CN107288394A - The control method and system of a kind of multi-storied garage - Google Patents
The control method and system of a kind of multi-storied garage Download PDFInfo
- Publication number
- CN107288394A CN107288394A CN201710429298.1A CN201710429298A CN107288394A CN 107288394 A CN107288394 A CN 107288394A CN 201710429298 A CN201710429298 A CN 201710429298A CN 107288394 A CN107288394 A CN 107288394A
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- China
- Prior art keywords
- information
- vehicle
- traversing
- parking stall
- storied garage
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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
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/22—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes
Abstract
The invention discloses a kind of control method of multi-storied garage and system, belong to multi-storied garage technical field.The present invention passes through：Receive vehicle according to information of voice prompt and image information to be entered after the information of hoistable platform, control the lifting of hoistable platform that vehicle is delivered into aspect corresponding with section information by controlling lift.After vehicle arrival aspect, by controlling the first transfer robot that vehicle is carried to traversing ride from hoistable platform.Vehicle is being received after hoistable platform enters the information of traversing ride, traversing control signal is being sent to cross sliding machine, controls the traversing of traversing ride that vehicle is delivered into traversing position corresponding with parking stall numbering information by controlling cross sliding machine.After vehicle reaches the traversing position, send second to the second transfer robot and carry control signal, by controlling the second transfer robot that vehicle is carried to the technical scheme of target parking stall from the traversing position, to realize the technique effect quickly stopped.
Description
Technical field
The present invention relates to multi-storied garage technical field, the control method and system of more particularly to a kind of multi-storied garage.
Background technology
With continuing to develop and scientific and technological continuous progress for society, on the one hand, to meet consumption demand, to the goods of the supply of material
The demand of car is gradually increasing；On the other hand, dolly also becomes the common walking-replacing tool of daily life.But, with vehicle
Increase, the thing followed is not only problem of environmental pollution, also the problem of band parking difficulty.And because vehicle is different, soon
It is prompt convenient stopped solution highly desirable into consumer the problem of.
During the present invention is realized, inventor has found that at least there are the following problems：
1. enter behind parking lot, it is impossible to quickly learn the specific parking stall of parking；
2. the wasting of resources or caused to car owner that the vehicle of vehicle in itself may be mismatched and caused with the parking stall found
Unnecessary trouble；
3. it could not be quickly found out the time that car owner is delayed in parking stall therefore because being laid out and understanding to garage.
The content of the invention
It is an object of the invention to provide after vehicle enters parking lot, the specific parking stall of parking is quickly known.
To achieve the above object, the invention provides a kind of control method of multi-storied garage, this method includes：Step 1：
The target parking space information that vehicle enters the multi-storied garage is obtained, target parking stall packet is included：Compile the parking stall of target parking stall
The section information of aspect where number information and the target parking stall.Step 2：Voice is played according to the target parking space information to carry
Show information, and show the image information of the target parking space information and/or the multi-storied garage.Step 3：Receiving vehicle
Entered according to the information of voice prompt and the image information after the information of hoistable platform, elevating control is sent to lift
Signal, to control the lifting of the hoistable platform by controlling the lift, and the vehicle is delivered to and the aspect
The corresponding aspect of information.Step 4：After the vehicle reaches the aspect, send first to the first transfer robot and carry
Control signal, with by controlling first transfer robot that the vehicle is carried into travelling platform from the hoistable platform
Platform.Step 5：The vehicle is being received after the hoistable platform enters the information of the traversing ride, is being sent to cross sliding machine
Traversing control signal, to control the traversing of the traversing ride by controlling the cross sliding machine, and by the vehicle deliver to
The corresponding traversing position of the parking stall numbering information；Step 6：After the vehicle reaches the traversing position, carried to second
Robot sends second and carries control signal, with by controlling second transfer robot by the vehicle from described traversing
Position is carried to the target parking stall..
The technical scheme provided by the present embodiment, can quickly know specific target parking space information.On the one hand, car
Can according to information of voice prompt enter corresponding position；On the other hand, corresponding position can also be entered according to image information
Put.Now, corresponding position refers to hoistable platform.After vehicle enters hoistable platform, the vehicle is sent in full automatic realization
To specific aspect.After vehicle reaches specific aspect, vehicle is carried to horizontal stroke from hoistable platform by the first transfer robot
Traverse table, then vehicle delivered into traversing position by cross sliding machine, finally vehicle is carried from traversing position by the second transfer robot
To target parking stall.In the present embodiment, because car owner can pass through the layout of information of voice prompt and/or image information to garage
Carry out, parking is quickly and easily realized according to corresponding information, saved time and effort.
Further, before the step 1, this method also includes：Step 01：Weight to the vehicle is examined
Survey.Step 02：Judge whether the weight of the vehicle reaches default threshold value.Step 03：When judged result is no, then hold
Row step 1.
