CN105781166A - Automatic control system and method for underground bicycle garage - Google Patents
Automatic control system and method for underground bicycle garage Download PDFInfo
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- CN105781166A CN105781166A CN201610266831.2A CN201610266831A CN105781166A CN 105781166 A CN105781166 A CN 105781166A CN 201610266831 A CN201610266831 A CN 201610266831A CN 105781166 A CN105781166 A CN 105781166A
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- bicycle
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- warehouse
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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
- E04H6/005—Garages for vehicles on two wheels
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
Abstract
The invention relates to an automatic control system of an underground bicycle garage, which comprises an above-ground garage pavilion, an underground bicycle garage and a control system, wherein an entering platform and a control console are arranged on the upper part of the ground in front of a garage entering door, and the control system is arranged in the control console on the upper part of the ground; the bicycle garage comprises a supporting unit and a central conveying unit, wherein the central conveying unit consists of a parallel rotating guide rail, a synchronous belt type lifting mechanism, a shaft support type rotating mechanism and a conveying table, the conveying table is driven by the synchronous belt type lifting mechanism to lift along the rotating guide rail, the rotating guide rail and the conveying table are driven by the shaft support type rotating mechanism to horizontally rotate, and a conveying table grabbing and pushing mechanism is arranged on the conveying table; the control system comprises a warehousing safety detection unit, a lifting control unit, a rotation control unit, a CPU and an alarm unit. The automatic control method of the underground bicycle garage can complete the grabbing, lifting, rotating and pushing of bicycles, has good safety, stable and efficient operation, and has the functions of safe detection in storage and automatic and accurate storage and taking.
Description
Technical field
The invention belongs to bicycle parking storehouse, particularly to a kind of indoor bicycle parking area, underground automatic control system and method.
Background technology
China is bicycle big country, and bicycle is very high at the universal of China and utilization rate.Storage for bicycle is parked, and mostly adopts the form of indoor bicycle parking area on the ground at present.Comparatively easy bicycle parking garage on the ground is mostly bicycle shed, and its bicycle parking negligible amounts, single bicycle area occupied is big, parks disorderly and unsystematic, and is easily lost.Also having some three-dimensional bicycle storage devices, its multilamellar that can realize bicycle is parked, but it still needs to take substantial amounts of ground space, affects the appearance of the city attractive in appearance.
Indoor bicycle parking area, a kind of underground disclosed in Chinese patent 201210171767.1, including cylindrical sidewall, the mechanical turntable being positioned at sidewall and bicycle carrier, wherein, machinery turntable includes mechanical arm, rotary apparatus and lowering or hoisting gear.Mechanical arm, rotary apparatus and lowering or hoisting gear can realize picking and placeing, rotate and lifting of bicycle, thus realizing being positioned over by bicycle in cylindrical sidewall on the bracing frame of installation.This indoor bicycle parking area, underground can realize the stereo multilayer storage of bicycle, bicycle parking quantity is significantly increased, and is not take up ground space.
It is few to there are reserves in indoor bicycle parking area, existing underground, not good enough for the warehouse-in detection of bicycle, the safety automatically accurately accessing dispatch control system and convenience.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that one is rational in infrastructure, safety good, it is efficient to operate steadily, there is indoor bicycle parking area, the underground automatic control system of warehouse-in safety detection, automatically accurate access facility.
The present invention also provides for a kind of indoor bicycle parking area, underground autocontrol method.
This invention address that its technical problem is achieved through the following technical solutions:
A kind of indoor bicycle parking area, underground automatic control system, it is characterized in that: include ground garage booth and underground indoor bicycle parking area and control system, the top, ground of described warehouse-in side in front of the door is provided with warehouse-in platform and control station, and described set-up of control system is in the control station on top, ground；Indoor bicycle parking area includes support unit and center supply unit, center supply unit is made up of parallel rotary rail, synchronous belt type elevating mechanism, axle brace type rotating mechanism and transport platform, rotary rail arranges Timing Belt elevating mechanism, transport platform is driven by Timing Belt elevating mechanism and lifts along rotary rail, axle brace type rotating mechanism is set bottom rotary rail, rotary rail and transport platform are driven by axle brace type rotating mechanism and horizontally rotate, and transport platform is provided with transport platform and grabs pushing mechanism；Control system includes warehouse-in safety detection unit, elevating control unit, rotation control unit, CPU and alarm unit；Warehouse-in platform is provided with warehouse-in safety detection unit, Timing Belt elevating mechanism controls to be connected with elevating control unit, axle brace type rotating mechanism controls to be connected with rotation control unit, and warehouse-in safety detection unit, elevating control unit, rotation control unit are connected with CPU, and CPU is connected with alarm unit.
And, described warehouse-in safety detection unit includes tag recognition unit, weight sensing unit, puts and partially detect unit, described tag recognition unit includes the RFID reader towards the label recognition system put in storage above platform installed on control station, and RFID reader is connected to the CPU of control system；Described weight sensing unit includes the bottom surface of warehouse-in platform and is provided with anterior pressure transducer and rear pressure sensor, and the signal output part of this front portion pressure transducer and rear pressure sensing is connected to the CPU of control system；The described front-wheel photoelectric sensor group putting the wheel stopper slot that detection unit partially includes being positioned on warehouse-in platform and trailing wheel photoelectric sensor group, the signal output part of described front-wheel and trailing wheel photoelectric sensor group is connected with the CPU of described control system.
