CN105133900B - A kind of control system of the parking systems based on CAN - Google Patents
A kind of control system of the parking systems based on CAN Download PDFInfo
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- CN105133900B CN105133900B CN201510594633.4A CN201510594633A CN105133900B CN 105133900 B CN105133900 B CN 105133900B CN 201510594633 A CN201510594633 A CN 201510594633A CN 105133900 B CN105133900 B CN 105133900B
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Abstract
The invention discloses a kind of control system of the parking systems based on CAN, execution unit including main control unit and for controlling vehicle-carrying plate to move, the execution unit is connected based on CAN with main control unit, and according to place parking stall number of plies packet layout, the traversing driving device of vehicle-carrying plate accesses and is controlled by the execution unit of adjacent upper, and the lift drive mechanism of vehicle-carrying plate accesses and is controlled by the execution unit of this layer.The control system further reduces system integral module number, particularly with large stereo garage parking, save substantial amounts of signal wire connection cable and power line cable, it is easier to realize master control and the standardization of performance unit module number and connection cable length, the cost and installation difficulty of system are reduced, the efficiency of garage installation and debugging is improved.
Description
Technical field
The present invention relates to three-dimensional parking device technical field, and in particular to a kind of parking systems based on CAN
Control system.
Background technology
Multi-storied garage is the automatic storage device parked and deposited for specially realizing various vehicles, as China's economy continues
Quickly development, large- and-medium size cities build continuous reinforcement, urban traffic blocking and stopped into influence urban development it is important
Factor, curb parking and traditional self-propelled parking storehouse have not adapted to the requirement of urban development.In recent years, with economy
Fast development, automobile quantity is in explosion type increase, parking problem seems more acute, and multi-storied garage is into solve this problem
Inevitable approach.
Multi-storied garage mainly has lifting cross-sliding type, Vertical Circulating, AisleStack, vertical and round level to follow
Ring type several types.Wherein, lifting cross-sliding type has the advantage such as simple in construction, easy to operate, safe and reliable, cheap,
Domestic multi-storied garage in the market takes advantage.
In up-down cross sliding type multi-storied garage control system, controller is one of its core component, its direct shadow of performance
Ring the efficiency of multi-storied garage Transport Vehicle.
The control unit of existing three-dimensional parking device is mostly PLC, and its overall system control is that PLC adds input and output mould
Block structure, input module receives the signal that parking stall measure switch feedback is returned, and output module is used to control motor.The control
Structure needs substantial amounts of connection cable, and extension difficulty is big.
And decentralised control unit (i.e. unit control module) is every layer of parking stall of control to the control mode of each parking stall motor
Lifting or traversing, its every layer each parking stall needs to configure execution unit, in this way, while performance unit module number increase, even
Connect number of cables also to greatly increase, add the cost and installation difficulty of system, reduce the efficiency of garage installation and debugging.
In view of the above-mentioned problems, foring a kind of control system based on CAN, the control system is logical using CAN
Letter mode carries out centralized management decentralised control, including man-machine interface, direction controlling module and and the parking stall communicated based on CAN
The parking space information Data Concurrent that one-to-one unit control module, wherein unit control module are used to gather corresponding parking stall is given
Direction controlling module, the parking space information data that order and control module of the direction controlling module according to the input of man-machine interface are sent
Send control signal to control the mobile completion Transport Vehicle function of each parking stall to unit control module.
Although can greatly reduce the quantity of connection cable by CAN, it does not consider each during actual pick-up
The motion conditions of individual parking stall, the quantity of the unit control module required in turn resulting in is excessive.
The content of the invention
In view of the shortcomings of the prior art, the invention provides a kind of control system of the parking systems based on CAN,
The control system is communicated based on CAN, reduces the quantity of connection cable, enormously simplify garage parking electric wiring system
System, and newly-increased safety return circuit protection, are preferably minimized the ineffectiveness of control system, improve the reliability of system.
