CN113482420A - Automatic parking system, parking method, vehicle taking method and mobile bearing vehicle thereof - Google Patents

Automatic parking system, parking method, vehicle taking method and mobile bearing vehicle thereof Download PDF

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Publication number
CN113482420A
CN113482420A CN202110604871.4A CN202110604871A CN113482420A CN 113482420 A CN113482420 A CN 113482420A CN 202110604871 A CN202110604871 A CN 202110604871A CN 113482420 A CN113482420 A CN 113482420A
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CN
China
Prior art keywords
comb teeth
vehicle
comb
gaps
parking
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Pending
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CN202110604871.4A
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Chinese (zh)
Inventor
吴昊
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Yifeng Technology Co ltd
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Yifeng Technology Co ltd
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Application filed by Yifeng Technology Co ltd filed Critical Yifeng Technology Co ltd
Priority to CN202110604871.4A priority Critical patent/CN113482420A/en
Publication of CN113482420A publication Critical patent/CN113482420A/en
Pending legal-status Critical Current

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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
    • 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
    • E04H6/02—Small garages, e.g. for one or two cars
    • E04H6/06—Small garages, e.g. for one or two cars with means for shifting or lifting vehicles
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • E04H6/185—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 using comb-type transfer means
    • 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
    • E04H6/24—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 dollies for horizontal transport, i.e. cars being permanently parked on wheeled platforms
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application relates to the field of automatic parking, and discloses an automatic parking system, a parking method, a vehicle taking method and a mobile bearing vehicle thereof. The automatic parking system comprises a mobile bearing vehicle, a parking frame and a second driving piece. The mobile bearing vehicle comprises a vehicle body, first comb teeth and a first driving piece. The jiffy stand includes support body, second broach, third broach, and the third broach is on the second broach, and the first gap of third broach and the second gap of second broach correspond, and just there is public gap in vertical direction intercommunication. The common gap corresponds to the rack of the first comb teeth, so that the first comb teeth can vertically penetrate through the third comb teeth and the second comb teeth. The second driving piece drives the third comb teeth to lift along the rack body. The first driving member can drive the first comb teeth to ascend from below the second comb teeth to a first position higher than the third comb teeth and to ascend to a second position higher than the second comb teeth, and the first position is higher than the second position. The system can improve the space utilization rate, and the third comb teeth are simple in structure.

Description

Automatic parking system, parking method, vehicle taking method and mobile bearing vehicle thereof
Technical Field
The application relates to the technical field of automatic garages, in particular to an automatic parking system, a parking method, a car taking method and a mobile bearing car thereof.
Background
With the development of science and technology and the continuous improvement of living standard, automobile consumption is more and more. With the increasing number of automobiles, how to park the automobile becomes a big problem in cities of various places.
In the prior art, most vehicles placed in an automatic garage are flatly paved in the garage, the space utilization rate is low, and the vehicle storing and taking efficiency is low. How to reasonably utilize the garage space and improve the vehicle storing and taking efficiency becomes an urgent problem to be solved.
Disclosure of Invention
In order to solve the above problem, the present application provides an automated parking system, including removing and bearing car, jiffy stand and second driving piece. The movable bearing vehicle comprises a vehicle body, first comb teeth and a first driving piece, wherein the first comb teeth extend outwards and horizontally from two sides of the vehicle body; the parking frame comprises at least two frame bodies which are vertically arranged, and a second comb tooth and a third comb tooth which are positioned on the side edge of each frame body and horizontally extend, wherein the third comb tooth is positioned above the second comb tooth, a plurality of first gaps in the third comb tooth and a plurality of second gaps in the second comb tooth are in one-to-one correspondence, at least parts of the first gaps and the second gaps are communicated in the vertical direction to form a common gap, and the common gaps are in one-to-one correspondence with a plurality of racks of the first comb tooth, so that the first comb tooth can vertically pass through the third comb tooth and the second comb tooth; the second driving piece is used for driving the third comb teeth to lift along the rack body; the first driving piece of the mobile bearing vehicle can drive the first comb teeth to ascend from the lower part of the second comb teeth to a first position higher than the third comb teeth and ascend to a second position higher than the second comb teeth, and the first position is higher than the second position.
Optionally, in an initial state without parking, the rack structures of the third comb teeth and the second comb teeth are the same and are vertically arranged up and down, and the first gaps in the third comb teeth and the second gaps in the second comb teeth are the same in size.
Optionally, the second driving element is specifically configured to drive the third comb teeth to ascend and descend to a third position along the rack body, and a height difference between the third position and the second position is greater than a maximum height of the vehicle.
Optionally, at least two frame bodies are arranged at intervals, the respective second comb teeth of at least two adjacent frame bodies are arranged oppositely to bear the left and right wheels of one vehicle, and the respective third comb teeth of two adjacent frame bodies are arranged oppositely to bear the left and right wheels of another vehicle.
In order to solve the problem, the application further provides a mobile bearing vehicle which comprises a vehicle body, first comb teeth and a first driving piece. The first comb teeth extend outwards and horizontally from two sides of the car body; the first driving piece is used for driving the first comb teeth to lift; the movable carrier vehicle is used for being matched with a parking frame, the parking frame comprises a second driving piece, at least two vertically arranged frame bodies, second comb teeth and third comb teeth, the second comb teeth and the third comb teeth are located on the side edge of each frame body and extend horizontally, the third comb teeth are located above the second comb teeth, a plurality of first gaps in the third comb teeth correspond to a plurality of second gaps in the second comb teeth one to one, at least parts of the first gaps and the second gaps are communicated in the vertical direction to form public gaps, the public gaps correspond to a plurality of racks of the first comb teeth one to one, so that the first comb teeth can pass through the third comb teeth and the second comb teeth in the vertical direction, and the second driving piece is used for driving the third comb teeth to lift along the frame bodies; the first driving piece of the mobile bearing vehicle can drive the first comb teeth to ascend from the lower part of the second comb teeth to a first position higher than the third comb teeth and ascend to a second position higher than the second comb teeth, and the first position is higher than the second position.