The technical scheme provided by the present embodiment, before vehicle enters multi-storied garage, weight is carried out to the vehicle of vehicle
Detection, to prevent the vehicle of Large heavy after multi-storied garage is entered, it has been found that without the awkward of the parking stall that can complete its parking
A word used for translation and worries.
Further, the step 1 is specifically included：Step 11：Information of vehicles is obtained, wherein, the information of vehicles bag
Include：One or more in length information, elevation information and the width information of the vehicle.Step 12：Believed according to the vehicle
Cease and determine at least one parking space information for the vehicle, wherein, each parking space information includes：The parking stall on parking stall
The parking stall section information of parking aspect where number information and the parking stall.Step 13：Judge each parking numbering
Whether the corresponding parking stall of information is in idle state.Step 14：When judged result is to be, then in idle shape
One, which is selected, at least one of the state parking space information is used as the target parking space information.
The technical scheme provided by the present embodiment, can be achieved to make full use of multi-storied garage, and ensure to distribute to vehicle
Target parking stall be idle.
Further, the step 1 specifically also includes：Step 15：When judged result is no, return to step 12, until
The parking stall is idle state, then is defined as the corresponding parking space information in the parking stall in idle state
The target parking space information.
Further, the lift includes：First controller, the first motor, the first blade and first sensor,
The lift controls the method for the hoistable platform lifting to specifically include：Step 31：First controller is according to receiving
The elevating control signal control first motor to rotate.Step 32：The rotation of first motor drives described the
One blade is rotated, and the first sensor gathers the number of revolutions of first blade, obtains the first rotation data.Step 33：
First controller obtains first rotation data, and judges first rotation data and the first threshold pre-set
The size of value, wherein, the distance that the size of the first threshold is lifted according to the hoistable platform is configured.Step 34：
When first rotation data is equal to the first threshold, first controller controls first motor to stop fortune
OK.
The technical scheme provided by the present embodiment, realizes the automatic control that lift controls the hoistable platform lifting
System, and the error for completing to lift is small, it is safe and reliable.
Further, first transfer robot includes：Second controller, the second motor, the second blade and second
Sensor, the method that the vehicle is carried to traversing ride by first transfer robot from the hoistable platform is specific
Including：Step 41：The second controller carries control signal according to receive described first and controls second motor to turn
It is dynamic.Step 42：The rotation of second motor drives second blade to rotate, the second sensor collection described the
The number of revolutions of two blades, obtains the second rotation data.Step 43：The second controller obtains second rotation data,
And judge second rotation data and the size of the Second Threshold pre-set, wherein, the big rootlet of the Second Threshold
The distance that the vehicle is carried to traversing ride from the hoistable platform is configured according to first transfer robot.
Step 44：When second rotation data is equal to the Second Threshold, the second controller controls second motor
It is out of service.
Further, the cross sliding machine includes：3rd controller, three-motor, third blade and 3rd sensor,
The method that the cross sliding machine controls the traversing ride traversing is specifically included：Step 51：3rd controller is according to receiving
The traversing control signal control the 3rd motor to rotate.Step 52：The rotation of the three-motor drives described the
Three blades are rotated, and the 3rd sensor gathers the number of revolutions of the third blade, obtains the 3rd rotation data.Step 53：
3rd controller obtains the 3rd rotation data, and judges the 3rd rotation data and the 3rd threshold pre-set
The size of value, wherein, the size of the 3rd threshold value is configured according to the traversing distance of the traversing ride.Step 54：
When the 3rd rotation data is equal to three threshold value, the 3rd controller controls the three-motor to stop fortune
OK.
Further, second transfer robot includes：4th controller, the 4th motor, quaterfoil and the 4th
Sensor, second transfer robot has the method that the vehicle is carried to the target parking stall from the traversing position
Body includes：Step 61：4th controller carries control signal according to receive described second and controls the 4th motor
Rotate.Step 62：The rotation of 4th motor drives the quaterfoil to rotate, and the 4th sensor collection is described
The number of revolutions of quaterfoil, obtains the 4th rotation data.Step 63：4th controller obtains the described 4th and rotates number
According to, and judge the 4th rotation data and the size of the 4th threshold value pre-set, wherein, the size of the 4th threshold value
The distance that the vehicle is carried to the target parking stall from the traversing position is set according to second transfer robot
Put.Step 64：When the 4th rotation data is equal to four threshold value, the 4th controller control the 4th electricity
Motivation is out of service.
