CN104727599B - Safety control method and control system for electrically controlled side parking lifting device - Google Patents
Safety control method and control system for electrically controlled side parking lifting device Download PDFInfo
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- CN104727599B CN104727599B CN201510133987.9A CN201510133987A CN104727599B CN 104727599 B CN104727599 B CN 104727599B CN 201510133987 A CN201510133987 A CN 201510133987A CN 104727599 B CN104727599 B CN 104727599B
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- lifter plate
- control system
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- lifting
- signal
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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
- E04H6/02—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
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
Abstract
The invention relates to a safety control method and control system for an electrically controlled side parking lifting device. The method comprises the steps that a driver sends a parking request to a master control system, starts a rotation control device to rotate a lifting board to the inner side of a road, and starts a lifting board falling detection system and a lifting board control device to conduct ultrasonic distance measurement and altitude measurement respectively; a single chip microcomputer judges whether foreign bodies exist under the lifting board or not according to an ultrasonic distance measurement signal and an altitude measurement signal, and if no foreign bodies exist, a signal of allowing falling is sent to the master control system to drive the lifting control device to control the lifting board to fall down on the ground; the master control system starts a vehicle position detection system to detect the position of a vehicle; the single chip microcomputer judges whether the vehicle is parked safely or not according to a photoelectric detection signal, and if the vehicle is parked safely, the driver is reminded to lift the vehicle; the master control system lifts the lifting board and rotates to the outer side of the road after receiving a lifting request. The safety control method and control system for the electrically controlled side parking lifting device has the advantages that the structure is simple, the safety and the reliability are achieved, and the safety control method and control system for the electrically controlled side parking lifting device can be widely applied to safe control of electrically controlled side parking lifting devices.
Description
Technical field
The present invention relates to traffic safety technology and electromechanical control field, lift especially with regard to a kind of automatically controlled parking the in roadside
Rise method of controlling security and the control system of device.
Background technology
Roadside automatically controlled parking lifting device is a kind of new curb parking lifting mechanism, when needing to stop, using remote control
The lifter plate of the automatically controlled parking in roadside lifting device is made to drop to ground, vehicle is after safe stopping is stayed on the relevant position of lifter plate,
By the vehicle being parked on lifter plate together with the automatically controlled rise of lifter plate, and rotate to outside road, thus avoiding taking road sky
Between；When need to use vehicle, lifter plate is rotated to inside road, after lifter plate drops on ground, vehicle can sail out of
Lifter plate.The automatically controlled parking lifting device in this roadside can increase Parking Stall with effectively utilizes parking space.
However, current roadside automatically controlled parking lifting device has a series of safety problem, it is mainly manifested in following several
Individual aspect：1st, when needing using roadside automatically controlled parking lifting device, need the lifter plate of automatically controlled for roadside parking lifting device
Rotate to and declined inside road, but the landing place of lifter plate there may exist people, animal or other objects, now rises
Can there is potential danger in fall plate decline.2nd, after the lifter plate of the automatically controlled parking in roadside lifting device drops to ground, driver will
When vehicle drive is to lifter plate, due to the reason such as driver's technical ability is low or drinks, vehicle tends not to correctly be parked in lifting
On the correct position of plate, on lifter plate, on road surface, this will lead to the automatically controlled lifting of stopping in roadside to two wheels to such as two wheels
Vehicle is occurred to drop when the lifter plate of device rises or the danger such as overturn.3rd, because the automatically controlled parking in roadside lifting device can be along
Roadside irrigation canals and ditches move, and this irrigation canals and ditches may trip pedestrian at night and cause injury to personnel.
Content of the invention
For the problems referred to above, it is an object of the invention to provide a kind of peace of the automatically controlled parking lifting device in safe and reliable roadside
Full control method and control system.
For achieving the above object, the present invention takes technical scheme below：A kind of safety of the automatically controlled parking lifting device in roadside
Control method, comprises the following steps：1) safety control system of the automatically controlled parking in roadside lifting device is set, and it includes safe control
System processed, pillar, lifter plate, rotating control assembly, apparatus for controlling of lifting, mobile controller, general control system and power supply system
System；Wherein, safety control system include single-chip microcomputer, the lifter plate that is made up of some Ultrasonic ranging device land detecting system and by
The vehicle position detection system of level Four photoelectric detection system composition；2), during shutdown phase, driver sends, by remote control, request of stopping
To general control system, after general control system receives parking request, startup rotating control assembly rotates lifter plate to road
Side, then general control system startup lifter plate landing detecting system and lifter plate control device；3) lifter plate landing detecting system
Real-time circulation detects the distance of object and each Ultrasonic ranging device immediately below lifter plate, and supersonic sounding signal is sent to monolithic
Machine；4) height apart from ground for the lifter plate height measuring device real-time detection lifter plate in apparatus for controlling of lifting, and will height
Signal is sent to single-chip microcomputer；5) single-chip microcomputer, according to the supersonic sounding signal receiving and altitude signal, judges immediately below lifter plate
There is foreign, if foreign, send permission dropping signal to general control system, general control system drives apparatus for controlling of lifting control
Lifter plate processed drops to ground；6) after lifter plate drops to ground, general control system closes lifter plate landing detecting system simultaneously
Start vehicle position detection system；During vehicle sails lifter plate into, photoelectric detecting signal is sent out by car two position detecting system
Deliver to single-chip microcomputer；Single-chip microcomputer judges vehicle according to the photoelectric detecting signal receiving, and whether safe stopping is stayed, if safe stopping is stayed, carries
Show driver's lifting vehicle；7) driver sends lifting request by remote control and arrives general control system, and general control system receives lifting please
After asking, close vehicle position detection system, start apparatus for controlling of lifting simultaneously and lifter plate is risen together with vehicle, then start rotation
Rotation control apparatus rotate lifter plate to road；8), during the pick-up stage, driver is sent request of picking up the car and arrives master control by remote control
System processed, after general control system receives pick-up request, controls lifter plate landing detecting system and apparatus for controlling of lifting to make to rise
Fall plate drops to safely ground, and the course of work is identical with principle during shutdown phase；9) after lifter plate drops to ground, master control system
System starts vehicle position detection system, when single-chip microcomputer judges vehicle according to the photoelectric detecting signal that vehicle position detection system sends
After leaving from lifter plate, send vehicle and leave signal to general control system；10) general control system receives vehicle and leaves letter
Close vehicle position detection system after number, and start rotation after lifter plate is risen by apparatus for controlling of lifting and rotating control assembly successively
Go to outside road；11), in above-mentioned shutdown phase and pick-up stage, driver or attendant are grasped according to actual needs manually
Make, start mobile controller controlled motor and the automatically controlled parking in roadside lifting device is moved along roadside irrigation canals and ditches, simultaneously drive road
Gutter canal compensation system is compensated automatically to roadside ditch canal.