A kind of control system of the parking systems based on CAN, including main control unit and for controlling vehicle-carrying plate
The execution unit of motion, the execution unit is connected based on CAN with main control unit, and is grouped cloth according to the place parking stall number of plies
Put, the traversing driving device of vehicle-carrying plate accesses and is controlled by the execution unit of adjacent upper, and the lift drive mechanism of vehicle-carrying plate connects
Enter and be controlled by the execution unit of this layer.
Main control unit is unique in the control system of the present invention, the parking stall quantity that execution unit is depended in multi-storied garage.Base
" bottom parking stall (being actually the corresponding vehicle-carrying plate in the parking stall) can only be traversing, intermediate layer in lifting-transverse shifting formula multi-storied garage
Parking stall can it is traversing can also lift, top parking stall can only be lifted " parking stall movement rule, the present invention in execution unit and stereoscopic vehicle
Two layers and every layer of parking stall quantity of the above is equal and mutual correspondence in storehouse, bottom parking stall does not configure execution unit, reduces execution
The quantity of unit, reduces the redundancy of system.
The traversing driving device of the vehicle-carrying plate accesses and is controlled by the execution unit for the adjacent upper for being under the jurisdiction of same column.I.e.
For certain execution unit, this layer of vehicle-carrying plate for being controlled by the execution unit and be controlled by the execution unit lower floor's vehicle-carrying plate in sky
Between correspond to up and down on position.
Each execution unit is additionally operable to detect that the lifting position that this layer corresponds to vehicle-carrying plate, and adjacent lower correspond to vehicle-carrying plate
Traversing position.
To realize above-mentioned control function and detection function, execution unit of the invention includes sensing detection module and control mould
Block, lifting position of the sensing detection module for detecting this layer of correspondence vehicle-carrying plate, and adjacent lower correspondence vehicle-carrying plate are traversing
Position.
To improve the security of multi-storied garage, the control system is additionally provided with mainboard safety return circuit, for controlling master control list
The on off state of contactor in member.The output of contactor on main control unit is protected by cutting off safety return circuit.
The power output line of main control unit is performed directly as the power line of each execution unit by each in the present invention
Unit is that corresponding traversing driving device and the corresponding motor of lift drive mechanism are powered.Traversing driving device in the present invention and
Lift drive mechanism is motor, is powered using three-phase electricity, and corresponding controller can be by the contact of controlled motor power supply state
Device.By controlling the break-make of each road power output line to reach the purpose that control vehicle-carrying plate is moved indirectly.
Some switches linked respectively with least one following test point are serially connected with the mainboard safety return circuit：
System power supply Phase sequence detection point, system emergency stop button test point, system electrothermal relay test point,
Further preferably, each execution unit is correspondingly provided with from plate safety return circuit in the control system, for controlling to hold
The on off state of contactor on row unit.The output of lift-sliding contactor on execution unit is protected by cutting off safety return circuit.
Each road power output line of execution unit is used as the lift drive mechanism for accessing the execution unit and the power of lifting-transverse shifting mechanism
Line is powered for it.
Some switches linked respectively with least one following test point are serially connected with the safety return circuit from plate：
Electrothermal relay test point, the loose chain detection switching point detection of execution unit are corresponded to, this layer corresponds to surpassing for vehicle-carrying plate
Spacing test point,
(main control unit is master cpu, and execution unit is from control including CPU for main control unit and execution unit in the present invention
CPU) (it is located on same circuit board with peripheral control circuits and forms control panel, main control unit is main control unit control panel, is performed
Unit is execution unit control panel) and peripheral circuit (such as sensing circuit detection circuit).
Main control unit and from control unit (i.e. execution unit) independently setting safety return circuit circuit.Main control unit with from control
The safety return circuit of unit all includes safety relay, and the control electricity that safety relay is in series by least one external switch
Road is controlled, when external control circuit is turned on, safety relay adhesive, and safety signal is fed back to master cpu or from control
CPU, system can normal work；When external control circuit is off, safety relay disconnects immediately, and signal is anti-immediately
Master cpu is fed to or from control CPU, system software protection, while another string of safety relay is on output control circuit
Normally opened contact disconnects and (disconnects main control unit and each road power output line from control unit), from electrically cutting off output circuit,
Make system relatively reliable.