In order to solve the above problem, the present application further provides an automatic parking method, including the following steps: the movable bearing vehicle transports a first vehicle to the side of the parking frame, the movable bearing vehicle comprises a vehicle body, first comb teeth and a first driving piece, the first comb teeth extend outwards and horizontally from two sides of the vehicle body, the first driving piece drives the first comb teeth to lift, the parking frame comprises at least two vertically arranged frame bodies, second comb teeth and third comb teeth, the second comb teeth and the third comb teeth are located on the side edge of each frame body and extend horizontally, the third comb teeth are located above the second comb teeth, and at least part of first gaps in the third comb teeth and second gaps in the second comb teeth are communicated in the vertical direction; the movable bearing vehicle moves to a position between two adjacent frame bodies, and the first vehicle is positioned at a first position higher than the third comb teeth; the first driving piece is controlled by the movable bearing vehicle to lower the position of the first comb teeth to be lower than the second comb teeth, so that the first vehicle is borne on the third comb teeth.
Optionally, the parking frame comprises a second driving piece for driving the third comb teeth to ascend and descend along the frame body; lowering the first comb position below the second comb comprises: the movable bearing vehicle leaves between two adjacent frame bodies, and the second driving piece raises the third comb teeth to a third position higher than the first position.
Optionally, the second drive raising the third comb tooth to a third position higher than the first position comprises: the movable bearing vehicle bearing the second vehicle moves to a position between the two adjacent frame bodies, and the second vehicle is located at a second position higher than the second comb teeth; the mobile bearing vehicle controls the first driving part to lower the position of the first comb teeth to be lower than the second comb teeth, so that the second vehicle is borne on the second comb teeth; the movable carrier vehicle leaves between two adjacent frame bodies.
In order to solve the problems, the application further provides an automatic vehicle taking method, which comprises the following steps: the movable carrier vehicle moves between two adjacent frame bodies of the parking frame, the movable carrier vehicle comprises a vehicle body, first comb teeth and a first driving piece, the first comb teeth extend outwards and horizontally from two sides of the vehicle body, the first driving piece drives the first comb teeth to lift, the parking frame comprises at least two vertically arranged frame bodies, second comb teeth and third comb teeth, the second comb teeth and the third comb teeth are located on the side edge of each frame body and extend horizontally, the third comb teeth are located above the second comb teeth, and at least parts of first gaps in the third comb teeth and second gaps in the second comb teeth are communicated in the vertical direction; the movable bearing vehicle controls the first driving part to lift the position of the first comb teeth from the lower part of the second comb teeth to a first position higher than the third comb teeth, so that the first vehicle positioned on the third comb teeth is transferred to the first comb teeth for bearing; the movable carrier vehicle leaves between two adjacent frame bodies.
Optionally, the parking frame comprises a second driving piece for driving the third comb teeth to ascend and descend along the frame body; the first vehicle bears in front of the first comb teeth and comprises: the first vehicle is borne on the third comb teeth, the third comb teeth are located at a third position, and the second driving piece lowers the third comb teeth to the first position; wherein the third position is higher than the first position.
Optionally, the second drive lowering the third comb teeth to a third position comprises: the movable carrier vehicle moves to a position between two adjacent frame bodies of the parking frame; the movable bearing vehicle controls the first driving part to lift the first comb teeth from the lower parts of the second comb teeth to a second position higher than the second comb teeth, so that a second vehicle positioned on the second comb teeth is transferred to the first comb teeth for bearing; moving the carrier vehicle away from the space between two adjacent frame bodies, and placing a second vehicle outside the two adjacent frame bodies; wherein the first position is higher than the second position.
The first driving piece of the mobile bearing vehicle can drive the first comb teeth to ascend to a first position and a second position, and can be matched with the parking frame to park more flexibly; the support body can be followed to the third broach and goes up and down, when the third broach rises to a certain position for example the third position, the vehicle can be placed on third broach and second broach, for the mode of placing of tiling, has increased the utilization ratio in space. The first comb teeth move in the vertical direction through the common gap of the second comb teeth and the third comb teeth. If the first comb teeth and the second comb teeth exist, only the third comb teeth need to be designed and manufactured, and the comb is simple and convenient.
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, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Wherein:
FIG. 1 is a schematic block diagram of an embodiment of an automated parking system of the present application;
FIG. 2 is a schematic block diagram of another embodiment of the automated parking system of FIG. 1;
FIG. 3 is a schematic diagram of the configuration of the first comb teeth in cooperation with the second and third comb teeth;
FIG. 4 is a schematic structural view of a third comb tooth and a second comb tooth;
FIG. 5 is a flow chart of a first embodiment of an automated parking method;
FIG. 6 is a flow chart of a second embodiment of an automated parking method;
FIG. 7 is a flow chart of a third embodiment of an automated parking method;
FIG. 8 is a flow chart of a first embodiment of an automated pickup method;
FIG. 9 is a flow chart of a second embodiment of an automated pickup method;
FIG. 10 is a flow chart of a third embodiment of an automated pickup method;
fig. 11 is a flow chart of a fourth embodiment of an automated pickup method.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. 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.
The terms "first", "second", etc. in this application are used to distinguish between different objects and not to describe a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Fig. 1 is a schematic view of an automated parking system with a vehicle parked. Fig. 2 is a schematic structural diagram of another embodiment of the automated parking system. FIG. 3 is a schematic diagram of the structure of the first comb teeth in cooperation with the second comb teeth and the third comb teeth. FIG. 4 is a schematic diagram of the structure of the third comb tooth and the second comb tooth.