And, described warehouse-in safety detection unit includes vehicle and pins alarm unit, described transport platform is grabbed pushing mechanism and is included crossbearer, underframe, horizontal guide rail, push-and-pull servomotor, handgrip mechanism, horizontal synchronization tape handler, underframe is the elongated support body of level, underframe bottom cross is fixedly mounted with crossbearer, length direction on underframe is fixedly mounted with horizontal guide rail, be slidably installed handgrip mechanism on this horizontal guide rail, one end of this underframe is provided with push-and-pull servomotor, this underframe is installed the horizontal synchronization tape handler being connected with handgrip mechanism, this push-and-pull servomotor drives handgrip mechanism level to slide into the warehouse-in door place in pavilion, garage by horizontal synchronization tape handler, described vehicle pinning alarm unit includes described transport platform and grabs the push-and-pull servomotor of pushing mechanism, push-and-pull servomotor is connected with the CPU of described control system.
And, described synchronous belt type elevating mechanism includes guide rail supporting frame, lift servo motor, drives axle, Timing Belt and synchronizing belt gear, guide rail supporting frame is vertically fixedly mounted with described parallel rotary rail, active synchronization band gear is installed in the lower end of this two rotary rail, it is respectively mounted driven synchronizing belt gear in the upper end of two rotary rails, longitudinally detour Timing Belt on this active synchronization band gear and driven synchronizing belt gear, the active synchronization band gear of rotary rail lower end is installed on driving axle jointly, and this driving axle is driven by described lift servo motor；Described elevating control unit includes vertical laser range sensor that the top lower surface of rotary rail arranges and the vertical reflector of position of the corresponding above-mentioned vertical laser range sensor of upper surface in transport platform, the signal output part of vertical laser range sensor is connected to control described in control system the lift servo motor of CPU, the CPU control synchronous belt type elevating mechanism of system and moves to bicycle carrier place height.
And, the horizontal reverse tabula rasa that described rotation control unit includes the horizontal laser light distance measuring sensor installed transport platform end and each bicycle carrier end is installed, the rotating servo motor of CPU, the CPU control axle brace type rotating mechanism that the signal output part of horizontal laser light distance measuring sensor is connected to control system drives transport platform to rotate the position to corresponding bicycle carrier.
And, described axle brace type rotating mechanism is by bottom rotary support tray, support gear ring, top rotary support tray, rotating support shaft bearing, rotating support shaft is held, described rotating servo motor and rotary drive gear are constituted, on the rotary support tray of bottom, fixed installation supports gear ring, rotating support shaft bearing is installed in this support gear ring, between inwall and the outer wall of rotating support shaft bearing of this support gear ring, rotating support shaft is installed to hold, top rotary support tray is fixedly mounted in rotating support shaft bearing, top rotary support tray is installed rotary drive motor, the motor shaft of this rotary drive motor bottom is installed and rotates driving gear, this rotary drive gear and support gear ring engaged transmission；Fixed by the top rotary support tray of guide rail supporting frame Yu rotary drive unit bottom rotary rail.
And, described control system includes attitude monitoring unit, and attitude monitoring unit is the nine axle Attitute detecting devices being installed on transport platform center, and the signal output part of nine axle Attitute detecting devices is connected to the CPU of control system.
A kind of indoor bicycle parking area, underground autocontrol method, it is characterised in that: comprise the steps:
1). warehouse-in safety detection:
A. weight detecting: weight sensing unit detects weight above bicycle warehouse-in platform automatically, discerns whether that someone stands, and puts door in storage and can open when sense weight need to be in security interval；
B. inclined detection is put: put partially detection unit and automatically detect the front wheel above bicycle warehouse-in platform and whether trailing wheel is all placed in wheel stopper slot；
C. detection is pinned: pin detection unit and automatically detect whether bicycle locks；
Above step does not detect to be passed through, then report to the police；Above step all detects to be passed through, then carry out next step；
2) individual person bicycle is stored in:
People leaves after bicycle is put into accessing operation platform region, uses city one-card to carry out swiping the card in man machine interface confirmation, and interface will display bicycle parking person's all-purpose card information, the current bicycle parking time, confirm errorless after press bicycle parking key, man machine interface obtains bicycle parking signal, carries out bicycle parking；
3). bicycle captures:
Warehouse-in safety detection completes, and transport platform grabs the handgrip mechanism action of pushing mechanism, captures front wheel, and is moved to transport platform；
4). warehouse compartment selects:
The elevating control unit of control system and rotation control unit control transport platform vertical lifting and rotate as a bicycle carrier alignment, grab pushing mechanism propelling movement bicycle and are passed to bicycle carrier, record this warehouse compartment coordinate；
5). bicycle takes out:
People stands in human-body safety region, city one-card is used to carry out swiping the card in man machine interface confirmation, the elevating control unit of control system and rotation control unit control transport platform vertical lifting and rotate to this bicycle parking warehouse compartment coordinate, bicycle captures and takes out, and stably puts as in warehouse-in land regions.
And, also include public bicycle tag recognition step: by putting the tag recognition unit installed on the control station of platform side on ground in storage, bicycle to be deposited being read out, when being not detected by label, system continues checking for；When label having been detected, then system starts the data identity of reading in label, then differentiates that whether label data identity is legal, and when the tag identity of detection is illegal, now system starts to point out error label to report to the police, and system is not done other and operated；When the label of detection is legal, system carries out next step action.
And, the described detection method that whether detection bicycle locks automatically of pinning is: send position command by CPU to servomotor, and feedback position is to CPU, when the value of feedback position is more than the value set, now bicycle does not pin, and system carries out next step；When the value of feedback position is less than the value set, now bicycle is lockable, then system alarm, and system is out of service；It is then back to original state.