When carrying out Transport Vehicle, detect whether safety return circuit (including mainboard safety return circuit and from plate safety return circuit) has first
Effect, only in the case of safety return circuit is effective, main control unit just controls each execution unit to complete corresponding Transport Vehicle function.
Compared with prior art, the control system of the parking systems based on CAN further reduces system entirety
Number of modules, particularly with large stereo garage parking, saves substantial amounts of signal wire connection cable and power line cable, it is easier to real
Existing master control and the standardization of performance unit module number and connection cable length, reduce the cost and installation difficulty of system, improve
The efficiency of garage installation and debugging；And newly-increased safety return circuit protection, it is preferably minimized the ineffectiveness of control system.
Brief description of the drawings
Fig. 1 is the structured flowchart of the control system of the parking systems of the present embodiment；
Fig. 2 is the schematic diagram of mainboard safety return circuit；
Fig. 3 is the schematic diagram from plate safety return circuit；
Fig. 4 is the operation principle schematic diagram of the control system of the present embodiment.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
In multi-storied garage spatially position layering be divided into several locus immobilize parking stall (parking stall quantity according to
Parking stall size and the setting of multi-storied garage size), the vehicle-carrying plate of removable (traversing or lifting), and carrier vehicle are provided with each parking stall
Plate has one-to-one relationship with parking stall.Although during garage use, vehicle-carrying plate can be sent out relative to the locus of parking stall
Change and change, but its corresponding relation keeps constant.For example for No. 1 parking stall, its corresponding vehicle-carrying plate numbering is A, is made in garage
During, A vehicle-carrying plates may be at No. 1 parking stall, and B vehicle-carrying plates are in No. 1 parking stall, but No. 1 parking stall is still
So correspond to A vehicle-carrying plates.To realize Transport Vehicle function, the vehicle-carrying plate of first layer (i.e. the bottom) parking stall is only configured with traversing drive
Motivation structure, the vehicle-carrying plate of top is only configured with lift drive mechanism, and the vehicle-carrying plate of remainder layer parking stall is configured with traversing driving machine
Structure and lift drive mechanism.
As shown in figure 1, the control system of the parking systems of the present embodiment includes man-machine interface, main control unit and is used for
The execution unit of vehicle-carrying plate motion is controlled, wherein, main control unit is unique, and the number of execution unit is total for the parking stall of multi-storied garage
With the difference of the parking stall quantity of the bottom, man-machine interface is connected by communication bus with main control unit, between each execution unit
And based on CAN connection between execution unit and main control unit.
For the multi-storied garage of M layers of N row, parking stall number is at most (M × N-1) individual, and each parking stall of two layers and the above need to match somebody with somebody
An execution unit is put, bottom parking stall number is L, at most needs { (M × N-1)-L } individual execution unit.
Main control unit between execution unit, execution unit by CAN to being connected, and the parking space information of each parking stall passes through
Real-time Feedback is communicated to main control unit；Communicated and connected by RS485 between operator and main control unit, can be achieved on operator
Transport Vehicle is operated and parameter setting.
The concrete configuration relation of execution unit and parking stall, vehicle-carrying plate is as follows：
In addition to first layer parking stall, each parking stall is each equipped with execution unit, and all execution units are according to the place parking stall number of plies
Execution unit is arranged at correspondence parking stall in packet layout, the present embodiment, during multi-storied garage use, residing for execution unit
Locus it is constant.And for any one vehicle-carrying plate：
If it is configured with traversing driving device, its traversing driving device access and be controlled by be under the jurisdiction of same column it is adjacent on
The execution unit (i.e. the execution unit of the corresponding adjacent upper parking stall for being under the jurisdiction of same column in the affiliated parking stall of the vehicle-carrying plate) of layer, if its
Traversing driving device is configured with, then its lift drive mechanism accesses and is controlled by the execution unit of this layer (i.e. belonging to the vehicle-carrying plate
The execution unit of parking stall).