According to another aspect of the present invention, present invention also offers a kind of control system of multi-storied garage, the system bag
Include：Acquisition module：Enter the target parking space information of the multi-storied garage for obtaining vehicle, target parking stall packet is included：
The section information of aspect where the parking stall numbering information of target parking stall and the target parking stall.Playing module：For according to described
Target parking space information plays information of voice prompt.Display module：For showing the target parking space information and/or the solid
The image information in garage.Control module：For being entered according to the information of voice prompt and the image information receiving vehicle
After the information for entering hoistable platform, elevating control signal is sent to lift, to control the liter by controlling the lift
The lifting of platform is dropped, the vehicle is delivered into aspect corresponding with the section information.The control module is additionally operable to：
The vehicle is reached after the aspect, and sending first to the first transfer robot carries control signal, with by controlling described the
The vehicle is carried to traversing ride by one transfer robot from the hoistable platform.The control module is additionally operable to：Institute
State vehicle from the hoistable platform to enter after the traversing ride, traversing control signal is sent to cross sliding machine, with by controlling
State cross sliding machine to control the traversing of the traversing ride, the vehicle is delivered into horizontal stroke corresponding with the parking stall numbering information
Pan position.The control module is additionally operable to：After the vehicle reaches the traversing position, sent to the second transfer robot
Second carries control signal, with by controlling second transfer robot to be carried to the vehicle from the traversing position
The target parking stall.
Further, the system also includes：Detection module：Detected for the weight to the vehicle.Judge mould
Block：For judging whether the weight of the vehicle reaches default threshold value.Performing module：For when judged result for it is no when, then
Enable the acquisition module.
Further, the acquisition module is specifically included：Acquiring unit, for obtaining information of vehicles, wherein, the car
Information includes：One or more in length information, elevation information and the width information of the vehicle.Determining unit, is used for
It is that the vehicle determines at least one parking space information according to the information of vehicles, wherein, each parking space information bag
Include：The parking stall section information of parking aspect where the parking stall numbering information on parking stall and the parking stall.Judging unit：With
Whether idle state is in each corresponding parking stall of number information of stopping of judgement.Selecting unit：Sentence for working as
Disconnected result is when being, then selection one is used as the target at least one described parking space information in idle state
Parking space information.Or,
Call unit, for when judged result is no, the determining unit and the judging unit being called, until sentencing
Break and the parking stall for idle state, then it is the corresponding parking space information in the parking stall in idle state is true
It is set to the target parking space information.
The beneficial effect of the embodiment of the present invention is, the target parking stall of multi-storied garage is entered as a result of acquisition vehicle
Information, information of voice prompt, and the picture of display target parking space information and/or multi-storied garage are played according to target parking space information
Information, after vehicle enters hoistable platform, the lifting of hoistable platform is controlled by lift, will by the first transfer robot
Vehicle is carried to traversing ride from hoistable platform, controls traversing ride traversing by cross sliding machine, vehicle is delivered into traversing position
Put, the vehicle is carried to the technical side of the target parking stall finally by the second transfer robot from the traversing position
Case, on the one hand, realize and quickly know the specific parking stall of parking, and stop the technique effect into specific parking stall；The opposing party
Face, realizes the technique effect for making vehicle enter specific parking stall by full-automatic control method.
Brief description of the drawings
Fig. 1 is a kind of schematic flow sheet of the control method of multi-storied garage provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic flow sheet of the control method for multi-storied garage that another embodiment of the present invention is provided；
Fig. 3 is a kind of schematic flow sheet of the control method for multi-storied garage that another embodiment of the present invention is provided；
Fig. 4 is a kind of schematic flow sheet of the control method for multi-storied garage that another embodiment of the present invention is provided；
Fig. 5 is a kind of schematic flow sheet of the control method for multi-storied garage that another embodiment of the present invention is provided；
Fig. 6 is a kind of schematic flow sheet of the control method for multi-storied garage that another embodiment of the present invention is provided；
Fig. 7 is a kind of schematic flow sheet of the control method for multi-storied garage that another embodiment of the present invention is provided；
Fig. 8 is a kind of structural representation of the control system of multi-storied garage provided in an embodiment of the present invention；
Fig. 9 is a kind of structural representation of the control system for multi-storied garage that another embodiment of the present invention is provided；
Figure 10 is a kind of structural representation of the control system for multi-storied garage that another embodiment of the present invention is provided；
Figure 11 is a kind of structural representation of the control system for multi-storied garage that another embodiment of the present invention is provided.
Embodiment
To make the object, technical solutions and advantages of the present invention of greater clarity, with reference to embodiment and join
According to accompanying drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright scope.In addition, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring this
The concept of invention.
Referring to Fig. 1, Fig. 1 is a kind of schematic flow sheet of the control method of multi-storied garage provided in an embodiment of the present invention.
