CN107386730A - A kind of intelligent underground parking garage and its parking method - Google Patents
A kind of intelligent underground parking garage and its parking method Download PDFInfo
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- CN107386730A CN107386730A CN201710586655.5A CN201710586655A CN107386730A CN 107386730 A CN107386730 A CN 107386730A CN 201710586655 A CN201710586655 A CN 201710586655A CN 107386730 A CN107386730 A CN 107386730A
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- vehicle
- parking
- parking stall
- pick
- framework
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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
- E04H6/08—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
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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
- E04H6/08—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
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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
- E04H6/42—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
- E04H6/424—Positioning devices
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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
- E04H6/426—Parking guides
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of intelligent underground parking garage and its parking method, ground is provided with the traversing framework of robot, the traversing framework of robot is provided with can be along the parking robot that horizontal X direction of principal axis moves, the front of underground garage framework is provided with the traversing framework of vehicle to be linked into an integrated entity with each layer of underground garage framework of Vierendeel girder, the traversing framework of vehicle is provided with cross moving track along horizontal X direction of principal axis, cross moving track is provided with the traversing pallet slided along cross moving track, traversing pallet is provided with the vehicle vertical shift dolly moved along horizontal Y direction, the side of underground garage framework is provided with elevator, it is provided with ground and corresponding with elevator transfers mouth.Vehicle can arbitrarily be parked in Transport Vehicle area, have superb stopping technical without driver；Driver and crew do not have to enter underground garage framework with vehicle, and Transport Vehicle can in advance be preengage, save the Transport Vehicle time, improve efficiency.
Description
Technical field
The present invention relates to intelligent parking garage technical field, in particular to a kind of intelligent underground parking garage and its parking method.
Background technology
Need driver that vehicle is reached into underground garage during underground garage Transport Vehicle on the market at present, then be parked in vacant car
On position, or vehicle is outputed from the parking stall of underground garage, be the shortcomings that this Transport Vehicle mode：1st, Transport Vehicle enters simultaneously
OK, the track that garage is supplied to vehicle to travel is narrow, especially in the larger bustling commercial circle of vehicle flowrate, easily causes underground garage
Congestion；2nd, underground garage parking stall narrow space, high to driver driving technical requirements during Transport Vehicle, efficiency is low；3rd, Transport Vehicle
When, vehicle frequent start-stop, low engine speed operation, a large amount of tail gas are given off, ventilation systems in underground car parks is not smooth in addition, causes air to mix
It is turbid, driver and crew's health is had undesirable effect.
The content of the invention
Present invention aim to solve the deficiency of above-mentioned background technology, there is provided one kind is simple in construction, cost is low, stops taking
The intelligent underground parking garage and its parking method of car efficiency high.
In order to achieve this, the intelligent underground parking garage designed by the present invention, include the underground garage frame of Multilayer parking position
Frame and parking robot, it is characterised in that：The ground is provided with the traversing framework of robot, is set on the traversing framework of robot
Having can be provided with and underground garage framework along the parking robot that horizontal X direction of principal axis moves, the front of the underground garage framework
The traversing framework of vehicle that each layer of Vierendeel girder links into an integrated entity, the traversing framework of vehicle are provided with along horizontal X direction of principal axis direction
Cross moving track, the cross moving track are provided with the traversing pallet slided along cross moving track, and the traversing pallet is provided with along horizontal Y
The vehicle vertical shift dolly of direction of principal axis motion, the side of the underground garage framework is provided with elevator, be provided with the ground and
Decentralization mouth corresponding to elevator；Every layer of parking stall of the underground garage framework is comb-tooth-type parking stall, the lifting electricity
Comb-tooth-type parking stall also is provided with ladder, the comb-tooth-type parking stall includes two faces and the car in gap with parking stall ground be present
Position fishback, is provided with vertical shift trolley track between the parking stall fishback.