As shown in fig. 1 to 4, the automated parking system includes a mobile vehicle 20 and a parking frame 10, wherein the mobile vehicle 20 includes a vehicle body 23, first comb teeth 21 horizontally extending outward from both sides of the vehicle body 23, and a first driving member 22 for driving the first comb teeth 21 to ascend and descend. The parking frame 10 includes at least two frame bodies 11 vertically arranged, and a second comb tooth 14 and a third comb tooth 13 which are located on the side of each frame body 11 and horizontally extend. The third comb teeth 13 are located above the second comb teeth 14, a plurality of first slits 133 in the third comb teeth 13 and a plurality of second slits 141 in the second comb teeth 14 are in one-to-one correspondence, at least parts of the first slits 133 and the second slits 141 are communicated in the vertical direction to form common slits 15, and the common slits 15 are in one-to-one correspondence with the racks 211 of the first comb teeth 21, so that the first comb teeth 21 can pass through the third comb teeth 13 and the second comb teeth 14 in the vertical direction. The automatic parking system comprises a second driving member 12, and the second driving member 12 is used for driving the third comb teeth 13 to ascend and descend along the frame body 11. Wherein the first drive member 22 of the moving carrier 20 is capable of driving the first comb teeth 21 to rise from below the second comb teeth 14 to a first position 213 above the third comb teeth 13 and to rise to a second position 212 above the second comb teeth 14, the first position 213 being above the second position 212.
With the arrangement, the first driving part 22 of the mobile carrier 20 can drive the first comb 21 to ascend to the first position 213 and the second position 212, so that the parking frame 10 can be matched with parking more flexibly; the third comb 13 can go up and down along the frame body 11, and when the third comb 13 ascended to a certain position such as a third position 132 (see below), the vehicle can be placed on the third comb 13 and the second comb 14, and for the placing mode of tiling, the utilization ratio of space is increased.
The racks 211 of the third comb teeth 13 and the second comb teeth 14 are identical in structure and are vertically arranged up and down, and the first gaps 133 in the third comb teeth 13 and the second gaps 141 in the second comb teeth 14 are identical in size, so that the comb structure is simple. And the third comb teeth 13 and the second comb teeth 14 have the same structure, and can be produced in batches, so the cost is lower.
Specifically, the second driving member 12 may be used to drive the third comb 13 to ascend and descend to the third position 132 along the frame 11, and the height difference between the third position 132 and the second position 212 is greater than the maximum height of the vehicle. The third comb teeth 13 rise to the third position 132, and the height difference between the third position 132 and the second position 212 is larger than the maximum height of the vehicle, so that the third comb teeth 13 and the second comb teeth 14 can be matched with the second comb teeth 14 in the moving carrier 20 to place another vehicle, and the two vehicles can be placed in the vertical direction.
Alternatively, the parking frame 10 may have a plurality of third comb teeth 13 stacked on top of the second comb teeth 14. Each of the third comb teeth 13 may be lifted and lowered along the frame body 11. Accordingly, the first comb teeth 21 of the mobile carrier 20 can rise from below the second comb teeth 14 to a position above each of the third comb teeth 13. Thus, the parking stand 10 can park a plurality of vehicles in the vertical direction.
As shown in fig. 1 and 2, at least two frame bodies 11 are arranged at intervals, the second comb teeth 14 of at least two adjacent frame bodies 11 are arranged oppositely to bear the left and right wheels of one vehicle, and the third comb teeth 13 of two adjacent frame bodies 11 are arranged oppositely to bear the left and right wheels of another vehicle. At least two frame bodies 11 are arranged at intervals, and a vehicle can be accommodated between every two frame bodies 11. The second comb teeth 14 and the third comb teeth 13 of two adjacent frame bodies 11 are arranged oppositely, so that the two adjacent frame bodies are conveniently matched with the first comb teeth 21 of the movable carrier 20.
Alternatively, two or more pairs of second comb teeth 14 or third comb teeth 13 oppositely arranged on two adjacent frame bodies 11 can be arranged in the same horizontal direction, so that the parking frame 10 can park vehicles with two or more pairs of left and right wheels.
Alternatively, more than two frame bodies 11 are arranged at intervals, and a space for accommodating a vehicle between the more than two frame bodies 11 can be formed.
As shown in fig. 1 to 4, the mobile carrier 20 includes a body 23, a first comb 21 and a first driving member 22. The first comb teeth 21 extend outwards and horizontally from two sides of the car body 23, and the first driving member 22 is used for driving the first comb teeth 21 to lift. Wherein, the removal bears car 20 and is used for cooperating jiffy stand 10, jiffy stand 10 includes second drive piece 12, two at least support bodies 11 of vertical setting, and be located the second broach 14 of 11 sides of every support body and horizontal extension, third broach 13 is located the position broach top, and a plurality of first gaps 133 in the third broach 13 and a plurality of second gaps 141 one-to-one in the second broach 14, and first gap 133 and second gap 141 communicate for public gap 15 at vertical direction at least partially, a plurality of public gaps 15 and a plurality of rack 211 one-to-one of first broach 21, so that first broach 21 can pass through third broach 13 and second broach 14 by vertical direction, second drive piece 12 is used for driving third broach 13 and goes up and down along support body 11. The first drive 22 moving the carrier 20 is able to drive the first comb teeth 21 to rise from below the second comb teeth 14 to a first position 213 above the third comb teeth 13 and to rise to a second position 212 above the second comb teeth 14, the first position 213 being above the second position 212.
The mobile bearing vehicle 20 is matched with the parking frame 10 for use, and the vehicle is conveyed and placed on the parking frame 10 through the matching between the comb teeth, so that the automatic parking and allocation of the vehicle are realized, the automatic parking efficiency is improved, and the space utilization rate is improved.
Fig. 5 is a flowchart of a first embodiment of the automated parking method of the present application. The method illustrated in fig. 5 can be performed by an automated parking system.
The automated parking method as shown in fig. 5, performs the following steps:
s101: the moving vehicle 20 transports the first vehicle 30 to the side of the parking frame 10.
Before parking, the mobile vehicle 20 first carries the first vehicle 30 to the side of the parking frame 10 and waits for parking. In the carrying process, the first comb teeth 21 of the movable carrying vehicle 20 are in a low position, so that the center of gravity of the whole movable carrying vehicle 20 carrying the vehicle is lower, and the stability of the transport vehicle is kept.