Each execution unit is additionally operable to detect the lifting position of this layer of correspondence vehicle-carrying plate, and adjacent lower correspondence vehicle-carrying plate
Traversing position, i.e., there is the position signalling of the vehicle-carrying plate of annexation to be detected using testing result to it and be used as the vehicle-carrying plate institute
Belong to the parking space information of parking stall and main control unit is uploaded to based on CAN.
Main control unit and execution unit include CPU (main control unit is master cpu, and execution unit is from control CPU) and outer
Circuit processed is contained (to be located on same circuit board and form control panel, main control unit is main control unit control panel, execution unit is to hold
Row unit control panel) and peripheral circuit (such as sensing circuit detection circuit).
Main control unit provided with some power output lines by execution unit be drive mechanism (including traversing motor and lifting electricity
Machine) to power, the quantity of power output line is equal to the number of plies of multi-storied garage, and one layer of power output line (power line) correspondence is right
It is connected in the execution unit of same layer with the same power output line that main control unit is exported.
Each execution unit thinks the traversing driving device for having annexation with it and lifting provided with some power output lines
Drive mechanism is powered, and the present embodiment traversing driving device and lift drive mechanism are that (traversing driving device is traversing electricity to motor M
Machine, lift drive mechanism is lifting motor).
To improve the security performance of multi-storied garage, control system is additionally provided with mainboard safety return circuit and from plate safety return circuit, main
Plate safety return circuit is used for the break-make for controlling main control unit Shang Ge roads power output line.And each execution unit pair in the control system
It should be provided with from plate safety return circuit, the output for controlling correspondence execution unit lift-sliding contactor, so as to reach cut-out motor
The purpose of three phase mains.
Fig. 2 is the corresponding mainboard safety return circuit of main control unit, including safety relay and relay control circuit, relay
Control loop is serially connected with to be detected with system power supply Phase sequence detection point KA, system emergency stop button JT and system electrothermal relay loop
The switch that FR3 test point of point links respectively, the switching signal each switched according to the serial connection sequence in control loop successively
It is connected with switching signal (switch detection signal) input X1, X2, X3 in main control unit, control loop uses 24V direct currents
Source is powered, and negative pole (DC0V) is connected with the system power supply Phase sequence detection point KA switches linked, in positive pole (DC24V) and main control unit
The connection of COM ends, the control coil that X1 and COM pass through safety relay connects.
Fig. 3 is that each execution unit is corresponding from plate safety return circuit, including safety relay and relay control circuit, after
Electrical equipment control loop is serially connected with super upper limit LSC corresponding with this layer of parking stall, execution unit electrothermal relay loop FR, execution unit
The switch that 3 test points such as loose chain detection loop SL link respectively, the switching signal each switched is according in control loop
Serial connection sequence is connected with switch signal input end X1, X2, X3 in main control unit successively, and control loop uses 24V dc sources
Power supply, negative pole (DC0V) is connected with the execution unit loose chain detection loop SL switches linked, in positive pole (DC24V) and main control unit
COM ends (input COM ends) connection, X1 and COM connections.
The action of safety relay can shadow by the control to the on off state of contactor on main control unit in main control unit
The break-make for the power output line for leading to each execution unit is rung, and the action of safety relay is then by performing in execution unit
The control of the on off state of contactor can influence the break-make of each power output line of the execution unit on unit.
The power line that execution unit is exported by lift-sliding contactor directly for connected lift drive mechanism and
Traversing driving device is powered, and is controlled by main control unit and execution unit double insurance, is disconnected once system breaks down, greatly
The big security for improving system.
Main control unit has 12 road conversing contactor control outputs in the present embodiment, per the control output of road conversing contactor
In have a controlling switch and contactor control coil (No. 12 contactors outputs be correspondingly provided with corresponding controlling switch, respectively
For Y1, Y2 ... ..., Y12, corresponding contactor control coil is respectively KM1, KM2 ... ... KM12), the control of each contactor
Powered in the current supply circuit of coil using AC220V AC power.In mainboard safety return circuit, the stationary contact of safety relay with
COM ends (output COM ends) connection, normally-closed contact (CPU fbk) is connected with master cpu feeds back to master cpu by testing result, often
The COM ends of contact control output are opened, to carry out contactor control (by the control coil of contactor in series connection 220V alternating currents two
End).