Specifically, the traversing framework of robot includes more vertical support bars being arranged on ground and is fixed on vertically
Support bar top, the two frame girders being parallel to each other, the parking robot are arranged on two frame girders.The traversing frame of robot
Frame may be disposed on any ground space, and bottom overhead, not influence vehicle pass-through, and it is convenient to set up, applied widely, especially suitable
For urban ground layer.
Specifically, the vehicle vertical shift dolly includes the vertical shift trolley body that bottom is provided with roller, the vertical shift dolly sheet
The front and rear sides of body are respectively equipped with a dolly broach panel assembly corresponding with the front wheels and rear wheels of vehicle, the dolly fishback
Device includes dolly fishback, front and rear can included with respect to the first support frame and the second support frame that slide, the dolly fishback
Broach supporting plate and more broach bars being fixed at left and right sides of broach supporting plate, the rear portion of first support frame is fixed with liter
Motor drops, and the lifting motor is connected with the ball screw coaxial with the first support frame, second support frame
Front portion is provided with the feed screw nut coordinated with ball screw, and being connected to first at left and right sides of the front end of first support frame cuts
Formula link assembly, the rear end left and right sides of second support frame are connected to the second scissors link assembly, and described first cuts
Formula link assembly is hinged including one end with vertical shift trolley body, the first be hinged lower link of the front end of the other end and the first support frame
It is hinged with one end and the first support frame, the first upper connecting rod that the other end is hinged with broach supporting plate, the fishback is located at vertical shift
Above trolley body, the second scissors link assembly is hinged including one end with vertical shift trolley body, the other end and the second support
The second be hinged lower link of the rear end of frame and one end are hinged with the second support frame, the other end it is be hinged with broach supporting plate second on
Connecting rod.
Specifically, the parking robot includes the guide rail that can be moved along the top horizontal X-direction of the traversing framework of vehicle
Big mechanism of car；The big mechanism of car upper end of guide rail is provided with the guide rail trolley body that can be moved along horizontal Y direction；The guide rail
The vertical telescopic frame that can be moved along vertical Z-direction is connected with trolley body；The vertical telescopic frame bottom is hinged with pick-up
Manipulator；The vertical telescopic frame top is connected with the retractable driving device that its can be driven flexible, consolidates on the pick-up manipulator
Surely there is the rotating driving device of its rotation of driving.
More specifically, the big mechanism of car of the guide rail includes the X direction guiding rails and cart for being arranged at the traversing frame roof of vehicle；Institute
Cart is stated to be slidably connected with X direction guiding rails；The guide rail trolley body be fixed in the cart upper end and with the X direction guiding rails
It is mutually perpendicular to arrange；The guide rail trolley body includes vertically being fixed in the big mechanism of car upper end of guide rail and mutually hung down with X direction guiding rails
Straight Y-direction guide rail；Dolly is slidably connected with the Y-direction guide rail；The vertical telescopic frame is vertically consolidated with dolly
Fixed connection.
Specifically, the vertical telescopic frame includes multiple coaxially arranged flexible sections；Two of two neighboring section stretch
Casing coupling section slip cap load connects.
Specifically, the rotating driving device includes rotationally supporting and rotary driving source；It is described to rotationally support including mutual
Coaxially be hinged interior support ring and external support circle；The bottom of the interior support ring and vertical telescopic frame is affixed；The rotation driving
Source includes being fixed on the motor on pick-up manipulator top, and the output end of the motor is connected with active worm screw, described
Active worm-drive is combined with driven worm gear；Pick-up robot top, top and external support are fixed in the driven worm gear bottom
Enclose affixed.
Specifically, the pick-up manipulator includes the clamping device movable stand for being articulated with vertical telescopic frame bottom；The rotation
Rotary driving device is fixed at the top of clamping device movable stand；The clamping device movable stand includes horizontal upper frame and vertical bracket；
The affixed vertical bracket in the both sides of the horizontal upper frame along its length；The vertical bracket bottom is slidably connected with can edge
The clamping device that automobile axial direction slides, the both ends of the clamping device are hingedly connected with clamping bar.