S102: the first drive member 22 adjusts the first comb tooth 21 to a first position 213 which is higher than the height of the third comb tooth 13.
At this time, the system determines that the third comb 13 is not located at the third position 132 and that there is no vehicle on the third comb 13. Since the first vehicle 30 is supported by the first comb teeth 21, the first driving member 22 needs to adjust the first comb teeth 21 to the first position 213 higher than the third comb teeth 13, so that the first comb teeth 21 and the first vehicle 30 supported thereon do not interfere with the third comb teeth 13 or the second comb teeth 14 during the process of moving the vehicle 20 between two adjacent frames 11. The execution process of this step may also be the execution process of step S101, and the two are not limited successively.
S103: the mobile carrier 20 moves between two adjacent frames 11.
The movable carrier 20 moves between two adjacent frames 11, and the first comb 21 corresponds to the common slot 15 in the vertical direction, and the common slot 15 is a part where the first slot 133 and the second slot 141 are communicated in the vertical direction.
S104: the moving carrier 20 controls the first driving member 22 to lower the first comb teeth 21 to be lower than the second comb teeth 14, so that the first vehicle 30 is carried on the third comb teeth 13.
Since the first comb teeth 21 correspond to the common slit 15, the first driving member 22 can drive the first comb teeth 21 to pass through the common slit 15 and lower than the second comb teeth 14. Through the steps, the first vehicle 30 is borne on the third comb teeth 13, so that the first vehicle 30 is driven to ascend when the subsequent third comb teeth 13 ascend conveniently. When the first comb teeth 21 are lower than the second comb teeth 14, the movable carrier 20 leaves between two adjacent frame bodies 11 without interfering with the second comb teeth 14.
After the first vehicle 30 is stopped, the mobile carrier 20 can leave between two adjacent frames 11; or can stand by under the second comb 14 to wait for the next signal that a stop is needed. After the first vehicle 30 is parked on the third comb 13, the third comb 13 can be raised to a third position 132 to free the second comb 14 for parking the next vehicle; the third comb 13 may be stopped at a position higher than the first position 213 and raised again when the vehicle needs to be parked on the second comb 14. When the third comb 13 rises to the third position 132 higher than the first position 213, the first vehicle 30 is driven to rise, so that a certain space is left between the second comb 14 and the third comb 13. The space can be used for accommodating the next vehicle, so that the space utilization rate is improved.
Fig. 6 is a flowchart of a second embodiment of the automated parking method of the present application. The method shown in fig. 6 can be performed by an automated parking system.
In the automated parking method shown in fig. 6, when a next vehicle, i.e. the second vehicle 40, needs to be parked, if the system determines that the third comb 13 is not located at the third position 132 and there is a vehicle on the third comb 13, the following steps are performed:
s105: the mobile vehicle 20 transports the second vehicle 40 to the side of the parking frame 10.
Before parking, the mobile vehicle 20 first transports the second vehicle 40 to the parking frame 10 and waits for parking. In the carrying process, the first comb teeth 21 of the movable carrying vehicle 20 are in a low position, so that the center of gravity of the whole movable carrying vehicle 20 carrying the vehicle is lower, and the stability of the transport vehicle is kept. The execution process of this step may also be a process in which the system determines that a vehicle needs to be stopped. The two are not limited in sequence.
S106: the second drive member 12 raises the third comb teeth 13 to a third position 132 which is higher than the first position 213.
When the third comb-tooth 13 is not located at the third position 132, the third comb-tooth 13 is lower than the first position 213, and although the third comb-tooth 13 is located above the second comb-tooth 14, the space between the third comb-tooth 13 and the second comb-tooth 14 is insufficient to accommodate the second vehicle 40. Third comb tooth 13 is raised to a third position 132, thereby freeing up space between second comb tooth 14 and third comb tooth 13. Since the height difference between the second position 212 and the third position 132 is greater than the height of the second vehicle 40, the empty space can be used for accommodating the second vehicle 40. The execution process of this step may also be the execution process of step S105, and the two are not limited successively.
S107: the first drive member 22 adjusts the first comb 21 to a second position 212 higher than the second comb 14.
The second vehicle 40 is carried on the first comb teeth 21 of the mobile carrier 20, and when the mobile carrier 20 moves between two adjacent frames 11, the first driving unit 22 adjusts the first comb teeth 21 to be higher than the second comb teeth 14. So that the first comb teeth 21 and the second vehicles 40 carried thereon do not interfere with the second comb teeth 14 during the movement of the mobile carrier 20.
S108: the mobile carrier 20 carrying the second vehicle 40 moves between two adjacent frames 11.
The movable carriage 20 moves between two adjacent frames 11, and the first comb teeth 21 and the second slits 141 correspond to each other in the vertical direction.
S109: the moving carrier 20 controls the first drive member 22 to lower the first comb teeth 21 to a position lower than the second comb teeth 14.
The first comb tooth 21 and the second slit 141 have been aligned in the vertical direction, and therefore the first comb tooth 21 can be lowered to be lower than the second comb tooth 14 by the second slit 141. When the first comb 21 is lowered to be lower than the second comb 14, the second vehicle 40 is transferred from being carried on the first comb 21 to being carried on the second comb 14, thereby completing the parking of the second vehicle 40.
It should be noted that the first comb teeth 21 are located higher than the second comb teeth 14 when entering between two adjacent frame bodies 11. Unlike the previous parking of the first vehicle 30, the first comb tooth 21 is located at the first position 213 higher than the third comb tooth 13 when previously entering between two adjacent frame bodies 11. The distance between two different positions of the first comb tooth 21 is greater than or equal to the thickness of one third comb tooth 13 in the vertical direction. Thus, in order to park at least two vehicles in a vertical direction in cooperation with the parking stand 10, the mobile vehicle 20 is able to control at least the first comb 21 to at least three different positions in the vertical direction. The first driving part 22 of the mobile carrier 20 drives the first comb 21 to at least three different positions, and the parking frame 10 can be matched with the parking frame more flexibly for parking.
