CN106337588A - A Control System and Control Method of Repeated Combined Intelligent Parking Equipment - Google Patents
A Control System and Control Method of Repeated Combined Intelligent Parking Equipment Download PDFInfo
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- CN106337588A CN106337588A CN201610945858.4A CN201610945858A CN106337588A CN 106337588 A CN106337588 A CN 106337588A CN 201610945858 A CN201610945858 A CN 201610945858A CN 106337588 A CN106337588 A CN 106337588A
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Classifications
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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
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Traffic Control Systems (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a control system and a control method of a repeated combined intelligent parking equipment, comprising a human-machine interface, a PLC, a limit switch and a lifting motor of the lifting device, a limit switch and a motor of the traverse device, a limit switch and a motor of the vertical shift device, a limit switch and an electric motor of the safety door device, an ultra-high detection photoelectric switch, an ultra-long detection photoelectric switch, an micro-switch of anti-falling device in position, a human-machine error detection switch, loose chain detection switch, upper and lower limit protection switch, an anti-falling device electromagnet, an acousto-optic alarm device and a frequency converter. The system realizes parallel operation without confliction by configuring the hardware and the software program, and improves the speed of output and input. This design focuses on the safe and reliable guarantee of the warehousing operation. Under its intelligent control, parking positions are increased compared with traditional equipment, saving more than 33% ground and space resources, and substantially increasing their availability ratio.
Description
Technical field
The present invention relates to combination type parking apparatus, more particularly to a kind of control system rearranging combined intelligent parking apparatus
System and control method.
Background technology
At present, control system used in lifting cross sliding type parking equipment and control method can only carry out single lifting
The access wagon control of cross sliding type parking equipment, this simple lift-sliding operation can not meet two re-schedulings of my company's research and development
The access wagon control of the intelligent parking equipment of row combination requires.Rearrange combined intelligent parking apparatus in emerging before and after
The coordination of row, security strategy, after discharge into car mode, parallel work-flow, frequency control etc. and need to design new control system
System, using new control method, works out new program and is realized.
Content of the invention
A kind of in view of prior art situation, it is an object of the invention to provide control system rearranging combined intelligent parking apparatus
System and control method, the rearrangement combined intelligent parking equipment control system of the design is it is simply that in order to adopt optical, mechanical and electronic integration
Realize, in conjunction with, Based Intelligent Control parking apparatus, the discrepancy that depth space is stopped, realize the corner to land resource unit in short supply
Plot, the utilization in narrow depth plot, and traditional underground garage is carried out with nearly four times of parking stall capacity-increasing transformations.
For achieving the above object, the present invention adopts the technical scheme that: a kind of control rearranging combined intelligent parking apparatus
System processed is it is characterised in that described control system includes man machine interface, plc, the limit switch of parking stall lowering or hoisting gear and lifting
Motor, the limit switch of parking stall Traverse Displacement Unit and traversing motor, the proximity switch of parking stall longitudinal-moving device and vertical shift motor, peace
The limit switch of air cock device and safe door motor, superelevation detection photoswitch, overlength detection photoswitch, catching device adhesive are arrived
Position microswitch, man-machine being strayed into detect photoswitch, loose chain detection switch, high-low limit protection switch, overload protective device, phase sequence
Protector, catching device electric magnet, acoustic-optic alarm and converter；The On-off signal signal of plc connects superelevation detection respectively
Photoswitch, overlength detection photoswitch, catching device adhesive put in place microswitch, man-machine be strayed into detection photoswitch, loose chain inspection
Slowdown monitoring switch, high-low limit protection switch, overload protective device and phase sequence relay, simultaneously the On-off signal signal of plc also distinguish
The limit switch of connection parking stall lowering or hoisting gear, the limit switch of parking stall Traverse Displacement Unit, the close of parking stall longitudinal-moving device are left
Close the limit switch with safety-door device；The switching value output signal of plc connect respectively parking stall lowering or hoisting gear lifting motor,
The safe door motor of the traversing motor of parking stall Traverse Displacement Unit, the vertical shift motor of parking stall longitudinal-moving device and safety-door device, with
When plc switching value output signal be also respectively connected with catching device electric magnet, acoustic-optic alarm and converter；The communication of plc connects
Mouth is connected with man machine interface.
Described control system is arranged in rearrangement combination type parking apparatus.Described rearrangement combination type parking apparatus include first
Parking apparatus, full position parking apparatus, switch board, vertical shift vehicle-containing and parking stall b, vertical shift track, cross moving track, man machine interface,
No car room, traversing vehicle-containing and parking stall a.