Parking method based on a kind of intelligent underground parking garage described above, it is characterised in that：Comprise the following steps：
Step 1：Driver drives automobile into Transport Vehicle area, arbitrarily parks, and gets off and is left after shutting car door；
Step 2：Parking robot is captured automobile by the information of vehicles obtained from identifying system, adjusts automobile side
Automobile is placed in elevator backward；
Step 3：If the B1 of underground garage framework has vacant parking stall, elevator carries automobile along vertical Z axis
Automobile is transferred to one layer of underground garage framework by direction motion, and the traversing pallet of B1 is moved to finger along horizontal X direction of principal axis
Before determining vacant parking stall, then moved by vehicle vertical shift dolly, automobile is placed on parking stall, then vehicle is indulged along horizontal Y direction of principal axis
Move on dolly counter motion to traversing pallet；
If the B1 of underground garage framework does not have vacant parking stall, elevator carries automobile along vertical Z-direction
Move to the underground garage ccf layer with vacant parking stall, the traversing pallet equipped vehicle vertical shift dolly edge of corresponding parking stall layer
Horizontal X direction of principal axis moves to elevator position, traversing pallet with after elevator flat bed, vehicle vertical shift dolly is along horizontal Y-axis
Direction moves to elevator, carries automobile and is indulged along horizontal Y direction counter motion to traversing pallet, traversing pallet equipped vehicle
Move dolly and automobile and move to vacant parking stall along horizontal X direction of principal axis, vehicle vertical shift dolly carries automobile along horizontal Y direction of principal axis
Parking stall is moved to, automobile is placed on parking stall, parking is completed in last vehicle vertical shift dolly counter motion to traversing pallet.
Specifically, the identifying system in the step 2 is for the vehicle identification system based on fixed radar or based on optical picture
The vehicle identification system of picture or the vehicle identification system based on fixed radar and movable radar.
When identifying system is the vehicle identification system based on fixed radar：Driver will treat that parking is put and drive into parking area
And arbitrarily park, radar scanner scans whole parking area, obtains cloud data, and industrial computer extracts the outline of the vehicle
And handle and obtain position coordinates and the parking stall angle of the vehicle；Industrial computer will handle the obtained vehicle location coordinate, parking stall angle
It is sent to host computer；Host computer driving pick-up manipulator is moved to vehicle location to be stopped and the corresponding parking stall angle of rotation, clamping
Treat parking to elevator.
When identifying system is the vehicle identification system based on optical imagery：Driver will treat that parking is put and drive into code
Change the parking area of pattern and arbitrarily park, treat that parking obtains vehicle image size and uploaded in industrial camera shooting parking area
To host computer；Host computer obtains vehicle full size according to the imaging scale of vehicle image size × industrial camera and obtains vehicle
The coordinate value of each point in parking area coordinate system, after above-mentioned vehicle full size and the coordinate value each put processing
Obtain treating position coordinates and parking stall angle of the parking in parking area；Industrial computer will handle obtained vehicle location seat
Mark, parking stall angle are sent to host computer；Host computer driving pick-up manipulator is moved to vehicle location to be stopped and the corresponding car of rotation
Parallactic angle, pick-up manipulator, which declines, realizes that vehicle captures；During pick-up manipulator declines, single line laser radar is entered to full car simultaneously
Row scanning, the centre coordinate for checking pick-up manipulator overlap with vehicle center coordinate, the angle of pick-up manipulator and parking stall angle one
Cause and overall width is without departing from pick-up Robot actions scope, clamp and treat parking to elevator.