And, attitude monitoring step including to transport platform: transport platform Y-axis and R axle are timed interrupt inquiry by attitude monitoring unit, obtains it and runs attitude parameter, reports to the police when running attitude and exceeding setting value, Y-axis deviation range is 10mm, R axle deviation is 0.7 degree.
Advantages of the present invention and having the beneficial effect that
1, indoor bicycle parking area, the underground automatic control system of the present invention, its indoor bicycle parking area includes support unit and center supply unit is constituted, center supply unit is made up of parallel rotary rail, synchronous belt type elevating mechanism, axle brace type rotating mechanism and transport platform, the crawl of bicycle, lifting, rotation and propelling movement can be completed, realize putting on bicycle carrier by bicycle para-position, the bicycle carrier of underground multilamellar, can storing bicycle quantity big, save ground space；There is warehouse-in safety detection unit, elevating control unit, rotation control unit, it is achieved bicycle is put in storage, captures, deposits, taken out the smooth and easy, safe and reliable of action.
2, indoor bicycle parking area, the underground automatic control system of the present invention, warehouse-in safety detection unit includes tag recognition unit, weight sensing unit, puts and partially detect unit, bicycle identification on warehouse-in platform can be realized, bicycle parking time record, weight detecting and put inclined detection, the bicycle ensuring compliance with requirements can be deposited, it is ensured that the safety warehouse-in of bicycle.
3, indoor bicycle parking area, the underground automatic control system of the present invention, top lower surface at rotary rail is provided with vertical laser range sensor, the position of the corresponding above-mentioned laser range sensor of upper surface in transport platform is provided with vertical reflector, the signal output part of vertical laser range sensor is connected to control system, the detection of transport platform adjustable height can be realized, thus its operation is highly realized closed loop control.
4, indoor bicycle parking area, the underground automatic control system of the present invention, a side end in transport platform is fixed with horizontal laser light distance measuring sensor, one horizontal reverse tabula rasa is installed in the end of each bicycle carrier, the signal output part of laser range sensor is connected to control system, when laser range sensor output distance signal meets setting value, can determine whether its alignment bicycle carrier, can deposit, the corner of rotary drive motor is controlled, it is achieved being accurately positioned of the anglec of rotation by rotary encoder.
5, indoor bicycle parking area, the underground automatic control system of the present invention, including attitude monitoring unit, attitude monitoring unit adopts nine axle Attitute detecting devices, its signal output part is connected to CPU, transport platform Y-axis and R axle can be timed interrupt inquiry by nine axle Attitute detecting devices, obtain it and run attitude parameter.
6, indoor bicycle parking area, the underground autocontrol method of present invention knot, can complete the crawl of bicycle, lifting, rotation and propelling movement, and safety is good, operate steadily efficient, has warehouse-in safety detection, automatically accurate access facility.
Accompanying drawing explanation
Fig. 1 is the indoor bicycle parking area structural representation of the present invention；
Fig. 2 is the A-A direction view of Fig. 1；
Fig. 3 is the front view of the cage cylinder of the present invention；
Fig. 4 is the front view of the bicycle carrier of the present invention；
Fig. 5 is the top view of Fig. 4；
Fig. 6 is the front view of the synchronous belt type elevating mechanism of the present invention；
Fig. 7 is the partial enlarged drawing of Fig. 6；
Fig. 8 is the right view (regulating wheel local) of Fig. 6；
Fig. 9 is the C portion enlarged drawing of Fig. 7；
Figure 10 is that the B-B of Fig. 6 is to sectional view；
Figure 11 is the structural representation of the transport platform of the present invention；
Figure 12 is the D portion enlarged drawing of Figure 11；
Figure 13 is the top view of Figure 12；
Figure 14 is the E portion enlarged drawing of Figure 11；
Figure 15 is the D portion enlarged drawing of Fig. 2；
Figure 16 is the structural representation of pavilion, garage part on the ground of the present invention；
Figure 17 is the left view of Figure 17.
Figure 18 is the functional-block diagram of the control system of the present invention；
Description of reference numerals
null1-bicycle、2-ground upper bracket、3-rotary rail、4-cage cylinder、5-synchronous belt type elevating mechanism、6-transport platform grabs pushing mechanism、7-transport platform、8-axle brace type rotating mechanism、9-bicycle carrier、10-column、11-crossbeam、12-sends into section、13-maintaining segment、14-is uncovered、The fixing end of 15-、16-slope、17-sends into section side、18-V type guide groove、19-sends into section bottom surface、20-joint pin、21-fixes lateral wall、22-resilient clamp medial wall、Another V-type guide groove of 23-、24-spring stack、Guide rail push rod 25、Driven synchronizing belt gear 26、Timing Belt 27、Guide rail supporting frame 28、Lift servo motor 29、Yielding coupling 30、Active synchronization band gear 31、Drive axle 32、Regulating wheel mounting seat 33、Regulating wheel 34、Axle 35 is installed、Elastic support 36、Rotary support tray bottom 37-、38-supports gear ring、39-rotating support shaft is held、40-rotating support shaft bearing、41-top rotary support tray、42-rotary drive gear、43-rotating servo motor、44-push-and-pull servomotor、45-underframe、46-horizontal guide rail、47-wheel guide groove、48-horizontal synchronization tape handler、49-crossbearer、50-pull bar、51-rubber cushion、52-clamping plate、53-drives arm、54-connecting rod、55-screw mandrel connects seat、56-screw mandrel、57-handgrip slide、58-handgrip motor、59-stage clip、60-parallel rod、The encapsulated bearing of 61-、62-lift slide、63-Timing Belt fixes seat、64-laser range sensor、65-reflector.Horizontal laser light distance measuring sensor 66, horizontal reverse tabula rasa 67, pavilion, 68-garage, 69-put door, 70-alarm unit, 71-control station, 72-bicycle warehouse-in platform, 73-front wheel positions detection sensor group, 74-wheel stopper slot, 75-rear wheel position detection sensor group, 76-reflector, 77-RFID reader, 78-front portion pressure transducer, 79-rear pressure sensor in storage.