Main control unit has No. 5 contactor control outputs in the present embodiment, wherein, per road contactor control output connected mode
It is as follows：
The first via is provided with controlling switch Y1 and lifting contactor KMS, and the second tunnel is provided with controlling switch Y2 and traversing contact
Device KMH, the 3rd tunnel is provided only with controlling switch Y3 as standby end, is not provided with contactor, and the 4th tunnel is provided with controlling switch Y4 and electricity
Magnet coil DCT, the 5th tunnel is provided with Y5-check, to export the controlling switch of COM short circuit interfaces, when safety relay disconnects,
For its normally opened contact of short circuit, it is mainly used in forced service.Wherein, used in the current supply circuit of the control coil of each contactor
AC220V AC power is powered.
In the present embodiment by 2 layer of 3 row, bottom parking stall for exemplified by the stereoscopic parking lot of 2 to execution unit, motor, contactor,
The configuration mode of electrothermal relay is illustrated, and concrete configuration mode is as follows：
It is 3 execution units to need the execution unit number of configuration；The configuration of number of motors：Bottom parking stall need to only configure 2
Traversing motor (i.e. motor M), two layers need to configure 3 lifting motors (i.e. motor M)；The configuration of contactor：Main control unit control electricity
2 contactors of machine rotating, execution unit drives 2 contactors of traversing motor, drives 3 contactors of lifting motor；
Electrothermal relay 2, the overtemperature protection for traversing motor contactor.
Safety relay, Phase sequence detection, position detecting switch quantity in the safety return circuit of main control unit and execution unit
For：The safety relay of 1 main control unit safety return circuit (i.e. mainboard safety return circuit), 3 execution unit safety return circuits are (i.e. from plate
Safety return circuit) safety relay；1 Phase sequence detection switch；2 traversing spacing SH switches, 3 lifting position-limit LSS switches, 3
Individual descending spacing SX switches, 3 super upper limit LSC switches, 1 people's car is strayed into detection switch, 1 car superelevation detection switch, 1
Car overlength detection switch, 12 loose chain detection switches.
When carrying out Transport Vehicle, the workflow of the control system is as shown in figure 4, man-machine interface is communicated to master control by 485
Unit (i.e. Main Control Unit) sends Transport Vehicle instruction, and execution unit obtains safety return circuit detection information, equipment fault and carried out
Detection and position detection signal are simultaneously uploaded to main control unit by CAN.Wherein, safety return circuit detection information and equipment fault
Information to the detection of the execution unit corresponding safety return circuit by obtaining, and position detection signal passes through detection and the execution unit phase
The positional information of vehicle-carrying plate even is obtained.Main control unit according to perform unit upload information (including safety return circuit detect
Information, equipment fault are detected and position detection signal), inherent logic and Transport Vehicle instruct and sent to corresponding execution unit
Control instruction by execution unit to control corresponding motor action to make on lower floor's vehicle-carrying plate or so transverse shifting, upper strata vehicle-carrying plate
Lower lifting.
With safety return circuit progress during operator (i.e. man-machine interface) Transport Vehicle first to main control unit and execution unit
Detection judges, only when external security loop (including mainboard safety return circuit and from plate safety return circuit) conducting, safety relay
Adhesive, the Transport Vehicle instruction that operator is sent to main control unit could pass through, and otherwise control the traversing motor operation of parking space elevating
Output contactor circuit disconnects, and system can not carry out Transport Vehicle operation.