As shown in figure 1, The embodiment provides a kind of control method of multi-storied garage, this method includes：Step
1：The target parking space information that vehicle enters multi-storied garage is obtained, target parking stall packet is included：The parking stall numbering information of target parking stall
With the section information of aspect where target parking stall.Step 2：Information of voice prompt is played according to target parking space information, and shows mesh
Mark the image information of parking space information and/or multi-storied garage.Step 3：Believed receiving vehicle according to information of voice prompt and picture
Breath enters after the information of hoistable platform, and elevating control signal is sent to lift, to control lifting flat by controlling lift
The lifting of platform, and vehicle is delivered into aspect corresponding with section information.Step 4：After vehicle reaches the aspect, to first
Transfer robot sends first and carries control signal, with by controlling the first transfer robot to remove vehicle from hoistable platform
It is transported to traversing ride.Step 5：Vehicle is being received after hoistable platform enters the information of traversing ride, is sending horizontal to cross sliding machine
Control signal is moved, to control the traversing of traversing ride by controlling cross sliding machine, and vehicle is delivered to and parking stall numbering information pair
The traversing position answered.Step 6：After vehicle reaches the traversing position, send second to the second transfer robot and carry control
Signal, with by controlling the second transfer robot that vehicle is carried into target parking stall from traversing position.
In the present embodiment, vehicle can enter multi-storied garage by way of visual touch screen interface, specifically, can
To carry out the interface of man-machine interaction by way of touch-screen or card reader.Need to stop car into garage or by car from
When garage takes out, bicycle parking or pick-up can also be carried out by way of swiping the card by touch-screen bicycle parking or pick-up.
Preferably, touch-screen is communicated by EIP ether net mode, and card reader is communicated by RS485 modes.It is of course also possible to by upper
Position PC bicycle parking or pick-up.It is understood that PC is data summarization center, controlling alarm processing, and monitoring can be carried out
The alarm failure of whole system and safe operation, to realize operation that system is safe and reliable.When vehicle enters multi-storied garage,
The parking stall numbering information and section information of the target parking space information, i.e. vehicle of vehicle are obtained, such as parking stall numbering information is 03A,
Section information is 2, then the target parking space information for illustrating vehicle is：The 03A parking stalls of the second layer in vertical car garage.Preferably,
Target parking space information is played out by loudspeaker, and how can will reach that the route information of target parking space information is converted to language
Message breath is played out, so that car owner quickly enters corresponding position, so as to realize quick parking.At the same time it can also logical
The image information for crossing display is instructed car owner.Wherein, image information can be target parking space information and multi-storied garage
Two kinds in one kind or target parking space information and stereoscopic garage structure schematic diagram in structural representation.It is appreciated that
, image information includes：Location status of the vehicle in multi-storied garage；Integrality in multi-storied garage (has been stopped
Parking stall and the parking stall in idle condition)；The still turn direction of bootable poster, i.e. vehicle；And warning message
Deng.And respectively by way of automatically controlling, most vehicle delivers to target parking stall at last.Realization is quickly and easily stopped.
Referring to Fig. 2, the flow that Fig. 2 is a kind of control method for multi-storied garage that another embodiment of the present invention is provided is shown
It is intended to.
As shown in Fig. 2 this method also includes：Step 01：Weight to vehicle is detected.Step 02：Judge vehicle
Whether weight reaches default threshold value.Step 03：When judged result is no, then step 1 is performed.
It is well known that either in shared volume, or in the weight of vehicle, lorry is all considerably beyond small
Car.Due to the difference of vehicle, the difference of style, the difference of brand, the weight of vehicle is also naturally otherwise varied.In the present embodiment
In, before vehicle enters multi-storied garage, first the weight to vehicle is detected.In the threshold value and multi-storied garage that now set
The vehicle weight that parking stall can bear is relevant.If the vehicle weight that parking stall can bear is heavier, threshold value can be set
Bigger, if the vehicle weight that parking stall can bear is smaller, threshold value sets smaller.To ensure multi-storied garage and vehicle
Safety.If it is judged that being yes, then illustrate the weight that the weight of vehicle can bear beyond parking stall, then can not allow
Vehicle enters multi-storied garage.If it is judged that being no, then illustrate that the weight of vehicle can bear vehicle weight on parking stall
Within the scope of, then distribute target parking space information for the vehicle.
Referring to Fig. 3, the flow that Fig. 3 is a kind of control method for multi-storied garage that another embodiment of the present invention is provided is shown
It is intended to.
As shown in figure 3, step 1 is specifically included：Step 11：Information of vehicles is obtained, wherein, information of vehicles includes：Vehicle
One or more in length information, elevation information and width information.Step 12：It is that vehicle is determined at least according to information of vehicles
One parking space information, wherein, each parking space information includes：Stopped where the parking stall numbering information on parking stall and parking stall
The parking stall section information of aspect.Step 13：Judge the corresponding parking stall of each parking number information whether in idle shape
State.Step 14：When judged result for when being, then selection one is made at least one parking space information in idle state
For target parking space information.
In the present embodiment, realize and make full use of multi-storied garage, and corresponding car is distributed for different vehicle
Position.Before vehicle enters multi-storied garage, information of vehicles is obtained, information of vehicles includes：The length information of vehicle, height
One or more in information and width information.At least one is distributed according to the length information of vehicle, width information and width information
Individual parking space information.It is understood that the parking space information that may distribute to vehicle is taken by other vehicle, so,
Need whether to judge parking stall in idle state.If it is determined that result show multiple parking stalls be in it is idle
State, then choose the corresponding parking space information in any one parking stall therein as the target parking space information of vehicle.