After parking the vehicle, the mobile carrier 20 can stand by under the second comb 14 and wait for the next command to stop. The mobile carrier 20 can also leave between two adjacent frames 11. Similarly, when the carrier 20 leaves between two adjacent frames 11, the first comb teeth 21 are lower than the second comb teeth 14, so that the carrier 20 does not interfere with the leaving between two adjacent frames 11.
After the movable bearing vehicle 20 finishes parking the second vehicle 40, the second vehicle 40 is borne on the second comb teeth 14, the first vehicle 30 is borne on the third comb teeth 13, two vehicles are parked in the vertical direction, and the space utilization rate of the garage is improved. Moreover, the vehicle is transferred between the mobile bearing vehicle 20 and the parking frame 10 only through the matching between the first comb teeth 21 and the second comb teeth 14, and the complex vehicle placing action is not needed. Remove and bear car 20 only need bear the weight of the vehicle, place the vehicle through the broach, compare traditional fork truck, the crane that transports the vehicle small, efficient moreover.
Alternatively, by increasing the number of the third comb teeth 13 and the position that the first comb teeth 21 can reach, more vehicles can be parked in the vertical direction.
Fig. 7 is a flowchart of a third embodiment of the automated parking method of the present application. The method illustrated in fig. 7 can be performed by an automated parking system.
Such as the automated parking method shown in fig. 7. When parking is required, if the system judges that the third comb tooth 13 is located at the third position 132 and no vehicle is on the second comb tooth 14, the following steps are executed:
s110: the mobile vehicle 20 transports the second vehicle 40 to the side of the parking frame 10.
Before parking, the mobile vehicle 20 first transports the second vehicle 40 to the parking frame 10 and waits for parking. In the carrying process, the first comb teeth 21 of the movable carrying vehicle 20 are in a low position, so that the center of gravity of the whole movable carrying vehicle 20 carrying the vehicle is lower, and the stability of the transport vehicle is kept.
When the third comb teeth 13 are in the third position 132, the parking stand 10 leaves a space between the second comb teeth 14 and the third comb teeth 13 free. Since the height difference between the second position 212 and the third position 132 is greater than the height of the second vehicle 40, the empty space can be used for accommodating the second vehicle 40.
S111: the first drive member 22 adjusts the first comb 21 to a second position 212 higher than the second comb 14.
The second vehicle 40 is carried on the first comb teeth 21 of the mobile carrier 20, and when the mobile carrier 20 moves between two adjacent frames 11, the first driving unit 22 adjusts the first comb teeth 21 to be higher than the second comb teeth 14. So that the first comb teeth 21 and the second vehicles 40 carried thereon do not interfere with the second comb teeth 14 during the movement of the mobile carrier 20. The execution process of this step may also be the execution process of step S110, and the two are not limited successively.
S112: the mobile carrier 20 carrying the second vehicle 40 moves between two adjacent frames 11.
The movable carriage 20 moves between two adjacent frames 11, and the first comb teeth 21 and the second slits 141 correspond to each other in the vertical direction.
S113: the moving carrier 20 controls the first drive member 22 to lower the first comb teeth 21 to a position lower than the second comb teeth 14.
The first comb tooth 21 and the second slit 141 have been aligned in the vertical direction, and therefore the first comb tooth 21 can be lowered to be lower than the second comb tooth 14 by the second slit 141. When the first comb 21 is lowered to be lower than the second comb 14, the second vehicle 40 is transferred from being carried on the first comb 21 to being carried on the second comb 14, thereby completing the parking of the second vehicle 40.
After the vehicle is parked, the mobile carrier 20 can stand by under the second comb teeth 14, or can leave between two adjacent frames 11, which is not described herein again.
After the movable bearing vehicle 20 finishes parking the second vehicle 40, the second vehicle 40 is borne on the second comb teeth 14, the first vehicle 30 is borne on the third comb teeth 13, two vehicles are parked in the vertical direction, and the space utilization rate of the garage is improved.
When parking is needed, if the system judges that the third comb tooth 13 is located at the third position 132 and there is a vehicle on the second comb tooth 14, the parking frame 10 is already full of vehicles, and the mobile carrier vehicle 20 needs to find the next parking frame 10 to park.
The application also provides a vehicle taking method.
Fig. 8 is a flow chart of a first embodiment of an automated pickup method. The automated parking system is capable of performing the automated pick-up method shown in fig. 8.
As shown in fig. 1, 2 and 8, in the present embodiment, the vehicle parked on the third comb teeth 13 is the first vehicle 30, and the vehicle parked on the second comb teeth 14 is the second vehicle 40.
When the system determines that the second vehicle 40 needs to be picked up, the following steps are performed:
s201: the mobile carrier 20 moves to the side of the parking frame 10.
Before the vehicle is taken, the mobile carrier 20 moves to the side of the parking frame 10 to wait for the vehicle to be taken.
S202: the moving carrier 20 controls the first driving member 22 to adjust the first comb teeth 21 to a position lower than the second comb teeth 14.
The first comb teeth 21 are lower than the second comb teeth 14, so that the carrier vehicle 20 can be conveniently moved between two adjacent frame bodies 11. Since the second vehicle 40 is carried on the second comb 14, the moving carrier 20 enters between two adjacent frames 11 to take the vehicle. Therefore, the first comb teeth 21 are lower than the second comb teeth 14, and the first comb teeth 21 do not interfere with the second vehicle 40 or the second comb teeth 14 during the moving process of the moving carrier 20. The execution process of this step may also be the execution process of step S201, and the execution process is not limited successively.
S203: the mobile carrier 20 moves between two adjacent frames 11.
The movable carriage 20 moves between two adjacent frames 11, and the first comb teeth 21 and the second slits 141 correspond to each other in the vertical direction.
S204: the first drive member 22 raises the first comb tooth 21 to a second position 212 above the height of the second comb tooth 14.