Described step 5) in, single-chip microcomputer judges to have foreign immediately below lifter plate according to supersonic sounding signal and altitude signal
Method be：1. the signal that each ultrasound measurement module returns is carried out de-jitter by single-chip microcomputer, and finds out from each return value
Maximum and minimum of a value calculate extreme difference；2. single-chip microcomputer the signal that each ultrasound measurement module returns is converted into after height value and obtains institute
There is the height average of ultrasound measurement module measurement；If 3. the extreme difference of step 1. middle calculating is less than extreme difference threshold value, step is 2. simultaneously
The absolute value of the difference of altitude signal that the height average of middle calculating is returned with lifter plate height measuring device is less than height threshold,
Then judge foreign below lifter plate, single-chip microcomputer sends the signal allowing to decline to general control system；Otherwise, be given and can not decline
Signal.
Described step 6) in, according to photoelectric detecting signal, single-chip microcomputer judges that the vehicle method whether safe stopping is stayed is：1. set
In fixed photoelectric detection systems at different levels, the marker character of each group correlation photoelectric sensor occlusion state change, becomes including by occlusion state
It is changed into occlusion state for non-occlusion state with from non-occlusion state；2. set the state variable representing level Four photoelectric detection system；
3. under detection current state, the value of the state variable of photoelectric detection systems at different levels, and be stored in variable fun, fun=
Flag1+2*flag2+3*flag3+4*flag4, wherein, flag1, flag2, flag3, flag4 represent level Four light electric-examination respectively
Survey the state variable of device；Then proceed to the value of the state variable of cycle detection photoelectric detection system at different levels, and be stored in variable
In fun_new；Will be poor with the value of fun for the value of fun_new, if difference is 0, continue detection；If not 0, then return fun_
New-fun, return value be step 1. defined in each group correlation photoelectric sensor occlusion state change marker character；4. root
According to step 3. in the return value that obtains execute removing, obtain the result removing；5. prestore vehicle safety park in single-chip microcomputer
When produced flag sequence, the result removing is compared with it, if identical then it represents that vehicle safe stopping is stayed, send out
Send safe stopping driver in signal prompt；If differing then it represents that vehicle fails safe stopping stays, sending and failing the signal that safe stopping is stayed
Prompting driver.
A kind of safety control system of the automatically controlled parking lifting device in roadside, it includes safety control system, pillar and cunning
The dynamic lifter plate being set on described pillar；The rotating control assembly of junction setting of described lifter plate and described pillar and liter
Fall control device；The mobile controller of described posts bottom setting, general control system and electric power system；It is characterized in that：Institute
State safety control system to include single-chip microcomputer, the lifter plate landing detecting system being arranged on described lifter plate bottom and be arranged on described
The vehicle position detection system at lifter plate top；Described single-chip microcomputer, lifter plate landing detecting system and vehicle position detection system
Powered by described electric power system；Described lifter plate landing detecting system carries out supersonic sounding to immediately below described lifter plate in real time,
And supersonic sounding signal is sent to described single-chip microcomputer；Described single-chip microcomputer controls according to supersonic sounding signal and described lifter plate
The altitude signal away from ground for the described lifter plate that lifter plate height measuring device in device sends judges to have or not below lifter plate
Foreign matter, if foreign, sends permission dropping signal to general control system；Described vehicle position detection system sails institute in vehicle
State, during lifter plate, Photoelectric Detection is carried out to vehicle location, and photoelectric detecting signal is sent to described single-chip microcomputer, described single-chip microcomputer
Whether safe stopping is stayed to judge vehicle according to photoelectric detecting signal, if safe stopping is stayed, provides corresponding prompting.
Described safety control system also includes a roadside irrigation canals and ditches compensation system being arranged on described posts bottom, described roadside
Irrigation canals and ditches compensation system includes a pedestal, and the two sides of described pedestal are provided with two to coaxial axial trough, on axial trough described in every a pair
It is equipped with a chain board shaft respectively, each described chain board shaft one end is provided with a master gear, and also distinguishes in each described chain board shaft
It is wound with a carrier bar；Described in two, axial trough middle upper portion is further fixedly arranged on an idler gear, and described idler gear is simultaneously with two
Described master gear occlusion.
Described lifter plate landing detecting system includes some Ultrasonic ranging device, and each described Ultrasonic ranging device is all spaced embedding
Enter to described lifter plate bottom, each described Ultrasonic ranging device all includes a ultrasound measurement module, and each described ultrasonic survey
Detection direction away from module is all down.