Control method of the present invention operates according to Part I program and Part II program performing, wherein first
Branch operates following steps:
S101 step: program is run and started；
S102 step: initialization, subsequently into s103 step operation；
S103 step: judging whether device power supply (DPS) is connected, if connecting, entering s104 step operation, otherwise program returns s103 step
Suddenly rejudge whether device power supply (DPS) is connected；
S104 step: carry out system safety detection, subsequently into s105 step operation；
S105 step: judging whether to break down, if breaking down, entering s114 step operation, otherwise enter s106 step behaviour
Make；
S106 step: judging whether that selection carries out non-manual operation, if selecting manual operation, entering
S115 step operation, otherwise enters s107 step operation；
S107 step: determining whether that button selects parking stall or swiping card, if having, entering s108 step, otherwise return s106
Step operation；
S108 step: judge whether selection is one layer of front-seat parking stall, if then entering s109 step operation, otherwise goes to second
The first interface of subprogram, continues executing with the s201 step operation in Part II program；
S109 step: judging whether safety door is opened, if not turning on into s117 step operation, otherwise entering s110 step behaviour
Make；
S110 step: vehicle sails into or rolls away from chooses parking stall vehicle-containing, then carries out s111 step operation；
S111 step: judge to sail vehicle whether superelevation or the overlength choosing parking stall vehicle-containing into, if superelevation or overlength enter s118
Step operation, otherwise enters s112 step operation；
S112 step: determine whether button second selecting parking stall or swipe the card, if not, program returns s106 step and grasped
Make, otherwise enter s113 step operation；
S113 step: safety door is closed, garage resets, and then program returns s104 step and restarts to carry out a new wheel access
Vehicle operating；
S114 step: report to the police in garage, and show fault type in man machine interface, subsequently into s115 step operation；
S115 step: be operated manually, subsequently into s116 step operation；
S116 step: judge whether have selected and carry out non-manual operation, if selecting non-manual operation, program returns s104 step
Restart to carry out a new wheel access vehicle operating, otherwise return s115 step and proceed manual operation；
S117 step: opening safety door, subsequently into s110 step operation；
S118 step: garage report to the police, then program return s111 step repeat superelevation overlength detection judge operation；
Described Part II program has following steps:
S201 step: connect the first interface of Part I program, safety door is closed, and then carries out s202 step operation；
S202 step: judging whether the parking stall chosen in heel row, if then entering s206 step operation, otherwise entering s203 step
Operation；
S203 step: whether the vehicle-containing judging chosen parking stall is at one layer；If the vehicle-containing of chosen parking stall, at one layer, passes through
The s109 step entering Part I program with the second interface of Part I program continues operation, otherwise enters s204 step behaviour
Make；
S204 step: judge whether the lower section of the vehicle-containing of chosen parking stall has vacant position, if having vacant position entrance s205 step operation,
Otherwise enter s210 step operation；
S205 step: choose the vehicle-containing of parking stall to decline, Part I journey is entered by the second interface with Part I program
The s109 step of sequence continues operation；
S206 step: judging whether in front of chosen parking stall be room, if then entering s208 step operation, otherwise entering
S207 step operation；
S207 step: choose the vehicle-containing in front of parking stall to be upper strata, then vehicle-containing rises, and chooses the vehicle-containing in front of parking stall to be
With layer, then vehicle-containing is traversing, subsequently into s208 step operation；
S208 step: the vehicle-containing judging chosen parking stall, whether at one layer, if not at one layer, enters s211 step operation, no
Then enter s209 step operation；
S209 step: choose the vehicle-containing of parking stall to move forward, then Part I journey is entered by the interface with Part I program
The s109 step of sequence continues operation；
S210 step: the vehicle-containing of lower section parking stall is heel row, then move after vehicle-containing, the vehicle-containing of lower section parking stall is front-seat,
Then vehicle-containing is traversing；Continue operation subsequently into s205 step；
S211 step: judge before the vehicle-containing of chosen parking stall, whether lower section has vacant position, if no room, enters s213 step
Operation, otherwise enters s212 step operation；
S212 step: choose the vehicle-containing of parking stall to move forward, continue operation subsequently into s205 step；
S213 step: above the vehicle-containing of lower section is heel row, then move after vehicle-containing；Above the vehicle-containing of lower section is front-seat,
Then vehicle-containing is traversing, chooses the vehicle-containing of parking stall to move forward, subsequently into s205 step operation simultaneously.
The invention has the advantages that: the present invention is by achieving and setting to the design of hardware system and software programming
Count conflict free parallel work-flow, improve out storage.The design is that the warehouse-in that goes out rearranging combined intelligent parking apparatus is grasped
Provide safe and reliable guarantee.Under the Based Intelligent Control of the present invention, rearrange the garage that combined intelligent parking apparatus build
Not only increased parking stall than legacy equipment, by the car that comes in and goes out before traditional lift-sliding parking device build garage thickness 6m, garage
Passage at least 6m width calculates, and after the discrepancy vehicle passage between the two row's parking apparatus removed from, new garage also saves more than 33%
Soil and space resources, substantially increase soil and space availability ratio.For newly-built multi-storied garage or the traditional underground parking of transformation
Provide a preferred version.