The first comb tooth 21 and the second slit 141 have been aligned in the vertical direction, and the first comb tooth 21 can be raised to the second position 212 higher than the second comb tooth 14 via the second slit 141. In the process that the first comb teeth 21 rise to the second position 212 higher than the second comb teeth 14, the second vehicle 40 is transferred from being carried on the second comb teeth 14 to being carried on the first comb teeth 21.
S205: the mobile carrier 20 leaves between two adjacent frames 11.
And moving the carrier vehicle 20 away from between two adjacent frame bodies 11 to finish the vehicle taking of the second vehicle 40.
Fig. 9 is a flow chart of a second embodiment of an automated pickup method. The automated parking system is capable of performing the automated pick-up method shown in fig. 9.
As shown in FIG. 9, when the system determines that the first vehicle 30 needs to be picked up and the third comb 13 is not located at the third position 132, the following steps are performed:
s206: the mobile carrier 20 moves to the side of the parking frame 10.
Before the vehicle is taken, the mobile carrier 20 moves to the side of the parking frame 10 to wait for the vehicle to be taken.
S207: the moving carrier 20 controls the first driving member 22 to adjust the first comb teeth 21 to a position lower than the second comb teeth 14.
The first comb teeth 21 are lower than the second comb teeth 14, so that the movable carrier 20 can conveniently enter between two adjacent frame bodies 11 and cannot interfere with the first vehicle 30 or the second comb teeth 14. The execution process of this step may also be the execution process of step S206, and the execution process is not limited successively.
S208: the mobile carrier 20 moves between two adjacent frames 11 of the parking frame 10.
The movable carriage 20 moves between two adjacent frames 11, and the first comb teeth 21 and the second slits 141 correspond to each other in the vertical direction.
S209: the mobile carrier 20 controls the first drive member 22 to raise the position of the first comb tooth 21 from below the second comb tooth 14 to a first position 213 higher than the third comb tooth 13.
When the third comb 13 is not located at the third position 132, the third comb 13 is located at a position lower than the first position 213. The first comb tooth 21 is raised to the first position 213 via the second slit 141, so that the first vehicle 30 located on the third comb tooth 13 is transferred to be carried by the first comb tooth 21.
S210: the mobile carrier 20 leaves between two adjacent frames 11.
The first comb teeth 21 are higher than the third comb teeth 13, the first vehicle 30 is supported on the first comb teeth 21, and the first vehicle 30 leaves between two adjacent frame bodies 11 along with the moving support vehicle 20, so that the vehicle taking of the first vehicle 30 is completed.
Fig. 10 is a flow chart of a third embodiment of an automated pickup method. The automated parking system is capable of performing the automated pick-up method shown in fig. 10.
As shown in fig. 10, when the system determines that the first vehicle 30 needs to be taken, and the third comb teeth 13 are located at the third position 132, and no vehicle is on the second comb teeth 14, the following steps are performed:
s211: the mobile carrier 20 moves to the side of the parking frame 10.
Before the vehicle is taken, the mobile carrier 20 moves to the side of the parking frame 10 to wait for the vehicle to be taken.
S212: the moving carrier 20 controls the first driving member 22 to adjust the first comb teeth 21 to a position lower than the second comb teeth 14.
The first comb teeth 21 are lower than the second comb teeth 14, so that the carrier vehicle 20 can conveniently move between two adjacent frame bodies 11 without interfering with the second comb teeth 14. The execution process of this step may also be the execution process of step S211, and both are not limited successively.
S213: the mobile carrier 20 moves between two adjacent frames 11 of the parking frame 10.
The mobile carrier 20 moves between two adjacent frames 11, and the first comb teeth 21 correspond to the common slot 15 in the vertical direction.
S214: the second driving member 12 lowers the third comb teeth 13 to a position lower than the first position 213, and the mobile carrier 20 controls the first driving member 22 to raise the first comb teeth 21 to the first position 213 higher than the third comb teeth 13.
The third comb tooth 13 descends to the first position 213 and the first comb tooth 21 ascends through the common slit 15 to the first position higher than the third comb tooth 13. During this step, the first vehicle 30 descends along with the third comb teeth 13 and is transferred from being carried on the third comb teeth 13 to being carried on the first comb teeth 21. Alternatively, the descending of the third comb teeth 13 to the position lower than the first position 213 and the ascending of the first comb teeth 21 to the first position 213 may be performed simultaneously or sequentially, and finally, the first vehicles 30 are all transferred from being carried on the third comb teeth 13 to being carried on the first comb teeth 21. This step may be performed simultaneously with or subsequent to the execution of step S211/212/213.
S215: the mobile carrier 20 leaves between two adjacent frames 11.
The first vehicle 30 leaves between two adjacent frame bodies 11 following the moving carrier vehicle 20, and the vehicle taking of the first vehicle 30 is completed.
Fig. 11 is a flow chart of a fourth embodiment of an automated pickup method. The automated parking system is capable of performing the automated pick-up method shown in fig. 11.
As shown in fig. 11, when the system determines that the first vehicle 30 needs to be taken, and the third comb teeth 13 are located at the third position 132, and there is a vehicle on the second comb teeth 14, the following steps are performed:
s216: the mobile carrier 20 moves to the side of the parking frame 10.
Before the vehicle is taken, the mobile carrier 20 moves to the side of the parking frame 10 to wait for the vehicle to be taken.
S217: the moving carrier 20 controls the first driving member 22 to adjust the first comb teeth 21 to a position lower than the second comb teeth 14.
The first comb teeth 21 are lower than the second comb teeth 14, so that the mobile carrier 20 can conveniently enter between two adjacent frame bodies 11 and cannot interfere with the second vehicle 40 or the second comb teeth 14. The execution process of this step may also be the execution process of step S216, and the execution process is not limited successively.
S218: the mobile carrier 20 moves between two adjacent frames 11 of the parking frame 10.
The movable carriage 20 moves between two adjacent frames 11, and the first comb teeth 21 and the second slits 141 correspond to each other in the vertical direction. The first comb tooth 21 corresponds to the second slit 141 in the vertical direction, and the first comb tooth 21 can be raised to a second position 212 higher than the second comb tooth 14 through the second slit 141.