Described vehicle position detection system includes being disposed on the level Four photoelectric detection system at described lifter plate top；The
One-level photoelectric detection system is arranged on the top forward position of described lifter plate, second level photoelectric detection system and described first order photoelectricity
The spacing of detection means should meet wheel and can shelter from described first order photoelectric detection system and second level Photoelectric Detection dress simultaneously
Put；Third level photoelectric detection system should meet at four-wheel after vehicle safety park with the spacing of described second level photoelectric detection system
Between described second level photoelectric detection system and third level photoelectric detection system；Fourth stage photoelectric detection system and the described 3rd
The spacing of level photoelectric monitor device should meet wheel and can shelter from described third level photoelectric detection system and fourth stage photoelectricity simultaneously
Detection means.
Described first order photoelectric detection system includes two groups of correlation photoelectric sensor being made up of transmitting terminal and receiving terminal,
Correlation photoelectric sensor described in two groups is arranged side by side；Described second level photoelectric detection system, third level photoelectric detection system and
Fourth stage photoelectric detection system includes correlation photoelectric sensor described in a group respectively；In described each group correlation photoelectric sensor
Described transmitting terminal and receiving terminal opposite disposed on described lifter plate, and described transmitting terminal and receiving terminal are away from described lifter plate
Height should meet the infrared signal that wheel can shelter from described transmitting terminal transmitting；It is provided with outside described transmitting terminal and receiving terminal
One resistance to compression containment vessel, each described resistance to compression containment vessel is all bolted to connection on described lifter plate.
Due to taking above technical scheme, it has advantages below to the present invention：1st, the present invention is due to being provided with lifter plate fall
Fall detecting system, has foreign during lifter plate decline below cycle detection lifter plate, is effectively guaranteed lifter plate and declines
During ground staff or other objects safety.2nd, the present invention is due to being provided with vehicle location monitoring system, when driver will
When vehicle parks are to lifter plate, can effectively judge vehicle whether stay by safe stopping, efficiently avoid lifter plate rise when due to
Vehicle does not stop the danger that vehicle that is good and leading to falls.3rd, whether the present invention is due to detecting vehicle using a whole set of logical algorithm
Safe stopping is stayed, and improves accuracy and the convenience of determination methods.4th, the present invention is due to being provided with roadside irrigation canals and ditches compensation system,
Do not affect the automatically controlled parking in roadside lifting device along roadside mobile on the premise of, efficiently solve roadside irrigation canals and ditches and trip pedestrian and ask
Topic.The present invention can be widely applied in the security control of the automatically controlled parking in roadside lifting device.
Brief description
Fig. 1 is the automatically controlled parking in existing roadside lifting device structural representation
Fig. 2 is the safety control system structural representation of the automatically controlled parking in roadside of the present invention lifting device
Fig. 3 is the ultrasonic range finder sensor arrangement schematic diagram of lifter plate landing detecting system of the present invention
Fig. 4 is the structural representation of vehicle position detection system of the present invention
Fig. 5 is roadside of the present invention irrigation canals and ditches compensation system structural representation
Fig. 6 is the carrier bar arrangement schematic diagram of roadside of the present invention irrigation canals and ditches compensation system
Fig. 7 is the drive mechanism schematic diagram of roadside of the present invention irrigation canals and ditches compensation system
Specific embodiment
With reference to the accompanying drawings and examples the present invention is described in detail.
As shown in figure 1, the automatically controlled parking lifting device (lower abbreviation lifting device) in existing roadside includes a pillar 1, pillar 1
The sheathed lifter plate 2 of upper slip.Lifter plate 2 is provided with rotating control assembly 3 and apparatus for controlling of lifting 4 with the junction of pillar 1；
Pillar 1 bottom is provided with mobile controller 5, general control system 6 and electric power system 7.Rotating control assembly 3 is used for controlling lifting
Plate 2 rotates around pillar 1；Apparatus for controlling of lifting 4 includes a lifter plate height measuring device, for controlling lifter plate 2 along pillar 1
Lower movement；Mobile controller 5 includes motor and transmission system, for being grasped manually by driver or attendant according to actual needs
Make so that whole lifting device moves along roadside irrigation canals and ditches.When needing to stop, driver is sent request of stopping and arrives master control by remote control
System 6, general control system 6 starts rotating control assembly 3 and rotates lifter plate 2 to road；Then general control system 6 starts
Lifter plate 2 is drop to ground by apparatus for controlling of lifting 4.After vehicle stops well on lifter plate 2, driver sends lifting by remote control please
Seek general control system 6, general control system 6 starts apparatus for controlling of lifting 4 successively after receiving lifting request and rotation controls dress
Put 3 lifter plate 2 is risen after rotate to road.Electric power system 7 includes rectification module and DC voltage-stabilizing module, and rectification mould
Block and DC voltage-stabilizing module are converted to 220V alternating current after the direct current of different voltages, are rotating control assembly 3, elevating control
Device 4, mobile controller 5 and general control system 6 are powered.
As shown in Fig. 2 the safety control system of the automatically controlled parking lifting device in roadside of the present invention includes single-chip microcomputer 8, is arranged on
The lifter plate landing detecting system 9 of lifter plate 2 bottom, the vehicle position detection system 10 being arranged on lifter plate 2 top and setting
Roadside irrigation canals and ditches compensation system 11 in pillar 1 bottom.General control system 6 starts rotating control assembly 3 and rotates lifter plate 2 to road
After inside road, start lifter plate landing detecting system 9 and lifter plate control device 4.Lifter plate landing detecting system 9 is in real time to liter
Carry out supersonic sounding immediately below fall plate 2, and supersonic sounding signal is sent to single-chip microcomputer 8.Lifting in lifter plate control device 4
The height apart from ground for the plate height measuring device real-time detection lifter plate 2, and altitude signal is sent to single-chip microcomputer 8.Single-chip microcomputer 8
Judge there is foreign immediately below lifter plate 2 according to the supersonic sounding signal receiving and altitude signal, if foreign, send fair
Permitted dropping signal to general control system 6, general control system 6 controls lifter plate control device 4 to make lifter plate 2 drop to ground.