Brief description
Fig. 1 is the example structure schematic diagram (omission safety door) rearranging combined intelligent parking apparatus；
Fig. 2 is to rearrange combined intelligent parking equipment control system block diagram；
Fig. 3 is the Part I control program flow chart rearranging combined intelligent parking equipment control system；1. (the first of in figure
Interface) with Fig. 4 1. (first interface) dock, 2. (second interface) of in figure with Fig. 4 2. (second interface) dock；
Fig. 4 is the control program flow chart of the Part II rearranging combined intelligent parking equipment control system；1. (the of in figure
One interface) with Fig. 3 1. (first interface) dock, 2. (second interface) of in figure with Fig. 3 2. (second interface) dock.
In figure label represents: 1. the first parking apparatus；2. complete parking apparatus；3. switch board；4. vertical shift vehicle-containing and stopping
Parking stall b；5. vertical shift track；6. cross moving track；7. man machine interface；8. no car room；9. traversing vehicle-containing and parking stall a；
10.plc；11. parking stall lowering or hoisting gears；12. parking stall Traverse Displacement Units；13. parking stall longitudinal-moving devices；14. safety-door devices；
15. superelevation detection photoswitches；16. overlength detection photoswitches；17. catching device adhesives put in place microswitch；18. man-machine are strayed into
Detection photoswitch；19. loose chain detection switches；20. Upper-lower Limit protection switch；21. overload protective devices；22. phase sequences
Device；23. catching device electric magnet；24. acoustic-optic alarms；25. converters；S101 to s118 is each behaviour of Part I program
Make step；S201 to s213 is each operating procedure of Part II program.
Specific embodiment
Below in conjunction with accompanying drawing, one embodiment of the present of invention is described further:
The operation principle rearranging combined intelligent parking apparatus is as follows: rearranges combined intelligent parking apparatus different by front two rows
The parking apparatus composition of design, the combination type parking apparatus on two-layer three ten parking stalls of row are as shown in Figure 1.For overcoming tradition
Technology cannot utilize the deficiency of narrow and small soil depth space, improve the inner space utilization rate of parking apparatus simultaneously, and heel row designs
For the full position parking apparatus 2 making full use of no car vacancy space, that is, all locus, all as parking stall, do not set no car
The parking apparatus in room.Devise the first parking apparatus 1 that front row has lift-sliding function and vertical shift track simultaneously.By full position
Parking apparatus 2 are combined into one with the first parking apparatus 1, and research and develop corresponding plc intelligent control program, carry out this rearrangement group
The comprehensive coordination management of box-like intelligent parking equipment and control, the sky being formed after traversing using vehicle-containing in the first parking apparatus 1
Between pass through vertical shift and the lifting passage that carries out into car, go out car as heel row full position parking apparatus 2, realize heel row full position parking apparatus
Vehicle in 2 carries out operationies on incoming and outgoing inventory.And the first parking apparatus 1 still carry out vehicle by traditional lift-sliding mode of operation and go out warehouse-in
Operation.
As shown in figure 1, rearrange combination type parking apparatus include the first parking apparatus 1, full position parking apparatus 2, switch board 3,
Vertical shift vehicle-containing and parking stall b 4, vertical shift track 5, cross moving track 6, man machine interface 7, no car room 8, traversing vehicle-containing and stop
Parking stall a 9.Parking stall lowering or hoisting gear 11 is arranged on the traversing framework on more than two layers parking stalls of the first parking apparatus 1 and complete
Position parking apparatus 2 the vertical shift framework on more than two layers parking stalls on, parking stall Traverse Displacement Unit 12 be arranged on the first parking apparatus 1
In, before parking stall longitudinal-moving device 13 is arranged in full position parking apparatus 2, safety-door device 14 is arranged on the first parking apparatus 1
Face.The motor function that vehicle-containing in parking stall is related to includes lifting, traversing, vertical shift three class, but not each vehicle-containing
It is related to these three motions.(1) elevating function block only more than two layers parking stalls of parking apparatus front two rows are related to, by plc 10
The lifting motor in the Traverse Displacement Unit on front-seat parking stall is controlled to realize the lifting of front-seat vehicle-containing；Vertical shift is controlled to arrive by plc 10
The lifting motor on heel row longitudinal-moving device that garage first line center is come realizes the lifting of heel row vehicle-containing.(2) traverse moving function block only has
Front-seat parking stall is just related to, and more than two layers parking stalls control the traversing motor rotation in Traverse Displacement Unit to realize by plc10, one layer
It is then to control the traversing motor rotation on vehicle-containing to realize by plc 10.(3) vertical shift functional device only heel row parking stall just relates to
And, more than two layers parking stalls control the vertical shift motor rotation in longitudinal-moving device to realize by plc 10, and one layer is then by plc
10 control the vertical shift motor rotation on vehicle-containing to realize.