Referring to Fig. 4, the flow that Fig. 4 is a kind of control method for multi-storied garage that another embodiment of the present invention is provided is shown
It is intended to.
As shown in figure 4, this method also includes：Step 15：When judged result is no, return to step 12, until parking stall
For idle state, then the corresponding parking space information in the parking stall in idle state is defined as the target parking stall and believed
Breath.
In the present embodiment, judgment result displays are worked as, all parking stalls for distributing to vehicle are all accounted for by other vehicles
With, then step 12 is returned again to, is that vehicle determines at least one parking space information again according to information of vehicles, until be allocated
Parking stall is in idle state.It is understood that the method in the embodiment is not endless execution, can be according to reality
Border needs to be configured the corresponding time, i.e., the return to step 12 within certain a period of time, if do not located within the period
In the parking stall of idle state, then inform that car owner finds other multi-storied garages and stopped.
Referring to Fig. 5, the flow that Fig. 5 is a kind of control method for multi-storied garage that another embodiment of the present invention is provided is shown
It is intended to.
Lift includes：First controller, the first motor, the first blade and first sensor.As shown in figure 5, lifting
The method of machine control hoistable platform lifting is specifically included：Step 31：First controller is according to the elevating control signal control received
Make the rotation of the first motor.Step 32：The rotation of first motor drives the first blade to rotate, and first sensor gathers the first leaf
The number of revolutions of piece, obtains the first rotation data.Step 33：First controller obtains the first rotation data, and judges first turn
The size of dynamic data and the first threshold pre-set, wherein, the distance that the size of first threshold is lifted according to hoistable platform is entered
Row is set.Step 34：When the first rotation data is equal to first threshold, the first controller controls the first motor to stop fortune
OK.
In the present embodiment, realized by the method for blade plus sensor when lift controls the lifting of hoistable platform,
Lifting position is positioned.First motor drives the first blade to rotate when rotating, the first blade can cut the first biography when rotating
The pulse of sensor, first sensor gathers the number of revolutions of the first blade, and statistics obtains the first rotation data.It may be appreciated
It is that distance between layers can be arranged to sustained height, but it is also possible to be arranged to different height.According between layers
Height set first threshold, for example, when vehicle is to rise to the second layer from first layer, then the size of first threshold is according to liter
Drop platform rises to the distance between second layer from first layer and is configured, when vehicle is to rise to the 4th layer from first layer, then
The size of first threshold rises to the distance between the 4th layer from first layer according to hoistable platform and is configured.It is understood that
The size of first threshold is different and different because distance between layers, for example, because hoistable platform from first layer rises to second
The distance of layer rises to the distance between the 4th layer less than hoistable platform from first layer, according to distance between first layer and the second layer
The first threshold of setting will necessarily be less than the first threshold set according to distance between first layer and the 4th layer.When the first rotation
When data are equal to first threshold, illustrate that lift has been completed the lifting to hoistable platform, so the first controller controls the
One motor is out of service, so as to realize the stopping to lift lifting action.Of course, it is possible to according to actual demand, the
When one velocity of rotation is close to first threshold, the first controller controls the first motor to be slowed down.For the first motor is stopped
Operation can be using mode of the prior art manually or electrically.
Referring to Fig. 6, the flow that Fig. 6 is a kind of control method for multi-storied garage that another embodiment of the present invention is provided is shown
It is intended to.
First transfer robot includes：Second controller, the second motor, the second blade and second sensor.Such as Fig. 6
Shown, the method that vehicle is carried to traversing ride by the first transfer robot from hoistable platform is specifically included：Step 41：The
Two controllers carry control signal according to first received and control the second motor to rotate.Step 42：The rotation of second motor
The second blade is driven to rotate, second sensor gathers the number of revolutions of the second blade, obtains the second rotation data.Step 43：The
Two controllers obtain the second rotation data, and judge the second rotation data and the size of the Second Threshold pre-set, wherein,
The distance that vehicle is carried to traversing ride according to the first transfer robot by the size of Second Threshold from hoistable platform is carried out
Set.Step 44：When the second rotation data is equal to Second Threshold, second controller controls the second motor out of service.
When the second rotation data is equal to Second Threshold, illustrates that the first transfer robot has been completed and vehicle is removed
Fortune, so second controller controls the second motor out of service, so as to realize the stopping to robot carrying action.
It is understood that the vehicle is carried to the target carriage by the second transfer robot from the traversing position
The method of position is similar, and here is omitted.
Referring to Fig. 7, the flow that Fig. 7 is a kind of control method for multi-storied garage that another embodiment of the present invention is provided is shown
It is intended to.