After lifter plate 2 drops to ground, general control system 6 is closed lifter plate landing detecting system 9 and is started vehicle position detection system
10.The photosignal of Real-time Collection is sent to single-chip microcomputer 8 by vehicle position detection system 10, and single-chip microcomputer 8 is sentenced according to photosignal
Disconnected vehicle whether stay by safe stopping, provides corresponding cue when safe stopping is stayed, and now driver sends lifting request by remote control
To general control system 6, general control system 6 starts apparatus for controlling of lifting 4 successively and lifter plate 2 is lifted simultaneously by rotating control assembly 3
Rotate to road.When lifting device moves according to actual needs, by roadside irrigation canals and ditches compensation system 11, irrigation canals and ditches are carried out automatically
Compensate.Single-chip microcomputer 8, lifter plate landing detecting system 9, vehicle position detection system 10 and roadside irrigation canals and ditches compensation system 11 are by act
The electric power system 7 rising device is powered.
As shown in figure 3, lifter plate landing detecting system 9 includes some Ultrasonic ranging device 91, each Ultrasonic ranging device
91 all include a ultrasound measurement module, and the detection direction of each ultrasound measurement module is all down.The present invention is with 6 supersonic soundings
It is described further as a example device 91, only as example, but not limited to this.Each Ultrasonic ranging device 91 is all spaced and is embedded into liter
Fall plate 2 bottom, and ensure that the detection range of all Ultrasonic ranging device 91 covers lifter plate 2 the 95% of the floor projection gross area
More than, and the overlapping area of each Ultrasonic ranging device detection range accounts for less than the 20% of the floor projection gross area.
As shown in figure 4, vehicle position detection system 10 includes the level Four Photoelectric Detection dress being disposed on lifter plate 2 top
Put 101～104.First order photoelectric detection system 101 is arranged on lifter plate 2 top forward position, second level photoelectric detection system 102 with
The wheel that the spacing of first order photoelectric detection system 101 should meet normal size can shelter from first order photoelectric detection system simultaneously
101 and second level photoelectric detection system 102.Third level photoelectric detection system 103 and the spacing of second level photoelectric detection system 102
After vehicle safety park should be met, four-wheel is between second level photoelectric detection system 102 and third level photoelectric detection system 103.
The wheel that the spacing of fourth stage photoelectric detection system 104 and third level photoelectric monitor device 103 should meet normal size can be simultaneously
Shelter from third level photoelectric detection system 103 and fourth stage photoelectric detection system 104.Wherein, first order photoelectric detection system 101
Including two groups of correlation photoelectric sensor A1, A2 being made up of transmitting terminal and receiving terminal, two groups of correlation photoelectric sensor A1, A2
It is arranged side by side, and the spacing of transmitting terminal and receiving terminal is determined by the width of lifter plate 2, is respectively used to detect the car of vehicle both sides
Wheel；Second, third, fourth stage photoelectric detection system 102,103,104 include one group of correlation photoelectric sensor B, C, D respectively,
And the spacing of transmitting terminal and receiving terminal is determined by the width of lifter plate 2 in each group correlation photoelectric sensor B, C, D.Correlation light
Electric transducer A1, A2, B, C, D structure all same, the present invention taking the structure of correlation photoelectric sensor A1 is as a example situated between further
Continue.The transmitting terminal of correlation photoelectric sensor A1 and receiving terminal are opposite disposed on lifter plate 2, and transmitting terminal and receiving terminal are away from liter
The wheel that the height of fall plate 2 should meet normal size can shelter from the infrared signal that transmitting terminal is launched.Transmitting terminal and receiving terminal
Outside is provided with a resistance to compression containment vessel, and each resistance to compression containment vessel is all bolted to connection on lifter plate.
As shown in Fig. 5, Fig. 6, Fig. 7, roadside irrigation canals and ditches compensation system 11 includes a pedestal 111, the two sides setting of pedestal 111
Have two to coaxial axial trough 112, every a pair of axial trough 112 is equipped with a chain board shaft 113 respectively, each chain board shaft 113 one end sets
It is equipped with a master gear 114, and a carrier bar 115 is also wound with respectively on each chain board shaft 113.Axial troughs 112 middle upper portion is also solid
Surely it is provided with an idler gear 116, and idler gear 116 is engaged with two master gears 114 simultaneously.
In above-described embodiment, first order photoelectric detection system 101 and second level photoelectric detection system 102, third level photoelectricity
Spacing between detection means 103 and fourth stage photoelectric detection system 104 is preferably 100mm.Second level photoelectric detection system 102
Spacing and third level photoelectric detection system 103 between is preferably 3500mm.In first order photoelectric detection system 101 two groups to penetrating
The distance of formula photoelectric sensors A 1, the transmitting terminal of A2 and receiving terminal is preferably 1200mm, second, third, fourth stage Photoelectric Detection
In device, the transmitting terminal of correlation photoelectric sensor and the distance of receiving terminal are preferably 2500mm.Every group of correlation photoelectric sensor
Transmitting terminal and receiving terminal away from lifter plate 2 highly preferred for 50mm.
In above-described embodiment, ultrasound measurement module adopts GH-311RT ultrasonic range finder sensor.
In above-described embodiment, two master gears 114 and idler gear 116 adopt quenched and tempered steel, and master gear 114 specification is the number of teeth
40, modulus 7.5, face is wide by 50；Idler gear 116 specification is the number of teeth 10, modulus 7.5, and face is wide by 50.Chain board shaft 113 adopts 45 steel, directly
Footpath is 60.Carrier bar 115 adopt zinc-plated carrier bar, volume totally 2, width 500mm, unit area weight capacity 5kN.
The control method of the safety control system of the automatically controlled parking lifting device in roadside of the present invention, comprises the following steps：
1), during shutdown phase, driver is sent request of stopping and arrives general control system 6 by remote control, and general control system 6 receives
The startup rotating control assembly 3 after asking that stops rotates lifter plate 2 to road, and then general control system 6 starts lifter plate
Landing detecting system 9 and lifter plate control device 4.