S219: the first drive member 22 raises the first comb tooth 21 to a second position 212 above the height of the second comb tooth 14.
In the process that the first comb teeth 21 rise to the second position 212 higher than the second comb teeth 14, the second vehicle 40 is transferred from being carried on the second comb teeth 14 to being carried on the first comb teeth 21.
S220: the vehicle 20 is moved away from between two adjacent frames 11, and the second vehicle 40 is placed outside the parking frame 10.
After the second vehicle 40 is carried on the first comb 21, the carrying vehicle 20 is moved away from between two adjacent frame bodies 11. The second vehicle 40 may be placed outside the parking frame 10 in a buffer parking space or in other vacant parking spaces. The second vehicle 40 is placed outside the parking frame 10 to make room for the first vehicle 30.
S221: the moving carrier 20 controls the first driving member 22 to adjust the first comb teeth 21 to a position lower than the second comb teeth 14.
The first comb teeth 21 are lower than the second comb teeth 14, so that the carrier vehicle 20 can conveniently move between two adjacent frame bodies 11 without interfering with the second comb teeth 14. This step can be omitted if the first comb tooth 21 has been in a position lower than the second comb tooth 14 before.
S222: the mobile carrier 20 moves between two adjacent frames 11.
The mobile carrier 20 moves between two adjacent frames 11, and the first comb teeth 21 correspond to the common slot 15 in the vertical direction.
S223: the second driving member 12 lowers the third comb teeth 13 to be lower than the first position 213, and the mobile carrier 20 controls the first driving member 22 to raise the first comb teeth 21 from below the second comb teeth 14 to the first position 213.
The lowering of the third comb 13 below the first position 213 and the raising of the first comb 21 to the first position 213 can be performed simultaneously, while the time for picking up the vehicle can be saved. The descending of the third comb tooth 13 below the first position 213 and the ascending of the first comb tooth 21 above the first position 213 can also be in sequence, and finally the first vehicles 30 are all converted from being carried on the third comb tooth 13 to being carried on the first comb tooth 21. The step of the third comb 13 descending below the first position 213 may be performed during or after S219 to S222.
S224: the mobile carrier 20 leaves between two adjacent frames 11.
The first vehicle 30 leaves between two adjacent frame bodies 11 following the moving carrier vehicle 20, and the vehicle taking of the first vehicle 30 is completed.
The carrying vehicle 20 is moved away from between two adjacent frame bodies 11, and the vehicle taking of the first vehicle 30 is completed.
Alternatively, after the first vehicle 30 is removed, the moving vehicle 20 returns the second vehicle 40 to between two adjacent shelves 11. The second vehicle 40 that is sent back is placed on the third comb 13 located at the first position 213. The second vehicle 40 may not be returned as long as the second vehicle 40 can be found in the automated parking system and can be picked up and carried by the mobile carrier vehicle 20.
The automatic parking method and the automatic vehicle taking method can be executed by the automatic parking system, parking and vehicle taking on a plurality of planes are achieved, parking space is reasonably utilized, and space utilization rate is improved.
The above description is only for the purpose of illustrating embodiments 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 of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims (11)

1. An automated parking system, comprising:
the movable bearing vehicle comprises a vehicle body, first comb teeth and a first driving piece, wherein the first comb teeth extend outwards and horizontally from two sides of the vehicle body, and the first driving piece drives the first comb teeth to lift;
the parking frame comprises at least two frame bodies which are vertically arranged, and a second comb tooth and a third comb tooth which are positioned on the side edge of each frame body and horizontally extend, wherein the third comb tooth is positioned above the second comb tooth, a plurality of first gaps in the third comb tooth are in one-to-one correspondence with a plurality of second gaps in the second comb tooth, at least parts of the first gaps and the second gaps are communicated in the vertical direction to form a common gap, and the common gaps are in one-to-one correspondence with a plurality of racks of the first comb tooth, so that the first comb tooth can vertically pass through the third comb tooth and the second comb tooth;
the second driving piece is used for driving the third comb teeth to lift along the rack body;
the first driving part of the mobile bearing vehicle can drive the first comb teeth to ascend from the lower part of the second comb teeth to a first position higher than the third comb teeth and ascend to a second position higher than the second comb teeth, and the first position is higher than the second position.
2. The system of claim 1,
the third comb teeth and the second comb teeth are identical in rack structure and are vertically arranged up and down, and the first gaps in the third comb teeth and the second gaps in the second comb teeth are identical in size.
3. The system of claim 1,
the second driving piece is specifically used for driving the third comb teeth to ascend and descend to a third position along the rack body, and the height difference between the third position and the second position is larger than the maximum height of the vehicle.
4. The system of claim 1,
the at least two support bodies are arranged at intervals, the second comb teeth of the at least two adjacent support bodies are oppositely arranged to bear left and right wheels of one vehicle, and the third comb teeth of the two adjacent support bodies are oppositely arranged to bear left and right wheels of another vehicle.
5. A mobile load bearing vehicle, comprising:
a vehicle body;
the first comb teeth extend outwards and horizontally from two sides of the car body; and
the first driving piece is used for driving the first comb teeth to lift;
the movable carrier vehicle is used for being matched with a parking frame, the parking frame comprises a second driving piece, at least two frame bodies which are vertically arranged, and second comb teeth and third comb teeth which are positioned on the side edge of each frame body and extend horizontally, the third comb teeth are positioned above the second comb teeth, a plurality of first gaps in the third comb teeth are in one-to-one correspondence with a plurality of second gaps in the second comb teeth, at least parts of the first gaps and the second gaps are communicated in the vertical direction to form common gaps, the common gaps are in one-to-one correspondence with a plurality of racks of the first comb teeth, so that the first comb teeth can pass through the third comb teeth and the second comb teeth in the vertical direction, and the second driving piece is used for driving the third comb teeth to ascend and descend along the frame bodies;
the first driving part of the mobile bearing vehicle can drive the first comb teeth to ascend from the lower part of the second comb teeth to a first position higher than the third comb teeth and ascend to a second position higher than the second comb teeth, and the first position is higher than the second position.