System, to each two layers and with upper strata parking stall, all devises quaternate catching device and carries out static anti-fall guarantor
Shield, devises loose chain detection protection simultaneously.
The control system block diagram rearranging combination type parking apparatus is as shown in Figure 2.Control system is arranged on rearrangement combination type and stops
In vehicle device.Control system includes man machine interface 7, plc 10, the limit switch of parking stall lowering or hoisting gear 11 and lifting motor, stops
The limit switch of parking stall Traverse Displacement Unit 12 and traversing motor, the proximity switch of parking stall longitudinal-moving device 13 and vertical shift motor, safety
The limit switch of door gear 14 and safe door motor, superelevation detection photoswitch 15, overlength detection photoswitch 16, catching device are inhaled
Conjunction put in place microswitch 17, man-machine be strayed into detection photoswitch 18, loose chain detection switch 19, high-low limit protection switch 20, mistake
Carry protector 21, phase sequence relay 22, catching device electric magnet 23, acoustic-optic alarm 24 and converter 25；The switch of plc 10
Amount input signal connects superelevation detection photoswitch 15 respectively, overlength detection photoswitch 16, catching device adhesive put in place, and fine motion is opened
Close 17, man-machine being strayed into and detect photoswitch 18, loose chain detection switch 19, high-low limit protection switch 20, overload protective device 21 and
Phase sequence relay 22, simultaneously the On-off signal signal of plc 10 be also respectively connected with parking stall lowering or hoisting gear 11 limit switch,
The limit switch of parking stall Traverse Displacement Unit 12, the proximity switch of parking stall longitudinal-moving device 13 and the spacing of safety-door device 14 are left
Close；The switching value output signal of plc 10 connects the lifting motor of parking stall lowering or hoisting gear 11, parking stall Traverse Displacement Unit 12 respectively
Traversing motor, the vertical shift motor of parking stall longitudinal-moving device 13 and safety-door device 14 safe door motor, plc 10 simultaneously
Switching value output signal is also respectively connected with catching device electric magnet 23, acoustic-optic alarm 24 and converter 25；The communication of plc 10
Interface is connected with man machine interface 7.
The core of parking equipment control system is a plc, and its input module receives each portion in parking apparatus
The On-off signal signal that the detecting element that position is installed provides, for plc carry out vehicle-containing kinestate or safe condition judge and
Process, and by the switching value output signal of output module to all kinds of motors, catching device, alarm, safety door, converter etc.
It is controlled.
Guidance panel as man machine interface is used for providing bicycle parking, picking up the car to vehicle operator or garage management personnel
Button and swiping card.It also provides for the selection of operator scheme is included with manual, automatic, isotype of swiping the card.
Control system hardware designs:
First, man machine interface and plc design
Using applying Rake parking apparatus man machine interface, it is powered using 24v dc for man machine interface, provides rs232, rs485 communication to connect
Mouthful.There is provided automatically, manually, the operator scheme such as swipe the card, and show in viewing area.The configuration of ic card can be operated by man machine interface
Device completes, and each parking stall can configure three cards.
Man machine interface panel by credit card area, viewing area, button operation area and allows the key switch of work, scram button to open
The composition such as pass.In system design, after entering Setting pattern, can be to plc type, communication mode, ripple by manager's identity
Special rate etc. is selected.It is connected with Omron cp1h-x40dr-a type plc from srk-sh-001 type man machine interface operator,
Communicated with the rs485 mouth carrying on plc main frame, communications parameter can be configured respectively in man machine interface and plc both sides, people
Machine interface operator standby mode shows and is determined by first data address d0 of plc, other operation contents also in plc by corresponding
Data address receives.
Plc Selection of chiller Omron cp1h-x40dr-a, it is powered using 220v ac power supply, and carrying i/o is 24 points of 24v
Dc On-off signal, 16 point relay outputs, can at most extend the i/o module of 7 cpm1a series, up to 320 points i/o；
It is to be communicated with man machine interface, plc main frame option plate slot have selected rs-422a/485 option plate cp1w-cif12.This
Hardware configuration can be used for the rearrangement combination type parking equipment control system of maximum four layer of six row scale.
2nd, motion detection and motor control design
In control system, motion detection and motor control are concentrated mainly on the shifting of lifting, Traverse Displacement Unit and the longitudinal-moving device of vehicle-containing
On dynamic detection controls.The bound of vehicle-containing lifting, the detection of high-low limit movement position and the traversing detection and localization of Traverse Displacement Unit
Limit switch sk8108cg using suketame realizes, and the front limit of longitudinal-moving device, front reduction gear, rear spacing, rear deceleration etc. are vertical
Shifting movement positioning is realized using the e2b-m12kn08-wp-c2 2m proximity switch of Omron, and the loose chain fault of vehicle-containing adopts
The sk7311w pine chain switch of suketame is realized.