2) lifter plate landing detecting system 9 real-time circulation detects object and each Ultrasonic ranging device immediately below lifter plate 2
Distance, and supersonic sounding signal is sent to single-chip microcomputer 8.
3) height apart from ground for the lifter plate height measuring device real-time detection lifter plate 2 in apparatus for controlling of lifting 4, and
Altitude signal is sent to single-chip microcomputer 8.
4) single-chip microcomputer 8, according to the supersonic sounding signal receiving and altitude signal, judges to be as good as immediately below lifter plate 2
Thing, if foreign, sends permission dropping signal to general control system 6, drives apparatus for controlling of lifting 4 to control by general control system 6
Lifter plate 2 drops to ground.
According to supersonic sounding signal and altitude signal, single-chip microcomputer 8 judges that the method having foreign immediately below lifter plate 2 is：
1. the signal that each ultrasound measurement module returns is carried out de-jitter by single-chip microcomputer 8 first, and from each return value
Find out maximum and minimum of a value and calculate extreme difference, extreme difference represents when having foreign matter below lifter plate 2, the measurement of each ultrasound measurement module
Distance difference；
2. single-chip microcomputer 8 signal that each ultrasound measurement module returns is converted into after height value and obtains all ultrasound measurement modules
Height average；
If 3. step 1. middle calculating extreme difference be less than extreme difference threshold value, the step 2. height average of middle calculating and lifting simultaneously
The absolute value of the difference of altitude signal that plate height measuring device returns is less than height threshold, then judge lifter plate 2 lower section foreign,
Single-chip microcomputer 8 sends the signal allowing to decline to general control system 6；Otherwise, provide the signal that can not decline.Wherein, extreme difference threshold value
Depending on the statistics of foreign matter common on the road such as geometric size of stone, soil block etc. and geometry, and by actual real
Running repair just obtains；Height threshold is determined by experiment.
5) after lifter plate 2 drops to ground, general control system 6 is closed lifter plate landing detecting system 9 and is started vehicle
Position detecting system 10.After vehicle enters detection zone, triggering car two position detecting system 10 sends photoelectric detecting signal to single-chip microcomputer
8, single-chip microcomputer 8 judges vehicle according to the photoelectric detecting signal receiving, and whether safe stopping is stayed, and that is, whether vehicle is parked in correct position,
Will be prompted to signal when judging vehicle safety park and be sent to general control system 6.General control system 6 controls the prompting on pillar 1
Lamp lights green light and carries out voice broadcast " vehicle is parked in home, please stop working and parking, and all occupants must be from
Open ", point out driver lifting vehicle.
The time sequencing of the occlusion state change mark that in the present invention, photoelectric detection systems at different levels are blocked by vehicular four wheels is sent out
Deliver to single-chip microcomputer 8, whether safe stopping is stayed to treat vehicle by single-chip microcomputer 8 judgement.The occlusion state change mark of photoelectric detection systems at different levels
Note includes two groups of situations：Never occlusion state is changed into occlusion state and is changed into non-occlusion state from occlusion state.Single-chip microcomputer 8 basis
The time sequencing of occlusion state change mark judges vehicle, and whether safe stopping is stayed, past including photoelectric sensor detection algorithm, vehicle
Multiple movement mark removes algorithm and vehicle location evaluation algorithm, and specific determination methods are：
1. in photoelectric sensor detection algorithm, specify in photoelectric detection systems at different levels first, each group correlation photoelectric sensing
The marker character of device occlusion state change, rule is as follows：
It is marker character " 1 " that correlation photoelectric sensor A1, A2 is all changed into occlusion state from non-occlusion state；
Correlation photoelectric sensor A1 or A2 are changed into non-occlusion state for marker character " -1 " from occlusion state；
It is marker character " 2 " that correlation photoelectric sensor B is changed into occlusion state from non-occlusion state；
It is marker character " -2 " that correlation photoelectric sensor B is changed into non-occlusion state from occlusion state；
It is marker character " 3 " that correlation photoelectric sensor C is changed into occlusion state from non-occlusion state；
It is marker character " -3 " that correlation photoelectric sensor C is changed into non-occlusion state from occlusion state；
It is marker character " 4 " that correlation photoelectric sensor D is changed into occlusion state from non-occlusion state；
It is marker character " -4 " that correlation photoelectric sensor D is changed into non-occlusion state from occlusion state.
2. set the state variable representing level Four photoelectric detection system, rule is as follows：
Flag1 be represent first order photoelectric detection system state variable, and two groups of photoelectric sensors A 1 and A2 simultaneously by
When blocking, flag1=1, otherwise flag1=0；
Flag2 is the state variable representing second level photoelectric detection system, and when photoelectric sensor B is blocked, flag2=
1, otherwise flag2=0；
Flag3 is the state variable representing third level photoelectric detection system, and when photoelectric sensor C is blocked, flag3=
1, otherwise flag3=0；
Flag4 is the state variable representing fourth stage photoelectric detection system, and when photoelectric sensor D is blocked, flag4=
1, otherwise flag4=0.
3. under detection current state, the value of the state variable of photoelectric detection systems at different levels, and be stored in variable fun, that is,
Fun=flag1+2*flag2+3*flag3+4*flag4, then proceedes to the state variable of cycle detection photoelectric detection system at different levels
Value, and be stored in variable fun_new.Will be poor with the value of fun for the value of fun_new, if difference is 0, continue detection；If
Be not 0, then return fun_new-fun, return value be step 1. defined in each group correlation photoelectric sensor occlusion state
The marker character of change.