When identifying system is the vehicle identification system based on fixed radar and movable radar：Driver will treat that parking is put
Drive into parking area and arbitrarily park, radar scanner scans whole parking area, obtains cloud data, and industrial computer extracts the car
Outline and processing obtain position coordinates and the parking stall angle of the vehicle；Industrial computer will handle obtained vehicle location seat
Mark, parking stall angle are sent to host computer；Host computer driving pick-up manipulator is moved to vehicle location to be stopped and the corresponding car of rotation
Parallactic angle, pick-up manipulator, which declines, realizes that vehicle captures；During pick-up manipulator declines, single line laser radar is entered to full car simultaneously
Row scanning, the centre coordinate for checking pick-up manipulator overlap with vehicle center coordinate, the angle of pick-up manipulator and parking stall angle one
Cause and overall width is without departing from pick-up Robot actions scope, clamp and treat parking to elevator.
The beneficial effects of the invention are as follows：Vehicle can arbitrarily be parked in Transport Vehicle area, have superb parking skill without driver
Art；Driver and crew do not have to enter underground garage framework with vehicle, and Transport Vehicle can in advance be preengage, save the Transport Vehicle time, carry
High efficiency；It is fast to access vehicle speed, and upgrading can be carried out to existing underground garage framework, increases parking stall quantity, into
This is low, has good practicality and market application value.
Brief description of the drawings
Fig. 1 is the top view of the traversing framework of robot on ground in the present invention；
Fig. 2 is the top view of underground garage framework in the present invention；
Fig. 3 is the front view of underground garage framework in the present invention；
Fig. 4 is the intelligent integrally-built left view of underground garage framework designed by the present invention；
Fig. 5 is the top view of vehicle vertical shift dolly in the present invention；
Fig. 6 is the front view of vehicle vertical shift dolly in the present invention；
Fig. 7 is that vehicle vertical shift dolly lifts the front view that automobile enters parking stall in the present invention；
Fig. 8 is that vehicle vertical shift dolly lifts the top view that automobile enters parking stall in the present invention；
Fig. 9 is that parking robot is located at the front view on the traversing framework of vehicle in the present invention；
Figure 10 is that parking robot is located at the top view on the traversing framework of vehicle in the present invention；
Figure 11 is the pick-up manipulator front view of parking robot clamping device in the present invention；
Figure 12 is the rotating driving device schematic diagram of parking robot clamping device in the present invention；
Figure 13 is the top view of the vehicle identification system based on fixed radar in the present invention；
Figure 14 is the parking area schematic diagram of the vehicle identification system of the vehicle identification system based on fixed radar in the present invention；
Figure 15 is the parking area single line thunder of the vehicle identification system of the vehicle identification system based on fixed radar in the present invention
Up to scanning means position view；
Figure 16 is that the parking area coordinate of the vehicle identification system of the vehicle identification system based on fixed radar in the present invention turns
Change principle；
Figure 17 is the radar scanner of the vehicle identification system of the vehicle identification system based on fixed radar in the present invention
Front view；
Figure 18 is the radar scanner of the vehicle identification system of the vehicle identification system based on fixed radar in the present invention
Top view；
Figure 19 is the single line laser radar installation of the vehicle identification system based on fixed radar and movable radar in the present invention
Position view；
Figure 20 is the top view of the vehicle identification system based on optical imagery in the present invention；