Detailed description of the invention
Below by specific embodiment, the invention will be further described, and following example are illustrative, is not determinate, it is impossible to limit protection scope of the present invention with this.
A kind of indoor bicycle parking area, underground automatic control system, including ground garage booth 68 and underground indoor bicycle parking area and control system, front, pavilion, garage is provided with warehouse-in door 69, the top, ground of warehouse-in side in front of the door is provided with warehouse-in platform 72 and control station 71, and set-up of control system is in the control station on top, ground；Indoor bicycle parking area includes support unit and center supply unit.
Wherein, the structure of indoor bicycle parking area is: be made up of pin-connected panel support unit and center supply unit, and pin-connected panel support unit is by cage cylinder 4 and disposed circumferentially around constitutes towards the multilamellar bicycle carrier 9 of shaft core position at cage cylinder inboard wall；Shaft core position at this pin-connected panel support unit installs described center supply unit, this center supply unit is made up of parallel rotary rail 3, synchronous belt type elevating mechanism 5, axle brace type rotating mechanism 8 and transport platform 7, rotary rail arranges Timing Belt elevating mechanism, transport platform is driven by Timing Belt elevating mechanism and lifts along rotary rail, axle brace type rotating mechanism is set bottom rotary rail, rotary rail and transport platform are driven by axle brace type rotating mechanism and horizontally rotate, and transport platform is provided with transport platform and grabs pushing mechanism 6.Rotating mechanism top is connected with ground upper bracket 2 bearing.Aerial parts arranges the bike pavilion blocked by ground upper bracket, and bike pavilion is provided with bicycle 1 and imports and exports.
Cage cylinder is made up of the polygon crossbeam unit of many root posts 10 and multilamellar, polygon crossbeam unit is connected between adjacent upright posts by many horizontal girds 11 and is formed, and a polygon crossbeam unit is adjacent the height more than bicycle of the distance between the polygon crossbeam unit of layer.Polygon crossbeam unit is 10-20 limit shape.The present embodiment is 15 limit shapes.Column employing cross section is square square steel, and the two ends of crossbeam are shaped with installation inclined-plane, and this bevel angle a can calculate according to polygonal limit number and obtain.Being welded and fixed installing plate on this installation inclined-plane, the two ends of crossbeam are installed in the two side of its two heel post by installing plate bolt.
Bicycle carrier includes the pallet body of generally grooved, and this pallet body is made up of the section of feeding 12 and maintaining segment 13, sends into section and is made up of two feeding section sides 17 and feeding section bottom surface 19, and maintaining segment is made up of maintaining segment side and maintaining segment bottom surface.
The feeding section end of pallet body is enter for cycle wheel uncovered 14, and maintaining segment end is fixed with the fixing end 15 fixing with garage cylinder；Send into the bottom surface slightly above maintaining segment, the bottom surface of section, and be shaped with slope 16 between feeding section and the bottom surface of maintaining segment.Deliver to when bicycle is crawled this Support bracket makes, its wheel portion enters from the open-mouth sending into section, pushed to maintaining segment, owing to the bottom surface of feeding section is slightly above maintaining segment bottom surface, thus realizing when grabbing device is regained, bicycle remains able to be limited on Support bracket, it is prevented that its slippage that falls back.
The sidewall of maintaining segment includes two fixing lateral wall 21 and two resilient clamp medial walls 22, the sidewall of fixing lateral wall and feeding section is fixedly mounted with by joint pin 20 and width is more than sending into section, the joint pin of the outer end of two resilient clamp medial walls and one end, fixing lateral wall is fixed, and the inner of two resilient clamp medial walls and the other end of fixing lateral wall all adopt the elastic installation of spring stack 24.The inner of two resilient clamp medial walls can realize resilient clamp.By these two resilient clamp medial walls, it may be achieved further the clamping of different in width wheel bicycle is protected, the wheel position of bicycle can be rolled into maintaining segment from feeding section smoothly, and is clamped by resilient clamp medial wall.
It is fixed with V-type guide groove 18 inside the bottom surface of the feeding section of pallet body.Another V-type guide groove 23 it is fixed with inside the bottom surface of the maintaining segment of pallet body.The guiding to cycle wheel and position-limiting action can be realized, it is prevented that itself and sidewall scratch, it is ensured that the maintaining segment of its smooth and easy feeding pallet body.
Synchronous belt type elevating mechanism includes it and includes guide rail supporting frame 28, lift servo motor 29, drives axle 32, Timing Belt 27 and synchronizing belt gear.Vertically being fixedly mounted with two rotary rails on guide rail supporting frame, these two rotary rail tops adopt guide rail push rod 25 to be welded and fixed.Active synchronization band gear 31 is installed in the lower end of this two rotary rail, driven synchronizing belt gear 26 it is respectively mounted in the upper end of two rotary rails, longitudinally detour Timing Belt on this active synchronization band gear and driven synchronizing belt gear, the active synchronization band gear of rotary rail lower end is installed on driving axle jointly, and this driving axle is driven by described lift servo motor.Yielding coupling 30 is adopted to be connected between lift servo motor with described driving.The guide rail supporting frame of this transport platform elevating mechanism is packed on axle brace type rotating mechanism 8.