Understand through analysis, vehicle can be divided into two kinds of situations in park：One is after vehicle front-wheel sails lifter plate into, premenstrual
Enter, retreat after repeatedly and exit lifter plate (possibly driver thinks that right position is somewhat inclined, wants to reenter lifter plate) completely；
Two is after vehicle sails lifter plate into, just enters correct position (after possibly vehicle reaches correct position after advance, retrogressing are multiple again
Driver fails to brake in time and crosses head, and then vehicle reverse enters correct position；Or cross backward during vehicle backing
Head, then move on entrance correct position).
In the case of the first, the marker character record case of each group correlation photoelectric sensor occlusion state change in return value
There are several situations as follows：
(1)(-1)
Or (1) (2) (- 2) (- 1)
Or (1) (2) (- 1) (1) (- 2) (- 1)
Or (1) (2) (- 1) (- 2) (2) (1) (- 2) (- 1)
Or more any number of records combination
In the case of second：The marker character record case of each group correlation photoelectric sensor occlusion state change in return value
There are several situations as follows：
(1)(2)(-1)(-2)(1)(2)(-1)(-2)+(3)(-3)
Or (1) (2) (- 1) (- 2) (1) (2) (- 1) (- 2)+(3) (4) (- 4) (- 3)
Or (1) (2) (- 1) (- 2) (1) (2) (- 1) (- 2)+(3) (4) (- 3) (3) (- 4) (- 3)
Or (1) (2) (- 1) (- 2) (1) (2) (- 1) (- 2)+(3) (4) (- 3) (- 4) (4) (3) (- 4) (- 3)
Or (1) (2) (- 1) (- 2) (1) (2) (- 1) (- 2)+(2) (- 2)
Or (1) (2) (- 1) (- 2) (1) (2) (- 1) (- 2)+(2) (1) (- 1) (- 2)
Or (1) (2) (- 1) (- 2) (1) (2) (- 1) (- 2)+(2) (1) (- 2) (2) (- 1) (- 2)
Or (1) (2) (- 1) (- 2) (1) (2) (- 1) (- 2)+(2) (1) (- 2) (- 1) (1) (2) (- 1) (- 2)
Or the combination of (1) (2) (- 1) (- 2) (1) (2) (- 1) (- 2)+any of the above multiple record suffix
4. vehicle moves back and forth mark and removes in algorithm, according to step 3. in the return value that obtains execute removing, held
The result removing after row is clear.
Observation of steps 3. in two kinds in the case of status indication record case, when detect mark number of times be even number and phase
Symmetrical position be opposite number when, such as first and last, second and penultimate；Represent that vehicle moves back completely
Go out lifter plate, now remove all records.More than 8 times and it is even number when mark number of times is detected, and the 8th later mark phase
Symmetrical position be opposite number when, such as the 9th and last, the 10th and penultimate；Then represent that vehicle is in
Correct position.Now remove the record after the 8th mark.
Produced flag sequence when 5. prestoring vehicle safety park in single-chip microcomputer, i.e. (1) (2) (- 1) (- 2) (1) (2)
(- 1) (- 2), the result removing is compared by vehicle location evaluation algorithm with it, if identical then it represents that vehicle safe stopping
Stay, send safe stopping driver in signal prompt；If differing then it represents that vehicle fails safe stopping stays, sending and failing safe stopping and stay
Signal prompt driver.
6) driver sends lifting request by remote control and arrives general control system 6, after general control system 6 receives lifting request,
Close vehicle position detection system 10, start apparatus for controlling of lifting 4 simultaneously and lifter plate 2 is risen together with vehicle, then start rotation
Rotation control apparatus 3 rotate lifter plate 2 to road.
7), during the pick-up stage, driver is sent request of picking up the car and arrives general control system 6 by remote control, and general control system 6 receives
Pick up the car after request, control lifter plate landing detecting system 10 and apparatus for controlling of lifting 4 to make lifter plate drop to safely ground, work
Process of making is identical with principle during shutdown phase, will not be described here.
8), after lifter plate 2 drops to ground, general control system 6 starts vehicle position detection system 10, when single-chip microcomputer 8 basis
After the photoelectric detecting signal that vehicle position detection system 10 sends judges that vehicle leaves from lifter plate 2, send vehicle and leave
Signal is to general control system 6.
9) general control system 6 receives after vehicle leaves signal and closes vehicle position detection system 10, and starts liter successively
Fall control device 4 and rotating control assembly 3 lifter plate 2 is risen after rotate to road.
10), in above-mentioned shutdown phase and pick-up stage, driver or attendant can be grasped according to actual needs manually
Make, start mobile controller 5 controlled motor and lifting device is moved along roadside irrigation canals and ditches, simultaneously drive roadside irrigation canals and ditches to compensate system
One master gear 114 of system 11 rotates.Master gear 114 can drive idler gear 116 to rotate when rotating, and then drives another main tooth
Wheel 114 rotation, thus ensure two master gear 114 rotating speeds, steering is identical so that lifting device is same along roadside irrigation canals and ditches movement
When, side carrier bar 115 launches to cover irrigation canals and ditches, and opposite side carrier bar 115 is packed up by constant speed, thus automatically being mended to roadside ditch canal
Repay.
The various embodiments described above are merely to illustrate the present invention, and the structure of wherein each part, connected mode and manufacture craft etc. are all
Can be varied from, every equivalents carrying out on the basis of technical solution of the present invention and improvement, all should not exclude
Outside protection scope of the present invention.