Lifting, traversing, vertical shift motor control actuator are selected respectively with Jing reductor manufacturing company
The threephase asynchronous of 2.5kw, 0.2kw, 0.2kw power.These motors are the toothed gearing electric motor of strap brake, by plc
The break-make controlling the catalyst of each of which connection controls its operating, and plc sends when shutting down signal, because having and stopping/fortune
The synchronous brake gear of rotaring signal, can accurately stop motor rotation immediately.
The changed speed operation of vertical shift motor is subject to plc and Frequency Converter Control, and converter adopts the frn0.4g1s-4c of FUJI ELECTRIC,
This is the converter of the panel of a 0.4kw.Vertical shift advance, direction of retreat control signal from plc pass through output switch parameter to
Fwd, rbv terminal of converter sends, and controls the order of frequency conversion also to pass through x1, x2 end to converter for the output switch parameter from plc
Son sends, and provides different operating frequency orders in a binary fashion, and after being connected to this command signal, converter changes three phase mains
Frequency so that vertical shift motor change running speed.In the present system, two operating frequencys are employed, that is, with 60hz after starting
Fast turn-around (frequency conversion parameter setting c1=60), improves the speed of vertical shift, when vertical shift will arrive at, by subtracting
The deceleration detection proximity switch that fast position is installed detects vertical shift and arrives at deceleration position signalling, and send plc process, and plc is to frequency conversion
Device sends frequency conversion order, and the three phase mains frequency that converter changes output is 20hz(frequency conversion parameter setting c2=20), slowly to mesh
Place vertical shift, when arriving at, be arranged on destination and carry out the proximity switch of position detection and vertical shift dress is detected
Put and arrive at vertical shift destination signal, and send plc process, plc cancels the rotating order to converter output, and by controlling
Catalyst disconnects the power supply stopping vertical shift motor, realizes stopping the purpose of vertical shift.
3rd, safe design
Parking apparatus safety door also controls opening and closing by plc.When carrying out in parking apparatus lifting, traversing, vertical shift etc. runs
Before, plc controls safety door to close, and prevents personnel and vehicle to be strayed into garage, to ensure safety.Only selected vehicle-containing is parked in front row
During one layer of wait discrepancy car, safety door is just opened.Safety door open put in place, close the detection putting in place adopt suketame spacing
Switch sk8108cg realizes.
For warehouse-in vehicle, plc control system carries out superelevation, overlength detection by photoswitch, and passes through sound and light alarm
Device is reported to the police.Parking apparatus have also been devised man-machine be strayed into detection warning function, when being in vehicle and going out to put working condition in storage,
Warning lamp is lighted, and system is detected by photoswitch to garage periphery, reminds vehicle or personnel garage beyond this point, once someone
Member or vehicle seek entry into or too close to garage, alarm device ring, man machine interface display alarm.Photoswitch selects outstanding safe
Gram pmf50t-25mrf.
The operation by the break-make controlled motor of control contactor for the plc output, catalyst adopts the lc1e series of Schneider.
Overload protection arrangement 21 adopts the components and parts such as the lre series thermorelay of Schneider to realize, once overload, system will stopping fortune
OK.Phase sequence protective device of computer 22 is have also been devised in system, using the jvr-380w of smart auspicious electric power, in electrical source of power phase shortage, misphase,
Detect immediately, and forbid motor running, to guarantee integral device safety.
System takes protective grounding measure, is mounted with main disconnecting switch, short-circuit protection, is mounted with under-voltage, zero potential, mistake
The protection devices such as pressure.It is provided with emergency stop push button, so that emergency processing is carried out to emergency.As one of security protection detection
Loose, the disconnected fault of loose chain detection switch detection elevating chain, during loose chain switch motion, will by software exigency stop system, and wait existing
Field processes and recovers.
When in case of emergency, pressing emergency stop push button, equipment shuts down immediately, need to contact manager and exclude
After fault, equipment can normally use.
Human-computer interface system adopts 24v dc power supply, to guarantee operator safety.
Control System Software designs
(1) software main flow and development tool
Control System Software is designed with trapezoid figure language to be carried out, and the main flow of software is shown in Fig. 3 and Fig. 4.This software flow
It is also actually the workflow of parking apparatus.Consider the scanning feature that plc program is gone round and begun again, in setting of software sequence flow
Using the control to normally opened contact as the entry condition of job step in flow chart in meter.Initialized first after the upper electricity of plc,
To software, default service condition, data memory etc. recover.Then after parking apparatus is detected and power, that is, enter software
The substantial manipulation part of flow process, by manual operation mode or non-manual operator scheme (including automatic mode and pattern of swiping the card)
Selection judge, carry out different operations and process.In Fig. 3 and Fig. 4, the operating procedure (process) in addition to judgement (decision-making) is all
One sub-process, they also comprise some judgements, branch and operating procedure respectively, and contain the inspection of various safeguard protections
Survey and the response of possible jerk etc..As shown in figure 3, " garage reset " process below flow chart, contain load car wherein
When plate rises reset, to the upper limit detection normally rising this vehicle-containing parking stall positioning, also include and occur vehicle-containing to break through
During the abnormal conditions of the upper limit, spacing detection to limit superior, the open or closed realization in contact is passed through in these detections, so as to making letter
Number circulation, enables certain coil, reaches software and control the purpose that processed of corresponding hardware.