Rotary rail adopts square steel structure, and active synchronization is positioned at the sidewall locations of rotary rail with gear and driven synchronizing belt gear, and Timing Belt detours in active synchronization with on gear and driven synchronizing belt gear and to navigate within a sidewall of rotary rail outer and internal.
It is mounted on tensioning in two rotary rail bottoms and regulates wheel mechanism, this tensioning regulates wheel mechanism and is made up of regulating wheel mounting seat 33, regulating wheel 34 and elastic support 36, mounting seat and rotary rail are fixedly mounted with, installation axle 35 two ends of regulating wheel are slidably mounted in mounting seat, the installation axle both ends of regulating wheel carry out tensioning installation by elastic support, and described Timing Belt detours through this regulating wheel.
This rotary drive unit by bottom rotary support tray 37, support gear ring 38, top rotary support tray 41, rotating support shaft bearing 40, rotating support shaft hold 39, rotating servo motor 43 and rotary drive gear 42 are constituted.On the rotary support tray of bottom, fixed installation supports gear ring, install in this support gear ring and be rotatablely equipped with rotating support shaft bearing, between inwall and the outer wall of rotating support shaft bearing of this support gear ring, rotating support shaft is installed to hold, top rotary support tray is fixedly mounted in rotating support shaft bearing, on the rotary support tray of top, level is fixedly mounted with guide rail supporting frame, longitudinally mounted two rotary rails on guide rail supporting frame.Rotary drive motor is installed in position outside top rotary support tray is positioned at, and the motor shaft of this rotary drive motor bottom is installed rotation driving gear, this rotary drive gear and support gear ring engaged transmission；Fixed by the top rotary support tray of guide rail supporting frame Yu rotary drive unit bottom rotary rail.Rotating servo motor drives rotary drive gear to rotate around supporting gear ring, rotates so that top rotary support tray is rotated guide rail, completes rotary rail and drives the rotary motion of transport platform.
This transport platform it include crossbearer 49, underframe 45, horizontal guide rail 46, push-and-pull servomotor 44, handgrip mechanism 9, horizontal synchronization tape handler 48, underframe is the elongated support body of level, underframe bottom cross is fixedly mounted with crossbearer, length direction on underframe is fixedly mounted with horizontal guide rail, be slidably installed handgrip mechanism on this horizontal guide rail, one end of this underframe is provided with push-and-pull servomotor, installing the horizontal synchronization tape handler being connected with handgrip mechanism on this underframe, this push-and-pull servomotor drives handgrip mechanism level to slide by horizontal synchronization tape handler.Underframe centre position along its length is provided with wheel guide groove 47, and the lateral symmetry of wheel guide groove arranges horizontal guide rail.
Transverse ends at crossbearer is fixed with lift slide 62, this lift slide three face is surrounded on the vertical rotary rail 3 of correspondence, three faces of this lift slide are mounted on rolling the encapsulated bearing 61 in rotary rail surface, and underframe is run between rotary rail by this lift slide guiding.
Also be fixed with the fixing seat 63 of Timing Belt at the both ends of two lift slides, the lifting Timing Belt on rotary rail is fixed with the fixing seat of this Timing Belt, and underframe is lifted by lifting Timing Belt drive.Being symmetrically connected with pull bar 50 between both ends and the both sides of described lift slide of underframe, the end of this pull bar is mounted on rod end bearing.
Handgrip mechanism is made up of handgrip slide 57, handgrip motor 58, screw mandrel 56, symmetrical handgrip arm.Handgrip slide is slidably mounted on horizontal guide rail, handgrip slide fixedly mounts handgrip motor, the motor bar connection wire rod of this handgrip motor, the tail end of the handgrip arm of the end connected symmetrical dendrimer of this screw mandrel, symmetrical handgrip arm is opened and closed by screw mandrel driving by handgrip motor.
Symmetrical handgrip arm is all main by driving arm 53, clamping plate 52, parallel rod 60, screw mandrel connection seat 55 to constitute, the rear end of driving arm is hinged to be installed on handgrip slide, drive hinge dress parallel rod between front end and the clamping plate of arm, two drive the middle part of wall to be connected to screw mandrel by connecting rod 54 connects seat, screw mandrel connection seat moves and is installed on handgrip slide, and screw mandrel connects seat engagement and installs screw mandrel.
On a connecting rod in parallel rod and between clamping plate, stage clip 59 is installed.Clamping plate inner surface is provided with rubber cushion 51.
Control system includes warehouse-in safety detection unit, elevating control unit, rotation control unit, CPU and alarm unit；Warehouse-in platform is provided with warehouse-in safety detection unit, Timing Belt elevating mechanism controls to be connected with elevating control unit, axle brace type rotating mechanism controls to be connected with rotation control unit, warehouse-in safety detection unit, elevating control unit, rotation control unit are connected with CPU, and CPU is connected with alarm unit 70.
Warehouse-in safety detection unit includes tag recognition unit, weight sensing unit, puts and partially detect unit, tag recognition unit includes the RFID reader 77 towards the label recognition system put in storage above platform installed on control station, and RFID reader is connected to the CPU of control system.RFID reader adopts ZTX-G20 ultrahigh frequency RFID integral type fixed reader, and reading distance is 1～6 meter, and Card Reader distance is remote；Employing integration-in-one designs, built-in 8DBi gain circle poliarizing antenna；Simple installation, degree of protection is high, and water proof and dust proof designs, outdoor and indoor universal；EPCass1Gen2, ISO18000-6C/6B international standard interface protocol；Supporting that 902～928MHz, 865～868MHz communication frequency is optional, frequency hopping mode of operation, environmental suitability is strong.