Claims (8)
1. a kind of method of controlling security of the automatically controlled parking lifting device in roadside, comprises the following steps：
1) safety control system of the automatically controlled parking in roadside lifting device is set, and it includes safety control system, pillar, lifting
Plate, rotating control assembly, apparatus for controlling of lifting, mobile controller, general control system and electric power system；Wherein, security control
The lifter plate that system includes single-chip microcomputer, be made up of some Ultrasonic ranging device lands detecting system and by level Four photoelectric detection system
The vehicle position detection system of composition；
2), during shutdown phase, driver is sent request of stopping and arrives general control system by remote control, and general control system receives parking please
Start rotating control assembly after asking to rotate lifter plate to road, then general control system starts lifter plate landing detection system
System and lifter plate control device；
3) lifter plate landing detecting system real-time circulation detects the distance of object and each Ultrasonic ranging device immediately below lifter plate, and
Supersonic sounding signal is sent to single-chip microcomputer；
4) height apart from ground for the lifter plate height measuring device real-time detection lifter plate in apparatus for controlling of lifting, and will height
Signal is sent to single-chip microcomputer；
5) single-chip microcomputer, according to the supersonic sounding signal receiving and altitude signal, judges there is foreign immediately below lifter plate, if no
Foreign matter then sends permission dropping signal to general control system, and general control system drives apparatus for controlling of lifting to control lifter plate to drop to
Ground；
Judge to have immediately below lifter plate the method for foreign be：
1. the signal that each ultrasound measurement module returns is carried out de-jitter by single-chip microcomputer, and finds out maximum from each return value
Calculate extreme difference with minimum of a value；
2. single-chip microcomputer the signal that each ultrasound measurement module returns is converted into after height value and obtains all ultrasound measurement module measurements
Height average；
If 3. step 1. middle calculating extreme difference be less than extreme difference threshold value, simultaneously step 2. the height average of middle calculating with lifting plate hight
The absolute value of the difference of altitude signal that degree measurement apparatus return is less than height threshold, then judge foreign below lifter plate, monolithic
Machine sends the signal allowing to decline to general control system；Otherwise, provide the signal that can not decline；
6) after lifter plate drops to ground, general control system is closed lifter plate landing detecting system and is started vehicle location detection
System；During vehicle sails lifter plate into, photoelectric detecting signal is sent to single-chip microcomputer by car two position detecting system；Single-chip microcomputer
Photoelectric detecting signal according to receiving judges vehicle, and whether safe stopping is stayed, if safe stopping is stayed, points out driver lifting vehicle；
7) driver sends lifting request by remote control and arrives general control system, after general control system receives lifting request, closes car
Position detecting system, starts apparatus for controlling of lifting simultaneously and rises lifter plate together with vehicle, then start rotating control assembly
Lifter plate is rotated to road；
8), during the pick-up stage, driver picks up the car request to general control system by remote control transmission, and general control system receives to pick up the car and asks
After asking, control lifter plate landing detecting system and apparatus for controlling of lifting to make lifter plate drop to safely ground, the course of work with
During shutdown phase, principle is identical；
9), after lifter plate drops to ground, general control system starts vehicle position detection system, when single-chip microcomputer is according to vehicle location
After the photoelectric detecting signal that detecting system sends judges that vehicle leaves from lifter plate, send vehicle and leave signal to master control
System；
10) general control system receives after vehicle leaves signal and closes vehicle position detection system, and starts elevating control successively
Device and rotating control assembly rotate to road after rising lifter plate；
11) in above-mentioned shutdown phase and pick-up stage, driver or attendant are operated manually according to actual needs, start and move
Dynamic control device controlled motor makes the automatically controlled parking in roadside lifting device move along roadside irrigation canals and ditches, simultaneously drives roadside irrigation canals and ditches to compensate
System is compensated automatically to roadside ditch canal.
2. as claimed in claim 1 a kind of automatically controlled parking lifting device in roadside method of controlling security it is characterised in that：Described
Step 6) in, according to photoelectric detecting signal, single-chip microcomputer judges that the vehicle method whether safe stopping is stayed is：
1. set the marker character of the change of each group correlation photoelectric sensor occlusion state in photoelectric detection systems at different levels, including by hiding
Gear state is changed into non-occlusion state and is changed into occlusion state from non-occlusion state；
2. set the state variable representing level Four photoelectric detection system；
3. under detection current state, the value of the state variable of photoelectric detection systems at different levels, and be stored in variable fun, fun
=flag1+2*flag2+3*flag3+4*flag4, wherein, flag1, flag2, flag3, flag4 represent level Four photoelectricity respectively
The state variable of detection means；Then proceed to the value of the state variable of cycle detection photoelectric detection system at different levels, and be stored in change
In amount fun_new；Will be poor with the value of fun for the value of fun_new, if difference is 0, continue detection；If not 0, then return
Fun_new-fun, return value be step 1. defined in each group correlation photoelectric sensor occlusion state change marker character；
4. according to step 3. in the return value that obtains execute removing, obtain the result removing；
Produced flag sequence when 5. prestoring vehicle safety park in single-chip microcomputer, the result removing is compared with it
Relatively, if identical then it represents that vehicle safe stopping is stayed, send safe stopping driver in signal prompt；If differ then it represents that vehicle not
Safe stopping can stay, send and fail the signal prompt driver that safe stopping is stayed.
3. a kind of safety control system of the automatically controlled parking in the roadside lifting device realizing method as claimed in claim 1 or 2, its bag
Include safety control system, pillar and the lifter plate being slidably located on described pillar；Described lifter plate and the company of described pillar
Connect rotating control assembly and the apparatus for controlling of lifting of place's setting；The mobile controller of described posts bottom setting, master control system
System and electric power system；It is characterized in that：Described safety control system includes single-chip microcomputer, is arranged on the lifting of described lifter plate bottom
Plate lands detecting system and the vehicle position detection system being arranged on described lifter plate top；Described single-chip microcomputer, lifter plate landing
Detecting system and vehicle position detection system are powered by described electric power system；Described lifter plate landing detecting system is in real time to described
Carry out supersonic sounding immediately below lifter plate, and supersonic sounding signal is sent to described single-chip microcomputer；Described single-chip microcomputer is according to ultrasonic
The described lifter plate that lifter plate height measuring device in distance measuring signal and described lifter plate control device sends is away from ground
Altitude signal judges there is foreign below lifter plate, if foreign, sends permission dropping signal to general control system；Described car
Position detecting system carries out Photoelectric Detection when vehicle sails described lifter plate into vehicle location, and photoelectric detecting signal is sent out
Deliver to described single-chip microcomputer, described single-chip microcomputer judges vehicle according to photoelectric detecting signal, and whether safe stopping is stayed, if safe stopping is stayed, give
Go out corresponding prompting.