Software adopts the programming language of the cp series of Omron, and the above version software of cx-programmer ver.6.1 is compiled
Journey, can plant instruction, program capacity maximum 20k step using 33 class more than 500.Can be write using debugging operations pattern off-line operation
Program, carries out artificial debugging, and this, to improving software development speed, reduces development cost especially advantageous.Programming software operation platform
For the above dominant frequency of pentiuum 133mhz, the operating system such as windows xp, windows 7, more than 64m internal memory, more than 100m
Hard drive space, more than svga monitor, adopt ab interface usb connecting line between computer and plc as Programme Line.
(2) software design of safeguard protection
Software design takes the method combining with hardware designs, plays the advantage of hardware system to greatest extent.Such as, hard
A kind of static state anti-falling safety device and the anti-fall scheme of corresponding joint is devised in part, the vehicle-containing lifting frame more than two layers
Use near corner, effectively prevent the vehicle-containing rollover event that traditional scheme may occur because of hardware fault.In addition, in order to protect
Card lifting, traversing, vertical shift safety, devise dual limit switch detection on hardware and move into place situation, simultaneously soft
It has been also carried out corresponding design protection in part design.Such as, lifting is devised with the upper limit, lower limit, limit superior, limit inferior etc. up and down
As detection switch, if up putting in place, upper limit limit switch hinders not operating, the also inspection of the second level to two pairs of limit switches for some reason
Slowdown monitoring switch limit superior limit switch works.But if the second re-detection also failure, also can have an accident, therefore
Software devises, according to actual measurement, the control program that software timing turns off (off) motor rotation, absolute on running to ensure
Safety.
Same reason, for the interlocking of rotating etc, in addition to design interlocking on hardware, is also carried out on software
The rotating interlocking design of software is it is ensured that system will not lose safe guarantee because of the fault of hardware.
In parking apparatus, heel row carries out the discrepancy garage journey that warehouse-in increased heel row using front-seat space, thus increasing
Add entry time.Although taking VFC on hardware, improve vertical shift speed, in order to shorten behaviour further
Make the time, conflict will not be produced in operation, it can be avoided that the motion of conflict, be also carried out intelligentized parallel from software
Operational design, as long as parallel work-flow condition is set up, just carries out parallel work-flow.When designing parallel work-flow program, in some places
Do a judgement more, program may execute several sentences more, be apparently repeated, " do not optimize ", but actually utilize
Increase the time saving that the cost less than 1ms has gained more than ten seconds to tens seconds, this is only real optimization.As shown in figure 4,
The software flow in figure upper right corner devises this parallel work-flow.
(3) communication of man machine interface and plc
The rs485 interface that the communication interface of man machine interface and plc is carried using plc main frame, and select with plc in man machine interface respectively
Select setting communication interface and parameter.In communication, both sides have arranged the data storage area d1 ~ d12 of one group of 12 word as man-machine
The data storage address of interface operation, uses when programming for plc.D0 shows for pattern, and d1 shows for parking stall, and d2 is that data is temporary
Deposit, d3 is malfunction coefficient, d4 shows for fault item, d5 shows for parking stall remaining sum, and d6 shows for parking stall row, d7 is to read ic card
Block 2 data, d9=1 starts confirmation key operation for run, and d10=1 exits removing key operation for esc, and the storage content of d11 is 1 to 4
When represent the manual operation of four kinds of upper and lower, left and right respectively, d12 shows for card number.As: the idle screen mode display as d0=1
Display " automatic mode ".D0 represents manual mode, pattern of swiping the card, keystroke pattern, remote control mode respectively for 2 to 5, and in display
Area shows.
D1 is display unit, and d2 is keying input information receiving unit, if the numerical value of input is shown, program
In must have the number in d2 be sent to d1 order that is to say, that d1 be what number just show what number.D3 is fault
Display unit, when there being prefabricated failure code in d3, screen horse back is switched to fault interface and shows prefabricated fault message.Press
Esc clear key will remove d1 to d12 internal memory total data.If d3 faulty section is faulty existing always, pressing esc and removing
Fault cannot be removed after key, will preferentially show fault message.