Weight sensing unit includes the bottom surface of warehouse-in platform and is provided with anterior pressure transducer 78 and rear pressure sensor 79, and the signal output part of this front portion pressure transducer and rear pressure sensing is connected to the CPU of control system.
Putting front-wheel photoelectric sensor group 73 and the trailing wheel photoelectric sensor group 75 of the wheel stopper slot 74 that detection unit partially includes being positioned on warehouse-in platform, the signal output part of front-wheel and trailing wheel photoelectric sensor group is connected with the CPU controlling system.Photoelectric sensor group is installed on the side inwall of wheel stopper slot, and each photoelectric sensor position in the opposite side inwall correspondence photoelectric sensor group of wheel stopper slot is all fixed with reflector 76.
Warehouse-in safety detection unit includes vehicle and pins alarm unit, and vehicle pinning alarm unit includes described transport platform and grabs the push-and-pull servomotor of pushing mechanism, and push-and-pull servomotor is connected with the CPU controlling system.
Elevating control unit includes the vertical laser range sensor 64 that the top lower surface of rotary rail is arranged, and the vertical reflector 65 of position of the corresponding above-mentioned vertical laser range sensor of upper surface in transport platform, the signal output part of vertical laser range sensor is connected to control described in control system the CPU of system.The detection of transport platform adjustable height can be realized, thus its operation is highly realized closed loop control.CPU exports control signal and controls lift servo motor.By reflector increasing light reflecting effect, improve laser device accuracy of detection.Laser range sensor adopts ZLDS100 type.
The horizontal reverse tabula rasa 67 that Spin Control includes the horizontal laser light distance measuring sensor 66 installed transport platform end and each bicycle carrier end is installed, the rotating servo motor of CPU, the CPU control axle brace type rotating mechanism that the signal output part of horizontal laser light distance measuring sensor is connected to control system drives transport platform to rotate the position to corresponding bicycle carrier.
Control system also includes attitude monitoring unit, and attitude monitoring unit is the nine axle Attitute detecting devices being installed on transport platform center, and the signal output part of nine axle Attitute detecting devices is connected to the CPU of control system.Nine axle Attitute detecting devices are MPU92509DOF nine axle Attitute detecting device, and MPU-9250 module comprises three-axis gyroscope, 3-axis acceleration, three-axle magnetic field；Use chip: MPU-9250；Power supply: 3-5v (internal low-voltage difference voltage stabilizing)；Communication mode: standard IIC/SPI communication protocol；Built-in chip type 16bitAD transducer, 16 bit data outputs；Gyroscope scope: ± 25050010002000 °/s；Acceleration range: ± 2 ± 4 ± 8 ± 16g；Magnetic field range: ± 4800uT, can feed back the operation attitude of transport platform to CPU.Y-axis deviation range is 10mm, R axle deviation is 0.7 degree.
A kind of indoor bicycle parking area, underground autocontrol method, it comprises the steps:
1). warehouse-in safety detection:
A. weight detecting: weight sensing unit detects weight above bicycle warehouse-in platform automatically, discerns whether that someone stands, and puts door in storage and can open when sense weight need to be in security interval；Pressure transducer sets a higher limit and a lower limit, when the higher limit of weight overpressure sensor of bicycle being detected, and sensor one overweight signal of output, system will detect that this overweight signal, then system alarm, system ceased operations, then return to original state；When the weight of bicycle is without departing from the scope of weighing of pressure transducer, system will carry out next step operation.
B. inclined detection is put: put partially detection unit and automatically detect the front wheel above bicycle warehouse-in platform and whether trailing wheel is all placed in wheel stopper slot；Judging whether bicycle is put partially with position sensor, when position sensor does not sense wheel, then show that bicycle is put partially, system alarm, system cannot be properly functioning, then proceedes to detection；When position sensor senses wheel, now bicycle position is correct, and system carries out next step operation.
C. detection is pinned: pin detection unit and automatically detect whether bicycle locks；Pinning the detection method that whether detection bicycle locks automatically is: set a position command by CPU to the rotary encoder of servomotor, then position command is sent to servomotor, rotary encoder feedback position, when feedback position is more than the value set, explanation cycle wheel rotates, frictional force is little, and now bicycle does not pin, then system carries out next step；When the value of feedback position is less than the value set, illustrating that the frictional force of now bicycle is big, illustrate that now bicycle is in locking-in state, system returns, and reports to the police.
Above step does not detect to be passed through, then report to the police；Above step all detects to be passed through, then carry out next step；
2) individual person bicycle is stored in:
People leaves after bicycle is put into accessing operation platform region, uses city one-card to carry out swiping the card in man machine interface confirmation, and interface will display bicycle parking person's all-purpose card information, the current bicycle parking time, confirm errorless after press bicycle parking key, man machine interface obtains bicycle parking signal, carries out bicycle parking；
For public bicycle: carry out tag recognition: by putting the tag recognition unit installed on the control station of platform side on ground in storage, bicycle to be deposited being read out, when being not detected by label, system continues checking for；When label having been detected, then system starts the data identity of reading in label, then differentiates that whether label data identity is legal, and when the tag identity of detection is illegal, now system starts to point out error label to report to the police, and system is not done other and operated；When the label of detection is legal, system carries out next step action.
3). bicycle captures:
Warehouse-in safety detection completes, and transport platform grabs the handgrip motor action of the handgrip mechanism of pushing mechanism, captures front wheel, and is moved to transport platform；
4). warehouse compartment selects:
The elevating control unit of control system and rotation control unit control transport platform vertical lifting and rotate as a bicycle carrier alignment, grab pushing mechanism propelling movement bicycle and are passed to bicycle carrier, record this warehouse compartment coordinate；
5). bicycle takes out:
People stands in human-body safety region, city one-card is used to carry out swiping the card in man machine interface confirmation, the elevating control unit of control system and rotation control unit control transport platform vertical lifting and rotate to this bicycle parking warehouse compartment coordinate, bicycle captures and takes out, and stably puts as in warehouse-in land regions.