Figure 21 is the single industrial camera working state schematic representation of the vehicle identification system based on optical imagery in the present invention
One；
Figure 22 is the single industrial camera working state schematic representation of the vehicle identification system based on optical imagery in the present invention
Two；
Wherein, 1-underground garage framework, the big mechanism of car of 2-guide rail (2.1-X direction guiding rails, 2.2-cart), 3-guide rail
Trolley body (3.1-Y-direction guide rail, 3.2-dolly), 4-vertical telescopic frame (4.1-section of stretching), 5-rotating driving device
(5.1-rotationally support, 5.1-1-interior support ring, 5.1-2-external support circle, 5.2-rotary driving source, 5.2-1-driving electricity
Machine, 5.2-2-active worm screw, 5.2-3-driven turbine wheel), 6-pick-up manipulator (610-clamping device movable stand, 620-folder
Hold device, 621-clamping bar), 7-automobile, the traversing framework of 8-vehicle, 9-cross moving track, 10-traversing pallet, 11-vehicle indulges
Shifting dolly (11.1-vertical shift trolley body, 11.2-dolly fishback, the 11.3-the first support frame, the 11.4-the second support frame,
11.5-lifting motor, 11.6-ball screw, 11.7-feed screw nut, the 11.8-the first scissors link assembly,
11.9-the second scissors link assembly), 12-elevator, 13-retractable driving device, the traversing framework of 14-robot, 15-
Parking area, 16-number plate machine, 17-radar scanner (17.1-support, 17.2-motor, 17.3-laser thunder
Up to), 18-industrial camera, 19-single line laser radar, 20-single line radar scanner, 21-broach supporting plate, 22-comb
Ratch, the 23-the first lower link, the 24-the first upper connecting rod, the 25-the second lower link, the 26-the second upper connecting rod, 27-parking stall comb
Tooth plate, 28-vertical shift trolley track (28.1-vertical shift carriage walking track, 28.2-vertical shift dolly guide rail), 29-close
Switch, 30-sensor block, 31-lifting directive wheel, 32-vertical shift directive wheel, 33-trolley idler wheels, A1- parking stalls angle, B1- backsights
Mirror position, C1- front wheel positions, L1- vehicle commander, D1- rear wheel positions, W1- overall width, W- pick-up Robot actions region, (X1,
Y1)-vehicle coordinate.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Intelligent underground parking garage as shown in Fig. 1-4, including the underground garage framework 1 of Multilayer parking position and parking machine
People, ground are provided with the traversing framework 14 of robot, and the traversing framework 14 of robot is provided with the parking that can be moved along horizontal X direction of principal axis
Robot, the front of underground garage framework 1 are provided with the vehicle to be linked into an integrated entity with each layer of underground garage framework 1 of Vierendeel girder
Traversing framework 8, along horizontal X direction of principal axis direction, provided with cross moving track 9, (the traversing framework 8 of vehicle has the traversing framework 8 of vehicle for one
The general frame of sandwich construction links into an integrated entity with underground garage framework 1), cross moving track 9 is provided with and slided along cross moving track 9
Traversing pallet 10, traversing pallet 10 is provided with the vehicle vertical shift dolly 11 that is moved along horizontal Y direction, underground garage framework 1
Side be provided with elevator 12, be provided with ground it is corresponding with elevator 12 decentralization mouth.The traversing framework 14 of robot includes
More vertical support bars being arranged on ground and the two frame girders for being fixed on vertical support bar top, being parallel to each other, it is described
Parking robot is arranged on two frame girders.1 each floor of underground garage framework is along the length direction of underground garage framework 1
Parking stall is interval with, horizontal X direction of principal axis is the length direction of underground garage framework 1, horizontal Y direction of principal axis and parking stall axis
It is located along the same line, the vertical Z-direction is the short transverse of underground garage framework 1.