Cross sliding machine includes：3rd controller, three-motor, third blade and 3rd sensor.As shown in fig. 7, traversing
The method that machine controls traversing ride traversing is specifically included：Step 51：3rd controller is according to the traversing control signal control received
Make the rotation of the 3rd motor.Step 52：The rotation of three-motor drives third blade to rotate, and 3rd sensor gathers the 3rd leaf
The number of revolutions of piece, obtains the 3rd rotation data.Step 53：3rd controller obtains the 3rd rotation data, and judges the 3rd turn
The size of dynamic data and the 3rd threshold value pre-set, wherein, the size of the 3rd threshold value is entered according to the traversing distance of traversing ride
Row is set.Step 54：When the 3rd rotation data is equal to three threshold values, the 3rd controller control three-motor stops fortune
OK.
When the 3rd rotation data is equal to three threshold values, illustrate that cross sliding machine has been completed the traversing of traversing ride, so
3rd controller controls the 3rd motor out of service, so as to realize the stopping to the traversing action of cross sliding machine.
According to another aspect of the present invention, the invention provides one corresponding with a kind of control method of multi-storied garage
Plant the control system of multi-storied garage.
Referring to Fig. 9, Fig. 9 is a kind of structural representation of the control system of multi-storied garage provided in an embodiment of the present invention.
As shown in figure 9, the system includes：Acquisition module：Believe for obtaining vehicle into the target parking stall of multi-storied garage
Breath, target parking stall packet is included：The section information of aspect where the parking stall numbering information of target parking stall and target parking stall.Play
Module：For playing information of voice prompt according to target parking space information.Display module：For display target parking space information and/or
The image information of multi-storied garage.Control module：For receiving vehicle according to information of voice prompt and image information entrance liter
After the information for dropping platform, elevating control signal is sent to lift, to control the liter of hoistable platform by controlling lift
Drop, aspect corresponding with section information is delivered to by vehicle.Control module is additionally operable to：After vehicle reaches the aspect, to the
One transfer robot sends first and carries control signal, with by controlling the first transfer robot by vehicle from hoistable platform
It is carried to traversing ride.Control module is additionally operable to：In vehicle after hoistable platform enters traversing ride, send horizontal to cross sliding machine
Control signal is moved, to control the traversing of traversing ride by controlling cross sliding machine, vehicle is delivered to and parking stall numbering information pair
The traversing position answered.Control module is additionally operable to：After vehicle reaches traversing position, send second to the second transfer robot and remove
Control signal is transported, with by controlling the second transfer robot that vehicle is carried into target parking stall from traversing position.
Referring to Fig. 10, Figure 10 is a kind of structure of the control system for multi-storied garage that another embodiment of the present invention is provided
Schematic diagram.
As shown in Figure 10, the system also includes：Detection module：Detected for the weight to vehicle.Judge module：
For judging whether the weight of vehicle reaches default threshold value.Performing module：For when judged result is no, then enabling and obtaining
Modulus block.
Figure 11 is referred to, Figure 11 is a kind of structure of the control system for multi-storied garage that another embodiment of the present invention is provided
Schematic diagram.
As shown in figure 11, acquisition module is specifically included：Acquiring unit, for obtaining information of vehicles, wherein, information of vehicles
Including：One or more in length information, elevation information and the width information of vehicle.Determining unit, for being believed according to vehicle
Cease and determine at least one parking space information for vehicle, wherein, each parking space information includes：The parking stall numbering information on parking stall
With the parking stall section information of parking aspect where parking stall.Judging unit：For judging that each parking number information is corresponding
Whether parking stall is in idle state.Selecting unit：For when judged result for be when, then in idle state at least
One, which is selected, in one parking space information is used as target parking space information.
Acquisition module is also specifically included：Call unit, for when judged result is no, calling determining unit and judgement
Unit, until judge that the parking stall is idle state, then described stops the parking stall in idle state is corresponding
Parking space information is defined as the target parking space information.