Claims (2)
1. a kind of control system rearranging combined intelligent parking apparatus is it is characterised in that described control system includes man-machine boundary
Face (7), plc(10), the limit switch of parking stall lowering or hoisting gear (11) and lifting motor, parking stall Traverse Displacement Unit (12) spacing
Switch and spacing the opening of traversing motor, the proximity switch of parking stall longitudinal-moving device (13) and vertical shift motor, safety-door device (14)
Close and safe door motor, superelevation detection photoswitch (15), overlength detection photoswitch (16), the catching device adhesive fine motion that puts in place are opened
Close (17), man-machine being strayed into detects that photoswitch (18), loose chain detection switch (19), high-low limit protection switch (20), overload are protected
Shield device (21), phase sequence relay (22), catching device electric magnet (23), acoustic-optic alarm (24) and converter (25)；Plc(10)
On-off signal signal connect respectively superelevation detection photoswitch (15), overlength detection photoswitch (16), catching device adhesive
The microswitch that puts in place (17), man-machine being strayed into detect photoswitch (18), loose chain detection switch (19), high-low limit protection switch
(20), overload protective device (21) and phase sequence relay (22), plc(10 simultaneously) On-off signal signal be also respectively connected with parking
The limit switch of position lowering or hoisting gear (11), the limit switch of parking stall Traverse Displacement Unit (12), the connecing of parking stall longitudinal-moving device (13)
Nearly switch and the limit switch of safety-door device (14)；Plc(10 switching value output signal) connects parking stall lifting dress respectively
Put the lifting motor of (11), the traversing motor of parking stall Traverse Displacement Unit (12), the vertical shift motor of parking stall longitudinal-moving device (13) and
The safe door motor of safety-door device (14), plc(10 simultaneously) switching value output signal be also respectively connected with catching device electric magnet
(23), acoustic-optic alarm (24) and converter (25)；Plc(10 communication interface) is connected with man machine interface (7).
2. a kind of side being controlled using the control system rearranging combined intelligent parking apparatus as claimed in claim 1
Method it is characterised in that described control method operates according to Part I program and Part II program performing, wherein first
Branch operates following steps:
S101 step: program is run and started；
S102 step: initialization, subsequently into s103 step operation；
S103 step: judging whether device power supply (DPS) is connected, if connecting, entering s104 step operation, otherwise program returns s103 step
Suddenly rejudge whether device power supply (DPS) is connected；
S104 step: carry out system safety detection, subsequently into s105 step operation；
S105 step: judging whether to break down, if breaking down, entering s114 step operation, otherwise enter s106 step behaviour
Make；
S106 step: judging whether that selection carries out non-manual operation, if selecting manual operation, entering s115 step operation, otherwise
Enter s107 step operation；
S107 step: determining whether that button selects parking stall or swiping card, if having, entering s108 step, otherwise return s106
Step operation；
S108 step: judge whether selection is one layer of front-seat parking stall, if then entering s109 step operation, otherwise goes to second
The first interface of subprogram, continues executing with the s201 step operation in Part II program；
S109 step: judging whether safety door is opened, if not turning on into s117 step operation, otherwise entering s110 step behaviour
Make；
S110 step: vehicle sails into or rolls away from chooses parking stall vehicle-containing, then carries out s111 step operation；
S111 step: judge to sail vehicle whether superelevation or the overlength choosing parking stall vehicle-containing into, if superelevation or overlength enter s118
Step operation, otherwise enters s112 step operation；
S112 step: determine whether button second selecting parking stall or swipe the card, if not, program returns s106 step and grasped
Make, otherwise enter s113 step operation；
S113 step: safety door is closed, garage resets, and then program returns s104 step and restarts to carry out a new wheel access
Vehicle operating；
S114 step: report to the police in garage, and show fault type in man machine interface, subsequently into s115 step operation；
S115 step: be operated manually, subsequently into s116 step operation；
S116 step: judge whether have selected and carry out non-manual operation, if selecting non-manual operation, program returns s104 step
Restart to carry out a new wheel access vehicle operating, otherwise return s115 step and proceed manual operation；
S117 step: opening safety door, subsequently into s110 step operation；
S118 step: garage report to the police, then program return s111 step repeat superelevation overlength detection judge operation；
Described Part II program has following steps:
S201 step: connect the first interface of Part I program, safety door is closed, and then carries out s202 step operation；
S202 step: judging whether the parking stall chosen in heel row, if then entering s206 step operation, otherwise entering s203 step