4. as claimed in claim 3 a kind of automatically controlled parking lifting device in roadside safety control system it is characterised in that：Described
Safety control system also includes a roadside irrigation canals and ditches compensation system being arranged on described posts bottom, described roadside irrigation canals and ditches compensation system
Including a pedestal, the two sides of described pedestal are provided with two to coaxial axial trough, axial trough described in every a pair are equipped with one respectively
Chain board shaft, each described chain board shaft one end is provided with a master gear, and is also wound with a carrier bar respectively in each described chain board shaft；
Described in two, axial trough middle upper portion is further fixedly arranged on an idler gear, and described idler gear is stung with master gear described in two simultaneously
Close.
5. as claimed in claim 3 a kind of automatically controlled parking lifting device in roadside safety control system it is characterised in that：Described
Lifter plate landing detecting system includes some Ultrasonic ranging device, and each described Ultrasonic ranging device is all spaced and is embedded into described lifting
Plate bottom, each described Ultrasonic ranging device all includes a ultrasound measurement module, and the detection of each described ultrasound measurement module
Direction is all down.
6. as claimed in claim 4 a kind of automatically controlled parking lifting device in roadside safety control system it is characterised in that：Described
Lifter plate landing detecting system includes some Ultrasonic ranging device, and each described Ultrasonic ranging device is all spaced and is embedded into described lifting
Plate bottom, each described Ultrasonic ranging device all includes a ultrasound measurement module, and the detection of each described ultrasound measurement module
Direction is all down.
7. the safety control system of the automatically controlled parking in a kind of roadside lifting device as described in claim 3 or 4 or 5 or 6, its feature
It is：Described vehicle position detection system includes being disposed on the level Four photoelectric detection system at described lifter plate top；First
Level photoelectric detection system is arranged on the top forward position of described lifter plate, second level photoelectric detection system and described first order light electric-examination
The spacing of survey device should meet wheel and can shelter from described first order photoelectric detection system and second level photoelectric detection system simultaneously；
After the spacing of third level photoelectric detection system and described second level photoelectric detection system should meet vehicle safety park, four-wheel is in
Between described second level photoelectric detection system and third level photoelectric detection system；Fourth stage photoelectric detection system and the described third level
The spacing of photoelectric monitor device should meet wheel and can shelter from described third level photoelectric detection system and fourth stage light electric-examination simultaneously
Survey device.
8. as claimed in claim 7 a kind of automatically controlled parking lifting device in roadside safety control system it is characterised in that：Described
First order photoelectric detection system includes two groups of correlation photoelectric sensor being made up of transmitting terminal and receiving terminal, to penetrating described in two groups
Formula photoelectric sensor is arranged side by side；Described second level photoelectric detection system, third level photoelectric detection system and fourth stage light electric-examination
Survey device and include correlation photoelectric sensor described in a group respectively；Described transmitting terminal in described each group correlation photoelectric sensor
Opposite disposed on described lifter plate with receiving terminal, and the described transmitting terminal and receiving terminal height away from described lifter plate should meet car
Wheel can shelter from the infrared signal of described transmitting terminal transmitting；It is provided with a resistance to compression protection outside described transmitting terminal and receiving terminal
Shell, each described resistance to compression containment vessel is all bolted to connection on described lifter plate.
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| CN201510133987.9A CN104727599B (en) | 2015-03-25 | 2015-03-25 | Safety control method and control system for electrically controlled side parking lifting device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510133987.9A CN104727599B (en) | 2015-03-25 | 2015-03-25 | Safety control method and control system for electrically controlled side parking lifting device |
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| CN104727599B true CN104727599B (en) | 2017-02-22 |
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| CN106088746A (en) * | 2016-08-02 | 2016-11-09 | 宿州学院 | A kind of lateral parking special purpose device and using method thereof |
| CN108152737A (en) * | 2017-12-15 | 2018-06-12 | 格力电器（武汉）有限公司 | A kind of anti-motor line sequence fault monitoring system and its monitoring method |
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|---|---|---|---|---|
| JPH05287924A (en) * | 1992-04-09 | 1993-11-02 | Aisan Ind Co Ltd | Multi-tiered parking device |
| CN101982638A (en) * | 2010-10-22 | 2011-03-02 | 北京工业大学 | Road three-dimensional parking device based on automatic rising |
| CN103590633A (en) * | 2012-08-15 | 2014-02-19 | 渠仁书 | Tree garage type parking device |
| CN103835545A (en) * | 2012-11-22 | 2014-06-04 | 西安正昌电子有限责任公司 | Intelligent control system for curbside double-layer parking device |
| CN103850488A (en) * | 2012-11-30 | 2014-06-11 | 西安大昱光电科技有限公司 | Intelligent curb parking device |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05287924A (en) * | 1992-04-09 | 1993-11-02 | Aisan Ind Co Ltd | Multi-tiered parking device |
| CN101982638A (en) * | 2010-10-22 | 2011-03-02 | 北京工业大学 | Road three-dimensional parking device based on automatic rising |
| CN103590633A (en) * | 2012-08-15 | 2014-02-19 | 渠仁书 | Tree garage type parking device |
| CN103835545A (en) * | 2012-11-22 | 2014-06-04 | 西安正昌电子有限责任公司 | Intelligent control system for curbside double-layer parking device |
| CN103850488A (en) * | 2012-11-30 | 2014-06-11 | 西安大昱光电科技有限公司 | Intelligent curb parking device |
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