The present invention enters the target parking space information of multi-storied garage by obtaining vehicle；Language is played according to target parking space information
Sound prompt message, and the image information of display target parking space information and/or multi-storied garage；Carried receiving vehicle according to voice
Show that information and image information enter after the information of hoistable platform, elevating control signal is sent to lift, with by controlling to lift
Vehicle is delivered to aspect corresponding with section information by machine to control the lifting of hoistable platform；After vehicle arrival aspect, to
First transfer robot sends first and carries control signal, with by controlling the first transfer robot by vehicle from hoistable platform
On be carried to traversing ride；Vehicle is being received after hoistable platform enters the information of traversing ride, is sending horizontal to cross sliding machine
Control signal is moved, to control the traversing of traversing ride by controlling cross sliding machine, and vehicle is delivered to and parking stall numbering information pair
The traversing position answered；After vehicle reaches traversing position, send second to the second transfer robot and carry control signal, with logical
The technical scheme that vehicle is carried to target parking stall by the second transfer robot of control from traversing position is crossed, vehicle entrance is realized
After multi-storied garage, soon
The present invention enters the target parking space information of multi-storied garage by obtaining vehicle；Language is played according to target parking space information
Sound prompt message, and the image information of display target parking space information and/or multi-storied garage；Carried receiving vehicle according to voice
Show that information and image information enter after the information of hoistable platform, elevating control signal is sent to lift, with by controlling to lift
Vehicle is delivered to aspect corresponding with section information by machine to control the lifting of hoistable platform；After vehicle arrival aspect, to
First transfer robot sends first and carries control signal, with by controlling the first transfer robot by vehicle from hoistable platform
On be carried to traversing ride；Vehicle is being received after hoistable platform enters the information of traversing ride, is sending traversing to cross sliding machine
Control signal, to control the traversing of traversing ride by controlling cross sliding machine, and vehicle is delivered to and parking stall numbering information pair
The traversing position answered；After vehicle reaches traversing position, send second to the second transfer robot and carry control signal, with logical
The technical scheme that vehicle is carried to target parking stall by the second transfer robot of control from traversing position is crossed, vehicle entrance is realized
After multi-storied garage, specific parking stall is quickly known, and corresponding position is quickly reached by information of voice prompt and image information
Put, by the control of automation, so that realizing quickly and easily makes vehicle stop the technique effect into target parking stall.
It should be appreciated that the above-mentioned embodiment of the present invention is used only for exemplary illustration or explains the present invention
Principle, without being construed as limiting the invention.Therefore, done without departing from the spirit and scope of the present invention
Any modification, equivalent substitution and improvements etc., should be included in the scope of the protection.In addition, the appended right of the present invention
It is required that being intended to the whole fallen into scope and border or this scope and the equivalents on border
Change and modifications example.
Claims (10)
1. a kind of control method of multi-storied garage, it is characterised in that methods described includes：
Step 1：The target parking space information that vehicle enters the multi-storied garage is obtained, target parking stall packet is included：Target carriage
The section information of aspect where the parking stall numbering information of position and the target parking stall；
Step 2：Information of voice prompt is played according to the target parking space information, and shows the target parking space information and/or institute
State the image information of multi-storied garage；
Step 3：Receiving after vehicle enters the information of hoistable platform according to the information of voice prompt and the image information,
Elevating control signal is sent to lift, to control the lifting of the hoistable platform by controlling the lift, and by institute
State vehicle and deliver to aspect corresponding with the section information；
Step 4：After the vehicle reaches the aspect, send first to the first transfer robot and carry control signal, with logical
Cross and control first transfer robot that the vehicle is carried into traversing ride from the hoistable platform；
Step 5：The vehicle is being received after the hoistable platform enters the information of the traversing ride, is being sent to cross sliding machine
Traversing control signal, to control the traversing of the traversing ride by controlling the cross sliding machine, and by the vehicle deliver to
The corresponding traversing position of the parking stall numbering information；
Step 6：After the vehicle reaches the traversing position, send second to the second transfer robot and carry control signal,
With by controlling second transfer robot that the vehicle is carried into the target parking stall from the traversing position.
2. the control method of a kind of multi-storied garage according to claim 1, it is characterised in that before the step 1, also
Including：
Step 01：Weight to the vehicle is detected；
Step 02：Judge whether the weight of the vehicle reaches default threshold value；
Step 03：When judged result is no, then step 1 is performed.
3. the control method of a kind of multi-storied garage according to claim 1, it is characterised in that the step 1 is specifically included：
Step 11：Information of vehicles is obtained, wherein, the information of vehicles includes：Length information, elevation information and the width of the vehicle
The one or more spent in information；
Step 12：It is that the vehicle determines at least one parking space information according to the information of vehicles, wherein, each parking
Position information includes：The parking stall section information of parking aspect where the parking stall numbering information on parking stall and the parking stall；
Step 13：Judge whether the corresponding parking stall of each parking number information is in idle state；
Step 14：When judged result is to be, then one is selected at least one described parking space information in idle state
It is individual to be used as the target parking space information.
4. the control method of a kind of multi-storied garage according to claim 3, it is characterised in that the step 1 is specifically also wrapped
Include：
Step 15：When judged result is no, return to step 12, until the parking stall is idle state, then will be in idle
The corresponding parking space information in the parking stall of state is defined as the target parking space information.
5. a kind of control method of multi-storied garage according to any one of claim 1-4, it is characterised in that the lifting
Machine includes：First controller, the first motor, the first blade and first sensor, the lift control the hoistable platform
The method of lifting is specifically included：
Step 31：First controller controls first motor to rotate according to the elevating control signal received；
Step 32：The rotation of first motor drives first blade to rotate, the first sensor collection described the
The number of revolutions of one blade, obtains the first rotation data；
Step 33：First controller obtains first rotation data, and judges first rotation data with setting in advance
The size for the first threshold put, wherein, the distance that the size of the first threshold is lifted according to the hoistable platform is configured；
Step 34：When first rotation data is equal to the first threshold, the first controller control first electricity
Motivation is out of service.