6. An automated parking method, comprising:
the parking frame comprises at least two vertically arranged frame bodies, second comb teeth and third comb teeth, wherein the second comb teeth and the third comb teeth are positioned on the side edge of each frame body and extend horizontally, and the third comb teeth are positioned above the second comb teeth, and at least part of first gaps in the third comb teeth and second gaps in the second comb teeth are communicated in the vertical direction;
the movable bearing vehicle moves to a position between two adjacent frame bodies, and the first vehicle is located at a first position higher than the third comb teeth;
the mobile bearing vehicle controls the first driving piece to lower the first comb teeth to be lower than the second comb teeth, so that the first vehicle is borne on the third comb teeth.
7. The method of claim 6,
the parking frame comprises a second driving piece for driving the third comb teeth to lift along the frame body;
the lowering the first comb tooth position below the second comb tooth position includes:
the movable carrier vehicle leaves between the two adjacent frame bodies, and the second driving piece raises the third comb teeth to a third position higher than the first position.
8. The method of claim 7,
the second driving member raising the third comb teeth to a third position higher than the first position includes:
the movable carrying vehicle carrying a second vehicle moves to a position between two adjacent frame bodies, and the second vehicle is located at a second position higher than the second comb teeth;
the mobile bearing vehicle controls the first driving part to lower the first comb teeth to be lower than the second comb teeth, so that the second vehicle is borne on the second comb teeth;
the movable bearing vehicle leaves between the two adjacent frame bodies.
9. An automatic vehicle taking method is characterized by comprising the following steps:
the parking frame comprises at least two frame bodies which are vertically arranged, second comb teeth and third comb teeth, wherein the second comb teeth and the third comb teeth are positioned on the side edge of each frame body and horizontally extend, the third comb teeth are positioned above the second comb teeth, and at least part of first gaps in the third comb teeth and second gaps in the second comb teeth are communicated in the vertical direction;
the mobile bearing vehicle controls the first driving part to lift the position of the first comb teeth from the position below the second comb teeth to a first position higher than the third comb teeth, so that a first vehicle on the third comb teeth is carried by the first comb teeth;
the movable bearing vehicle leaves between the two adjacent frame bodies.
10. The method of claim 9,
the parking frame comprises a second driving piece for driving the third comb teeth to lift along the frame body;
the first vehicle carried in front of the first comb teeth comprises:
the first vehicle is borne by the third comb teeth, the third comb teeth are located at a third position, and the second driving piece lowers the third comb teeth to be lower than the first position;
wherein the third position is higher than the first position.
11. The method of claim 10,
the second drive lowering the third comb teeth below the first position comprises:
the movable bearing vehicle moves to a position between two adjacent frame bodies of the parking frame;
the mobile bearing vehicle controls the first driving part to lift the first comb teeth from the position below the second comb teeth to a second position higher than the second comb teeth, so that a second vehicle positioned on the second comb teeth is transferred to be borne by the first comb teeth;
the movable carrying vehicle leaves between the two adjacent frame bodies, and the second vehicle is placed outside the two adjacent frame bodies;
wherein the first position is higher than the second position.
CN202110604871.4A 2021-05-31 2021-05-31 Automatic parking system, parking method, vehicle taking method and mobile bearing vehicle thereof Pending CN113482420A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110604871.4A CN113482420A (en) 2021-05-31 2021-05-31 Automatic parking system, parking method, vehicle taking method and mobile bearing vehicle thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110604871.4A CN113482420A (en) 2021-05-31 2021-05-31 Automatic parking system, parking method, vehicle taking method and mobile bearing vehicle thereof

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Publication Number Publication Date
CN113482420A true CN113482420A (en) 2021-10-08

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CN103590635A (en) * 2013-11-20 2014-02-19 江南嘉捷电梯股份有限公司 Stereo parking garage
CN105625772A (en) * 2016-02-03 2016-06-01 杭州星河传动机械研究院有限公司 Adjusting structure of movable ejection pull rod of double-layered garage
CN105863322A (en) * 2016-06-08 2016-08-17 株洲华盛实业有限公司 Anti-falling method for simple type double-layer stereo garage and simple type double-layer stereo garage
CN106760744A (en) * 2017-02-16 2017-05-31 李加惠 Self-driving type Domestic lift multi-storied garage
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CN108547492A (en) * 2018-03-22 2018-09-18 武汉理工大学 Parking systems
CN109235962A (en) * 2018-10-23 2019-01-18 北京京科兴业科技发展有限公司 A kind of Intelligent two-storey parking device
US20190277049A1 (en) * 2016-10-26 2019-09-12 Jiangnan University Intelligent car garage-moving device based on single-chip microcomputer control

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010007271A (en) * 2008-06-25 2010-01-14 Ihi Transport Machinery Co Ltd Mechanical parking system and its control method
CN103590635A (en) * 2013-11-20 2014-02-19 江南嘉捷电梯股份有限公司 Stereo parking garage
CN105625772A (en) * 2016-02-03 2016-06-01 杭州星河传动机械研究院有限公司 Adjusting structure of movable ejection pull rod of double-layered garage
CN105863322A (en) * 2016-06-08 2016-08-17 株洲华盛实业有限公司 Anti-falling method for simple type double-layer stereo garage and simple type double-layer stereo garage
US20190277049A1 (en) * 2016-10-26 2019-09-12 Jiangnan University Intelligent car garage-moving device based on single-chip microcomputer control
CN108252552A (en) * 2016-12-28 2018-07-06 山东昊骏机电工程有限公司 Intelligent three-dimensional parking apparatus and stop pick-up method
CN106760744A (en) * 2017-02-16 2017-05-31 李加惠 Self-driving type Domestic lift multi-storied garage
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CN109235962A (en) * 2018-10-23 2019-01-18 北京京科兴业科技发展有限公司 A kind of Intelligent two-storey parking device

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Application publication date: 20211008