As shown in Fig. 5-8, vehicle vertical shift dolly 11 includes the vertical shift trolley body 11.1 that bottom is provided with roller, and vertical shift is small
The front and rear sides of car body 11.1 are respectively equipped with a dolly broach panel assembly corresponding with the front wheels and rear wheels of vehicle, dolly comb
Toothed plate device include dolly fishback 11.2, can front and rear relative the first support frame 11.3 and the second support frame 11.4 slided, institute
The more broach bars 22 that dolly fishback 11.2 includes broach supporting plate 21 and is fixed on the left and right sides of broach supporting plate 21 are stated, the
The rear portion of one support frame 11.3 is fixed with lifting motor 11.5, and lifting motor 11.5 is connected with and the first support frame
11.3 coaxial ball screws 11.6, the front portion of the second support frame 11.4 are provided with the feed screw nut coordinated with ball screw 11.6
11.7, the front end left and right sides of the first support frame 11.3 is connected to the first scissors link assembly 11.8, the second support frame
The second scissors link assembly 11.9 is connected at left and right sides of 11.4 rear end, the first scissors link assembly 11.8 includes one end
It is be hinged with vertical shift trolley body 11.1, the first be hinged lower link 23 of the front end of the other end and the first support frame 11.3 and one end and
First support frame 11.3 is be hinged, and the first upper connecting rod 24 that the other end is hinged with broach supporting plate 21, fishback 11.2 is located at vertical shift
The top of trolley body 11.1, it is be hinged with vertical shift trolley body 11.1 that the second scissors link assembly 11.9 includes one end, the other end with
The second be hinged lower link 25 of the rear end of second support frame 11.4 and one end and the second support frame 11.4 are be hinged, the other end and broach
The second be hinged upper connecting rod 26 of supporting plate 21.Every layer of parking stall of underground garage framework 1 is comb-tooth-type parking stall, elevator
Comb-tooth-type parking stall also is provided with 12, comb-tooth-type parking stall includes two faces and the parking stall comb in gap with parking stall ground be present
Tooth plate 27, more broach bars are interval with parking stall fishback 27, vertical shift trolley track 28 is provided between parking stall fishback 27, indulge
Move trolley track 28 and be located at the lower section of parking stall fishback 27.Vertical shift trolley track 28 includes the vertical shift dolly coordinated with trolley idler wheels 33
Walking track 28.1 and the vertical shift dolly guide rail 28.2 coordinated with vertical shift directive wheel 32.The both sides of second support frame 11.4
Groove is provided with, the both sides of the first support frame 11.3 are provided with lifting directive wheel 31, and lifting directive wheel 31 is located in groove, lifts directive wheel 31
Coordinate the motion of the first support frame 11.3 and the second support frame 11.4, stop motion after being contacted with proximity switch 29, while with sense
The information that struts for the link assembly that block 30 receives is answered to coordinate the position for determining broach supporting plate 21, so that it is guaranteed that dolly fishback
11.2 with the position relationship of parking stall fishback 27, it is ensured that automobile 7 falls on parking stall fishback 27.
As shown in Fig. 9-12, parking robot includes to lead along what the top horizontal X-direction of the traversing framework of vehicle was moved
The big mechanism of car 2 of rail；The big upper end of mechanism of car 2 of guide rail is provided with the guide rail trolley body 3 that can be moved along horizontal Y direction；Guide rail is small
The vertical telescopic frame 4 that can be moved along vertical Z-direction is connected with mechanism of car 3；The bottom of vertical telescopic frame 4 is hinged with pick-up machinery
Hand 6；The top of vertical telescopic frame 4 is connected with the retractable driving device 13 that its can be driven flexible, and driving is fixed with pick-up manipulator 6
Its rotating driving device 5 rotated.The big mechanism of car 2 of guide rail includes being arranged at the He of X direction guiding rails 2.1 of the traversing frame roof of vehicle
Cart 2.2；Cart 2.2 and X direction guiding rails 2.1 are slidably connected；Guide rail trolley body 3 be fixed in the upper end of cart 2.2 and with X to
Guide rail 2.1 is mutually perpendicular to arrange；Guide rail trolley body 3 include it is vertical be fixed in the big upper end of mechanism of car 2 of guide rail and with X direction guiding rails
2.1 orthogonal Y-direction guide rails 3.1；Dolly 3.2 is slidably connected with Y-direction guide rail 3.1；Vertical telescopic frame 4 is along vertical side
It is fixedly connected to dolly 3.2.Vertical telescopic frame 4 includes multiple coaxially arranged flexible sections 4.1；The two of two neighboring section
The individual slip cap load of flexible section 4.1 connects.Rotating driving device 5 includes rotationally supporting 5.1 and rotary driving source 5.2；Rotation branch
Hold 5.1 interior support ring 5.1-1 and external support the circle 5.1-2 for including mutually coaxially being hinged；Interior support ring 5.1-1 and vertical telescopic
The bottom of frame 4 is affixed；Rotary driving source 5.2 includes the motor 5.2-1 for being fixed on the top of pick-up manipulator 6, motor
5.2-1 output end is connected with active worm screw 5.2-2, and active worm screw 5.2-2 transmissions are combined with driven worm gear 5.2-3；Driven snail
Wheel 5.2-3 is fixed on pick-up robot top in bottom, and top and external support circle 5.1-2 are affixed.Pick-up manipulator 6 includes being articulated with
The clamping device movable stand 610 of the bottom of vertical telescopic frame 4；Rotating driving device 5 is fixed on the top of clamping device movable stand 610；
Clamping device movable stand 610 includes horizontal upper frame and vertical bracket；The affixed vertical support in the both sides of horizontal upper frame along its length
Frame；Vertical bracket bottom is slidably connected with the clamping device 620 that can be slided along automobile axial direction, clamping device 620
Both ends are hingedly connected with clamping bar 621.