Although disclosing embodiments of the invention and accompanying drawing for the purpose of illustration, but it will be appreciated by those skilled in the art that: in the spirit and scope without departing from the present invention and claims, various replacements, to change and modifications be all possible, therefore, the scope of the present invention is not limited to embodiment and accompanying drawing disclosure of that.
Claims (11)
1. indoor bicycle parking area, underground automatic control system, it is characterized in that: include ground garage booth and underground indoor bicycle parking area and control system, the top, ground of described warehouse-in side in front of the door is provided with warehouse-in platform and control station, and described set-up of control system is in the control station on top, ground；Indoor bicycle parking area includes support unit and center supply unit, center supply unit is made up of parallel rotary rail, synchronous belt type elevating mechanism, axle brace type rotating mechanism and transport platform, rotary rail arranges Timing Belt elevating mechanism, transport platform is driven by Timing Belt elevating mechanism and lifts along rotary rail, axle brace type rotating mechanism is set bottom rotary rail, rotary rail and transport platform are driven by axle brace type rotating mechanism and horizontally rotate, and transport platform is provided with transport platform and grabs pushing mechanism；Control system includes warehouse-in safety detection unit, elevating control unit, rotation control unit, CPU and alarm unit；Warehouse-in platform is provided with warehouse-in safety detection unit, Timing Belt elevating mechanism controls to be connected with elevating control unit, axle brace type rotating mechanism controls to be connected with rotation control unit, and warehouse-in safety detection unit, elevating control unit, rotation control unit are connected with CPU, and CPU is connected with alarm unit.
2. a kind of indoor bicycle parking area, underground according to claim 1 automatic control system, it is characterized in that: described warehouse-in safety detection unit includes tag recognition unit, weight sensing unit, puts and partially detect unit, described tag recognition unit includes the RFID reader towards the label recognition system put in storage above platform installed on control station, and RFID reader is connected to the CPU of control system；Described weight sensing unit includes the bottom surface of warehouse-in platform and is provided with anterior pressure transducer and rear pressure sensor, and the signal output part of this front portion pressure transducer and rear pressure sensing is connected to the CPU of control system；The described front-wheel photoelectric sensor group putting the wheel stopper slot that detection unit partially includes being positioned on warehouse-in platform and trailing wheel photoelectric sensor group, the signal output part of described front-wheel and trailing wheel photoelectric sensor group is connected with the CPU of described control system.
null3. a kind of indoor bicycle parking area, underground according to claim 2 automatic control system，It is characterized in that: described warehouse-in safety detection unit includes vehicle and pins alarm unit，Described transport platform is grabbed pushing mechanism and is included crossbearer、Underframe、Horizontal guide rail、Push-and-pull servomotor、Handgrip mechanism、Horizontal synchronization tape handler，Underframe is the elongated support body of level，Underframe bottom cross is fixedly mounted with crossbearer，Length direction on underframe is fixedly mounted with horizontal guide rail，Be slidably installed handgrip mechanism on this horizontal guide rail，One end of this underframe is provided with push-and-pull servomotor，This underframe is installed the horizontal synchronization tape handler being connected with handgrip mechanism，This push-and-pull servomotor drives handgrip mechanism level to slide into the warehouse-in door place in pavilion, garage by horizontal synchronization tape handler，Described vehicle pinning alarm unit includes described transport platform and grabs the push-and-pull servomotor of pushing mechanism，Push-and-pull servomotor is connected with the CPU of described control system.
4. a kind of indoor bicycle parking area, underground according to claim 1 automatic control system, it is characterized in that: described synchronous belt type elevating mechanism includes guide rail supporting frame, lift servo motor, drive axle, Timing Belt and synchronizing belt gear, guide rail supporting frame is vertically fixedly mounted with described parallel rotary rail, active synchronization band gear is installed in the lower end of this two rotary rail, it is respectively mounted driven synchronizing belt gear in the upper end of two rotary rails, longitudinally detour Timing Belt on this active synchronization band gear and driven synchronizing belt gear, the active synchronization band gear of rotary rail lower end is installed on driving axle jointly, this driving axle is driven by described lift servo motor；Described elevating control unit includes vertical laser range sensor that the top lower surface of rotary rail arranges and the vertical reflector of position of the corresponding above-mentioned vertical laser range sensor of upper surface in transport platform, the signal output part of vertical laser range sensor is connected to control described in control system the lift servo motor of CPU, the CPU control synchronous belt type elevating mechanism of system and moves to bicycle carrier place height.
5. a kind of indoor bicycle parking area, underground according to claim 1 automatic control system, it is characterized in that: the horizontal reverse tabula rasa that described rotation control unit includes the horizontal laser light distance measuring sensor installed transport platform end and each bicycle carrier end is installed, the rotating servo motor of CPU, the CPU control axle brace type rotating mechanism that the signal output part of horizontal laser light distance measuring sensor is connected to control system drives transport platform to rotate the position to corresponding bicycle carrier.