Operation；
S203 step: whether the vehicle-containing judging chosen parking stall is at one layer；If the vehicle-containing of chosen parking stall, at one layer, passes through
The s109 step entering Part I program with the second interface of Part I program continues operation, otherwise enters s204 step behaviour
Make；
S204 step: judge whether the lower section of the vehicle-containing of chosen parking stall has vacant position, if having vacant position entrance s205 step operation,
Otherwise enter s210 step operation；
S205 step: choose the vehicle-containing of parking stall to decline, Part I journey is entered by the second interface with Part I program
The s109 step of sequence continues operation；
S206 step: judging whether in front of chosen parking stall be room, if then entering s208 step operation, otherwise entering
S207 step operation；
S207 step: choose the vehicle-containing in front of parking stall to be upper strata, then vehicle-containing rises, and chooses the vehicle-containing in front of parking stall to be
With layer, then vehicle-containing is traversing, subsequently into s208 step operation；
S208 step: the vehicle-containing judging chosen parking stall, whether at one layer, if not at one layer, enters s211 step operation, no
Then enter s209 step operation；
S209 step: choose the vehicle-containing of parking stall to move forward, then enter first by the second interface with Part I program
The s109 step of branch continues operation；
S210 step: the vehicle-containing of lower section parking stall is heel row, then move after vehicle-containing, the vehicle-containing of lower section parking stall is front-seat,
Then vehicle-containing is traversing；Continue operation subsequently into s205 step；
S211 step: judge before the vehicle-containing of chosen parking stall, whether lower section has vacant position, if no room, enters s213 step
Operation, otherwise enters s212 step operation；
S212 step: choose the vehicle-containing of parking stall to move forward, continue operation subsequently into s205 step；
S213 step: above the vehicle-containing of lower section is heel row, then move after vehicle-containing；Above the vehicle-containing of lower section is front-seat,
Then vehicle-containing is traversing, chooses the vehicle-containing of parking stall to move forward, subsequently into s205 step operation simultaneously.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN106873519A (en) * | 2017-04-25 | 2017-06-20 | 吉林大学 | A kind of tridimensional circulation type garage parking electric control system |
| CN106990748A (en) * | 2017-03-24 | 2017-07-28 | 重庆伊士顿电梯有限责任公司 | Lift-sliding garage control method and system |
| CN107024904A (en) * | 2017-04-27 | 2017-08-08 | 天津市中环富士智能设备有限公司 | A kind of parking apparatus and bootstrap technique with parking automatic guidance function |
| CN107203200A (en) * | 2017-06-19 | 2017-09-26 | 吉林省利源智能机械制造有限公司 | A kind of method and system of long-range monitoring garage failure |
| CN107246169A (en) * | 2017-02-15 | 2017-10-13 | 广东明和智能设备有限公司 | A kind of control system and control method of parking systems automatically storing and taking vehicles |
| CN107905594A (en) * | 2017-12-12 | 2018-04-13 | 南京信息工程大学 | Up-down cross sliding type multi-storied garage control system |
| CN108227612A (en) * | 2018-01-17 | 2018-06-29 | 北京首钢城运控股有限公司 | A kind of mechanical parking equipment based on PLC designs |
| JP2018178521A (en) * | 2017-04-12 | 2018-11-15 | 日本発條株式会社 | Parking device and method of controlling parking device |
| CN108845538A (en) * | 2018-07-09 | 2018-11-20 | 南京超净科技有限公司 | A kind of rotary parking equipment Control System Software |
| CN112180819A (en) * | 2020-08-28 | 2021-01-05 | 陕西隆翔云库控股集团有限公司 | Lifting and transverse moving stereo garage control system and fault processing method based on system |
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| CN106873519A (en) * | 2017-04-25 | 2017-06-20 | 吉林大学 | A kind of tridimensional circulation type garage parking electric control system |
| CN107024904A (en) * | 2017-04-27 | 2017-08-08 | 天津市中环富士智能设备有限公司 | A kind of parking apparatus and bootstrap technique with parking automatic guidance function |
| CN107024904B (en) * | 2017-04-27 | 2023-10-27 | 天津市中环富士智能设备有限公司 | Parking equipment with automatic parking guiding function and guiding method |
| CN107203200A (en) * | 2017-06-19 | 2017-09-26 | 吉林省利源智能机械制造有限公司 | A kind of method and system of long-range monitoring garage failure |
| CN107905594A (en) * | 2017-12-12 | 2018-04-13 | 南京信息工程大学 | Up-down cross sliding type multi-storied garage control system |
| CN108227612A (en) * | 2018-01-17 | 2018-06-29 | 北京首钢城运控股有限公司 | A kind of mechanical parking equipment based on PLC designs |
| CN108845538A (en) * | 2018-07-09 | 2018-11-20 | 南京超净科技有限公司 | A kind of rotary parking equipment Control System Software |
| CN112180819A (en) * | 2020-08-28 | 2021-01-05 | 陕西隆翔云库控股集团有限公司 | Lifting and transverse moving stereo garage control system and fault processing method based on system |
| CN113552838A (en) * | 2021-08-27 | 2021-10-26 | 河南卫华机械工程研究院股份有限公司 | Intelligent garage power-on self-starting safety management method and system |
| CN114165133A (en) * | 2021-11-11 | 2022-03-11 | 张韶明 | Control method of safety door for mine |
| CN114016785A (en) * | 2021-12-07 | 2022-02-08 | 杭州大中泊奥科技股份有限公司 | Random standby moving access method for stereo garage |
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