Parking method based on a kind of above-mentioned intelligent underground parking garage, it is characterised in that：Comprise the following steps：
Step 1：Driver drives automobile 7 into Transport Vehicle area, arbitrarily parks, and gets off and is left after shutting car door；
Step 2：Parking robot adjusts automobile 7 by being captured from the information of vehicles that identifying system is obtained by automobile 7
Automobile 7 is placed in elevator 12 behind direction；
Step 3：If the B1 of underground garage framework 1 has a vacant parking stall, elevator 12 carries automobile 7 along perpendicular
Automobile 7 is transferred to one layer of underground garage framework by straight Z-direction motion, and the traversing pallet 10 of B1 is along horizontal X direction of principal axis
Before being moved to specified vacant parking stall, then moved along horizontal Y direction by vehicle vertical shift dolly 11, automobile 7 be placed on parking stall,
Then on the counter motion of vehicle vertical shift dolly 11 to traversing pallet 10；
If the B1 of underground garage framework 1 does not have vacant parking stall, elevator 12 carries automobile 7 along vertical Z axis
Direction moves to the underground garage ccf layer with vacant parking stall, the equipped vehicle vertical shift of traversing pallet 10 of corresponding parking stall layer
Dolly 11 moves to elevator position along horizontal X direction of principal axis, traversing pallet 10 with after the flat bed of elevator 12, vehicle vertical shift is small
Car 11 moves to elevator 12 along horizontal Y direction, carries automobile 7 along horizontal Y direction counter motion to traversing pallet 10,
Traversing the equipped vehicle vertical shift dolly 11 of pallet 10 and automobile 7 move to vacant parking stall, vehicle vertical shift dolly along horizontal X direction of principal axis
11 carrying automobiles 7 move to parking stall along horizontal Y direction, automobile 7 are placed on parking stall, last vehicle vertical shift dolly 11 is anti-
Parking is completed on traversing pallet 10 to moving to.
After robot is stopped in step 2 by capturing automobile 7 from the information of vehicles that identifying system is obtained, parking machine
After device people can adjust the direction of automobile 7 and crawl height, directly there is the parking tier of vacant parking stall in decentralization to underground garage framework 1
Vehicle vertical shift dolly 11 on, vacant parking stall is moved to along horizontal X direction of principal axis by the traversing pallet 10 of this layer, by vehicle vertical shift
Dolly 11 carries automobile 7 and moved along horizontal Y direction of principal axis, and after automobile 7 is positioned over into parking stall, then counter motion is to traversing pallet 10
On.
Pick-up process is with parking on the contrary, after driver's vehicle collection reservation, and automobile 7 is in traversing pallet 10, the and of vehicle vertical shift dolly 11
Under the cooperation of elevator 12, by the vehicles drive on specified parking stall to upper strata road surface, then by pick-up manipulator 6 vehicle is captured
It is placed on Transport Vehicle area.