When inputting the request that first parking stall of the second layer is recalled on operator, the solicited message is sent by operator
To main control unit microcomputer, main control unit is according to the control logic of itself it may first have to detect master control and execution unit safety return circuit
Effectively whether, such as safety return circuit is effective, then main control unit is sent to the execution unit microcomputer of the first and second parking stalls of first layer
Parking stall traversing instruction to the right, while the traversing contactor adhesive in controlling the execution units of two parking stalls, drives two horizontal strokes
Motor action is moved, two parking stalls, which are run to the right to traversing restraining position, to stop, and main control unit is held to first parking stall of the second layer again
Row unit microcomputer sends decline operating instruction, while the lifting contactor adhesive in the parking stall execution unit is controlled, driving lifting
Motor action, stops until reaching descending spacing position, completes instruction of this time picking up the car；It is opposite detect safety return circuit it is invalid when,
Display screen prompting safety return circuit on operator disconnects, and system is not responding to Transport Vehicle instruction.
Technical scheme and beneficial effect are described in detail above-described embodiment, Ying Li
Solution is to the foregoing is only presently most preferred embodiment of the invention, is not intended to limit the invention, all principle models in the present invention
Interior done any modification, supplement and equivalent substitution etc. are enclosed, be should be included in the scope of the protection.
Claims (7)
1. a kind of control system of the parking systems based on CAN, including main control unit and for controlling vehicle-carrying plate to transport
Dynamic execution unit, the execution unit is connected based on CAN with main control unit, and is grouped cloth according to the place parking stall number of plies
Put, it is characterised in that execution unit is equal and mutual corresponding with two layers in multi-storied garage and every layer of parking stall quantity of the above, the bottom
Parking stall does not configure execution unit, and the traversing driving device of vehicle-carrying plate accesses and is controlled by the execution unit of adjacent upper, vehicle-carrying plate
Lift drive mechanism access and be controlled by the execution unit of this layer.
2. the control system of the parking systems as claimed in claim 1 based on CAN, it is characterised in that the carrier vehicle
The traversing driving device of plate accesses and is controlled by the execution unit for the adjacent upper for being under the jurisdiction of same column.
3. the control system of the parking systems as claimed in claim 2 based on CAN, it is characterised in that respectively perform list
Member is additionally operable to detect that the lifting position that this layer corresponds to vehicle-carrying plate, and adjacent lower correspond to the traversing position of vehicle-carrying plate.
4. such as the control system of the parking systems according to any one of claims 1 to 3 based on CAN, its feature exists
In being additionally provided with mainboard safety return circuit, the on off state for controlling contactor on main control unit.
5. the control system of the parking systems as claimed in claim 4 based on CAN, it is characterised in that the mainboard
Some switches linked respectively with least one following test point are serially connected with safety return circuit：
System power supply Phase sequence detection point, system emergency stop button test point, system electrothermal relay test point.
6. such as the control system of the parking systems according to any one of claims 1 to 3 based on CAN, its feature exists
In each execution unit is correspondingly provided with from plate safety return circuit in the control system, for controlling contactor on execution unit
On off state.
7. the control system of the parking systems as claimed in claim 6 based on CAN, it is characterised in that described from plate
Some switches linked respectively with least one following test point are serially connected with safety return circuit：
The super upper limit of electrothermal relay test point, loose chain detection the switching point detection vehicle-carrying plate corresponding with this layer of correspondence execution unit
Switching point detection.
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| CN201510594633.4A CN105133900B (en) | 2015-09-18 | 2015-09-18 | A kind of control system of the parking systems based on CAN |
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|---|---|---|---|
| CN201510594633.4A CN105133900B (en) | 2015-09-18 | 2015-09-18 | A kind of control system of the parking systems based on CAN |
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| CN105133900B true CN105133900B (en) | 2017-11-07 |
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| CN105484542B (en) * | 2015-12-10 | 2017-09-08 | 天津市中环富士智能设备有限公司 | Position Memory control vehicle access method is walked in parking apparatus middle reaches according to vehicle-carrying plate |
| CN106843134A (en) * | 2017-03-27 | 2017-06-13 | 北京昌立达科技有限公司 | Multi-storied garage EPLC electric-control systems and its adjustment method |
| CN107153393B (en) * | 2017-07-11 | 2019-11-19 | 梁崇彦 | A kind of parking apparatus control device |
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