6. a kind of indoor bicycle parking area, underground according to claim 5 automatic control system, it is characterized in that: described axle brace type rotating mechanism is by bottom rotary support tray, support gear ring, top rotary support tray, rotating support shaft bearing, rotating support shaft is held, described rotating servo motor and rotary drive gear are constituted, on the rotary support tray of bottom, fixed installation supports gear ring, rotating support shaft bearing is installed in this support gear ring, between inwall and the outer wall of rotating support shaft bearing of this support gear ring, rotating support shaft is installed to hold, top rotary support tray is fixedly mounted in rotating support shaft bearing, top rotary support tray is installed rotary drive motor, the motor shaft of this rotary drive motor bottom is installed and rotates driving gear, this rotary drive gear and support gear ring engaged transmission；Fixed by the top rotary support tray of guide rail supporting frame Yu rotary drive unit bottom rotary rail.
7. a kind of indoor bicycle parking area, underground according to claim 5 automatic control system, it is characterized in that: described control system includes attitude monitoring unit, attitude monitoring unit is the nine axle Attitute detecting devices being installed on transport platform center, and the signal output part of nine axle Attitute detecting devices is connected to the CPU of control system.
8. indoor bicycle parking area, underground autocontrol method, it is characterised in that: comprise the steps:
1). warehouse-in safety detection:
A. weight detecting: weight sensing unit detects weight above bicycle warehouse-in platform automatically, discerns whether that someone stands, and puts door in storage and can open when sense weight need to be in security interval；
B. inclined detection is put: put partially detection unit and automatically detect the front wheel above bicycle warehouse-in platform and whether trailing wheel is all placed in wheel stopper slot；
C. detection is pinned: pin detection unit and automatically detect whether bicycle locks；
Above step does not detect to be passed through, then report to the police；Above step all detects to be passed through, then carry out next step；
2) individual person bicycle is stored in:
People leaves after bicycle is put into accessing operation platform region, uses city one-card to carry out swiping the card in man machine interface confirmation, and interface will display bicycle parking person's all-purpose card information, the current bicycle parking time, confirm errorless after press bicycle parking key, man machine interface obtains bicycle parking signal, carries out bicycle parking；
3). bicycle captures:
Warehouse-in safety detection completes, and transport platform grabs the handgrip mechanism action of pushing mechanism, captures front wheel, and is moved to transport platform；
4). warehouse compartment selects:
The elevating control unit of control system and rotation control unit control transport platform vertical lifting and rotate as a bicycle carrier alignment, grab pushing mechanism propelling movement bicycle and are passed to bicycle carrier, record this warehouse compartment coordinate；
5). bicycle takes out:
People stands in human-body safety region, city one-card is used to carry out swiping the card in man machine interface confirmation, the elevating control unit of control system and rotation control unit control transport platform vertical lifting and rotate to this bicycle parking warehouse compartment coordinate, bicycle captures and takes out, and stably puts as in warehouse-in land regions.
9. a kind of indoor bicycle parking area, underground according to claim 8 automatic control system, it is characterized in that: also include public bicycle tag recognition step: by ground is put in storage the tag recognition unit installed on the control station of platform side, bicycle to be deposited is read out, when being not detected by label, system continues checking for；When label having been detected, then system starts the data identity of reading in label, then differentiates that whether label data identity is legal, and when the tag identity of detection is illegal, now system starts to point out error label to report to the police, and system is not done other and operated；When the label of detection is legal, system carries out next step action.
10. a kind of indoor bicycle parking area, underground according to claim 8 automatic control system, it is characterized in that: the described detection method that whether detection bicycle locks automatically of pinning is: send position command by CPU to servomotor, and feedback position is to CPU, when the value of feedback position is more than the value set, now bicycle does not pin, and system carries out next step；When the value of feedback position is less than the value set, now bicycle is lockable, then system alarm, and system is out of service；It is then back to original state.
11. a kind of indoor bicycle parking area, underground according to claim 8 automatic control system, it is characterized in that: include the attitude monitoring step to transport platform: by attitude monitoring unit, transport platform Y-axis and R axle are timed interrupt inquiry, obtain it and run attitude parameter, report to the police when running attitude and exceeding setting value, Y-axis deviation range is 10mm, R axle deviation is 0.7 degree.
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| CN107130485A (en) * | 2017-05-23 | 2017-09-05 | 中建钢构有限公司 | A kind of Traffic Systems |
| CN107221089A (en) * | 2017-06-13 | 2017-09-29 | 苏州合欣美电子科技有限公司 | A kind of public bicycles storage area borrows system of returning the car automatically |
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| CN108397002A (en) * | 2018-04-27 | 2018-08-14 | 徐州工业职业技术学院 | A kind of semi-buried stereo parking facility suitable for bicycle |
| CN109018090A (en) * | 2018-06-25 | 2018-12-18 | 北京建筑大学 | A kind of secret formula underground parking device for cycles |
| CN108547484A (en) * | 2018-06-29 | 2018-09-18 | 湖北工业大学 | A kind of bicycle intelligence parking device |
| CN108756352A (en) * | 2018-07-17 | 2018-11-06 | 中国地质大学（武汉） | Parking house for bicycles based on subdistrict greening and Condom |
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| CN112127666A (en) * | 2020-07-02 | 2020-12-25 | 武汉理工大学 | Underground bicycle garage |
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Effective date of registration: 20220507 Address after: 300384 No. 62 Kexin villa, Huayuan Industrial Zone, high tech Zone, Binhai New Area, Tianjin Patentee after: TIANJIN YUANZHUO TECHNOLOGY DEVELOPMENT Co.,Ltd. Patentee after: Sichuan maitielong Technology Co., Ltd Address before: 300384 room 203-a14, Zhongnan building, No. 18, Haitai Road, Huayuan Industrial Zone, Nankai District, Tianjin Patentee before: TIANJIN YUANZHUO TECHNOLOGY DEVELOPMENT Co.,Ltd. |