6. the control method of a kind of multi-storied garage according to any one of claim 1-4, it is characterised in that described first
Transfer robot includes：Second controller, the second motor, the second blade and second sensor, first transfer robot
The method that the vehicle is carried into traversing ride from the hoistable platform is specifically included：
Step 41：The second controller carries control signal according to receive described first and controls second motor to turn
It is dynamic；
Step 42：The rotation of second motor drives second blade to rotate, the second sensor collection described the
The number of revolutions of two blades, obtains the second rotation data；
Step 43：The second controller obtains second rotation data, and judges second rotation data with setting in advance
The size for the Second Threshold put, wherein, the size of the Second Threshold according to first transfer robot by the vehicle from
The distance that traversing ride is carried on the hoistable platform is configured；
Step 44：When second rotation data is equal to the Second Threshold, second controller control second electricity
Motivation is out of service.
7. the control method of a kind of multi-storied garage according to any one of claim 1-4, it is characterised in that described traversing
Machine includes：3rd controller, three-motor, third blade and 3rd sensor, the cross sliding machine control the traversing ride
Traversing method is specifically included：
Step 51：3rd controller controls the 3rd motor to rotate according to the traversing control signal received；
Step 52：The rotation of the three-motor drives the third blade to rotate, the 3rd sensor collection described the
Three-vaned number of revolutions, obtains the 3rd rotation data；
Step 53：3rd controller obtains the 3rd rotation data, and judges the 3rd rotation data with setting in advance
The size for the 3rd threshold value put, wherein, the size of the 3rd threshold value is configured according to the traversing distance of the traversing ride；
Step 54：When the 3rd rotation data is equal to three threshold value, the 3rd controller control the 3rd electricity
Motivation is out of service.
8. a kind of control system of multi-storied garage, it is characterised in that the system includes：
Acquisition module：Enter the target parking space information of the multi-storied garage for obtaining vehicle, target parking stall packet is included：
The section information of aspect where the parking stall numbering information of target parking stall and the target parking stall；
Playing module：For playing information of voice prompt according to the target parking space information；
Display module：Image information for showing the target parking space information and/or the multi-storied garage；
Control module：For entering hoistable platform receiving vehicle according to the information of voice prompt and the image information
After information, elevating control signal is sent to lift, to control the lifting of the hoistable platform by controlling the lift,
So that the vehicle is delivered into aspect corresponding with the section information；
The control module is additionally operable to：After the vehicle reaches the aspect, send first to the first transfer robot and carry
Control signal, with by controlling first transfer robot that the vehicle is carried into travelling platform from the hoistable platform
Platform；
The control module is additionally operable to：In the vehicle after the hoistable platform enters the traversing ride, sent out to cross sliding machine
Traversing control signal is sent, to control the traversing of the traversing ride by controlling the cross sliding machine, the vehicle is delivered to
Traversing position corresponding with the parking stall numbering information；
The control module is additionally operable to：After the vehicle reaches the traversing position, second is sent to the second transfer robot
Control signal is carried, with by controlling second transfer robot that the vehicle is carried into the mesh from the traversing position
Mark parking stall.
9. the control system of a kind of multi-storied garage according to claim 8, it is characterised in that the system also includes：
Detection module：Detected for the weight to the vehicle；
Judge module：For judging whether the weight of the vehicle reaches default threshold value；
Performing module：For when judged result is no, then enabling the acquisition module.
10. the control system of a kind of multi-storied garage according to claim 8, it is characterised in that the acquisition module is specific
Including：
Acquiring unit, for obtaining information of vehicles, wherein, the information of vehicles includes：The length information of the vehicle, height are believed
One or more in breath and width information；
Determining unit, for being that the vehicle determines at least one parking space information according to the information of vehicles, wherein, Mei Gesuo
Stating parking space information includes：The parking stall aspect letter of parking aspect where the parking stall numbering information on parking stall and the parking stall
Breath；
Judging unit：For judging whether the corresponding parking stall of each parking number information is in idle state；
Selecting unit：During for being when judged result, then at least one described parking space information in idle state
Selection one is used as the target parking space information；
Or,
Call unit, for when judged result is no, the determining unit and the judging unit being called, until judging institute
Parking stall is stated for idle state, then is defined as the corresponding parking space information in the parking stall in idle state described
Target parking space information.
Priority Applications (1)
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| CN201710429298.1A CN107288394A (en) | 2017-06-08 | 2017-06-08 | The control method and system of a kind of multi-storied garage |
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| CN201710429298.1A CN107288394A (en) | 2017-06-08 | 2017-06-08 | The control method and system of a kind of multi-storied garage |
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| CN201710429298.1A Pending CN107288394A (en) | 2017-06-08 | 2017-06-08 | The control method and system of a kind of multi-storied garage |
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