered to the initial position.

If the lifting platform on the primary vehicle 320 needs to be lowered to the initial position, the control device controls the lifting platform on the primary vehicle 320 to be lowered to the initial position, and then controls the primary vehicle 320 to drive the secondary vehicle 310 to move to the preset parking position for recycling. If the lifting platform on the primary vehicle 320 does not need to be lowered to the initial position, the primary vehicle 320 is directly controlled to drive the secondary vehicle 310 to move to a preset parking position for recycling.

In this step, the control device may also perform real-time detection of the vehicle transfer device 300. To determine if the vehicle handling apparatus 300 is malfunctioning or needs to be charged. If the vehicle conveying device 300 is in failure, whether the vehicle conveying device 300 can move by itself is judged, and if the vehicle conveying device 300 can move, the vehicle conveying device 300 is controlled to move to a preset repairing position for maintenance. If the vehicle is not movable, a prompt message is sent to notify the worker to transport the vehicle transport device 300 to a preset repair position for maintenance.

If the vehicle transportation device 300 needs to be charged, the vehicle transportation device 300 is controlled to move to the charging position 250 for charging.

In this embodiment, a pre-parking space 260 is further disposed in the stereo parking garage 20, the pre-parking space 260 is disposed adjacent to the first pre-parking space 240, and the pre-parking space 260 can be used for parking a vehicle to be parked in the first pre-parking space 240.

Specifically, the parking space 260 may include a plurality of parking spaces identical to the first parking space 220, and if a lot of vehicles need to be parked, the vehicle to be parked in the first parking space 240 may be parked in the parking space 260 in advance by the vehicle transportation device, and then the vehicle to be parked in the parking space 260 may be transported and parked in the first parking space 220 by other vehicle transportation devices.

Referring to fig. 2 and fig. 6, fig. 6 is a schematic view illustrating a distribution structure of a first parking space in the stereo parking garage shown in fig. 2.

In this embodiment, the stereo parking garage 20 further comprises an automatic parking route 201 (shown as a chain line in fig. 5), wherein the pre-parking space 260 and the first parking space 220 can be arranged along the automatic parking route 201, and the vehicle handling apparatus 300 can handle the vehicle along the automatic parking route 201 to the position adjacent to the pre-parking space 260 and the first parking space 220, so as to park the vehicle in the pre-parking space 260 or the first parking space 220.

The pre-parking spaces 260 may include two rows of spaces, and each of the rows of pre-parking spaces 260 may include a plurality of spaces having the same structure as the first parking space 220 as described above.

One of the outermost parking spaces in pre-parking space 260 (the side closer to automatic parking lane 201 of vehicle transfer device 300) may be set as turnaround space 222. The epicyclic parking space 222 is used for parking a vehicle in a parking space in the pre-parking space 260 when the child vehicle 310 of the vehicle handling device 300 parks the vehicle or takes out the vehicle, so that the vehicle can be parked or taken out conveniently.

In this embodiment, the vehicles in the parking spaces in the pre-parking spaces 260 can be turned over through the sub-vehicle 310, so that the vehicles to be parked are parked in the preset parking spaces for pre-parking.

Like the pre-parking space 260, the area a of fig. 5 includes two rows of a plurality of first parking spaces 220. And the outermost side in zone a may also be provided with a turnaround parking space 222 as previously described. Each preset number of first parking spaces 220 may have one turnaround parking space 222. For example, as shown in the area a in fig. 5, the area a includes two rows of 24 first parking spaces 220, wherein each 6 first parking spaces 220 form a parking area, wherein the 6 first parking spaces 220 are divided into two front and rear rows, one first parking space 220 in each parking area may be set as a turnover parking space 222, and the turnover parking space 222 needs to be set close to the travel route of the vehicle handling device 300. In other embodiments, each parking area may include other number of first parking spaces 220, for example, two rows of 8 first parking spaces 220 may be included, and the like, which is not further limited herein.

Further, a maintenance station 202 may be further disposed at a position of the stereo garage 20 adjacent to the automatic parking route 201, wherein if the vehicle handling device 300 is abnormal (has a fault or is low in power), when the vehicle handling device 300 can move by itself, the control device controls the vehicle handling device 300 to move to the maintenance station 202 for maintenance or charging; when the vehicle transportation device 300 cannot move by itself, a prompt message is sent to notify the worker to transport the vehicle transportation device 300 to the maintenance station 202 for maintenance or charging.

Further, the stereo parking garage 20 in this embodiment may be used as an underground parking garage of a large building such as a mall or a supermarket, wherein a plurality of stairs or elevators may be further disposed in the stereo parking garage 20 for people to go out.

Further, the stereo parking garage 20 of the present embodiment may further include a third operation line 213, and the third operation line 213 may provide people to enter or exit the stereo parking garage 20.

From the above, those skilled in the art can easily understand that the beneficial effects of the present application are: according to the embodiment of the application, different types of parking spaces are matched with the vehicle carrying device for use, so that the space utilization rate of the three-dimensional warehouse-out can be improved; whether the vehicle to be parked meets the preset type or not can be judged by detecting the vehicle to be parked, so that the vehicle to be parked can be parked on different types of parking spaces according to different preset types of the vehicle to be parked, and the use efficiency of the stereo garage can be improved; meanwhile, the driving route of the vehicle carrying device can be adjusted according to the specification of the vehicle to be parked by confirming the specification of the vehicle to be parked, so that the problems of collision or scratch and the like of the vehicle to be parked in the parking or taking process are avoided.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.

Claims

1. A parking method, characterized in that it comprises:

detecting a vehicle to be parked to judge the type of the vehicle to be parked;

2. The parking method according to claim 1, wherein the detecting the vehicle to be parked to determine the type of the vehicle to be parked comprises:

3. Parking method according to claim 2,

the parameter specification of the vehicle to be parked includes at least one of a length, a width, a height dimension of the vehicle to be parked, and a weight of the vehicle to be parked.

4. The parking method according to claim 1, wherein the detecting the vehicle to be parked to determine the type of the vehicle to be parked comprises:

5. The parking method according to claim 4, further comprising:

6. The parking method according to claim 1, further comprising:

7. The parking method according to any one of claims 1 to 6, further comprising:

8. The parking method according to claim 7, wherein before the step of parking the vehicle to be parked to the first parking space by the vehicle handling device or the step of prompting the driver to park the vehicle to be parked to the second parking space, further comprising:

9. The parking method according to claim 7, wherein the step of parking the vehicle to be parked to the first parking space by the vehicle handling device comprises:

10. A stereo parking garage is characterized by comprising a plurality of parking spaces, and a detection device and a control device which are coupled;