From the structural representation of the vehicle identification system based on fixed radar shown in Figure 13 to Figure 18, including vehicle
Traversing framework 8 and pick-up manipulator 6；Also car in parking area 15 is obtained including the parking area 15 for parking cars, for scanning
The radar scanner 17 of position coordinates and the host computer for controlling pick-up manipulator 6 to work；Parking area 15 is along its length
Direction is provided at both ends with radar scanner 17；It is disposed with the long side of parking area 15 multiple for obtaining vehicle tire center
The single line radar scanner 20 of point；Height of the laser emission point of single line radar scanner 20 apart from ground is less than 100 millis
Rice；The Laser emission line of single line radar scanner 20 is parallel to level ground；Radar scanner 17 includes support 17.1, driven
Dynamic motor 17.2 and laser radar 17.3；Motor 17.2 is vertically fixed in the upper end of support 17.1；Motor 17.2 it is defeated
Go out end to be connected with laser radar 17.3；Number for obtaining automotive license plate in parking area 15 is also connected with the traversing framework 8 of vehicle
Board machine 16.The vehicle storage method of vehicle identification system based on fixed radar is：Utilize the point Yun Hewei of whole parking area 15
Relatively show that vehicle is located at the position coordinates of parking area 15 in the altitude data of the point cloud of vehicle in parking area 15；Pick-up manipulator
6 capture vehicle according to above-mentioned vehicle location coordinate is put in elevator 12.Vehicle location coordinate positioned at parking area 15 obtains
Take method as follows：Two radar scanners 17 collaboration scanning on the traversing framework 8 of vehicle obtains the foreign steamer of whole parking area 15
Wide cloud data and in parking area 15 vehicle the outline cloud data (elevation of the outline cloud data of parking area 15
Height value of the value not equal to the outline cloud data of vehicle), and send data processing equipment to；Data processing equipment according to than
The high level of the outline cloud data of vehicle is by above-mentioned institute compared with the outline cloud data of parking area 15 and in parking area 15
There are data to be divided into ground data and non-ground data, and non-ground data is projected into ground using Shadow marks (because working as
When parking area 15, the ground for just necessarily having a panel region can not be arrived vehicle by laser scanning, and be crossed in laser
When vehicle is scanned to ground again, it is equivalent to vehicle and forms a shadow region on the ground)；Data processing equipment
Whether the shadow shapes that ground is projected to by more non-ground data meet vehicle outline so that it is determined that vehicle is positioned at parking
The position coordinates in area 15 (while using effective cloud data in vehicle region, is repaiied to data such as the length and width height of vehicle
Just)；Data processing equipment includes host computer and industrial computer；Host computer receives the whole parking area 15 that industrial computer transmits
Outline cloud data and outline cloud data positioned at vehicle in parking area 15 and after judging, first by non-ground number
A rectangle in horizontal plane is obtained according to ground data (shade) is projected as；Pass through the cornerwise intersection point of rectangle
Determine the position coordinates of vehicle；The parking stall of vehicle is determined by the angle of rectangular central axis and the internal coordinate system of parking area 15
Angle；The position that vehicle is located in parking area 15 is determined by the position coordinates and parking stall angle of vehicle；Industrial computer will handle what is obtained
The vehicle location coordinate, parking stall angle are sent to host computer；PC control pick-up manipulator 6 captures vehicle.Specific steps bag
Include：Step 1, driver will treat that parking is put and drive into parking area 15 and arbitrarily park, when parking area 15 is driven into parking, number
Board machine 16 obtains number plate of vehicle；Step 2, vehicle come to a complete stop after driver leaves, the band of motor 17.2 of radar scanner 17
The dynamic scanning of laser radar 17.3 obtains the outline data to park cars and sends the data to host computer by industrial computer；Step
Rapid three, host computer obtains parking cars position coordinates and car in parking area 15 after handling the outline data
Parallactic angle；Step 4, host computer driving pick-up manipulator 6 are moved to park cars position and the corresponding parking stall angle of rotation, clamping
Park cars and make it into elevator 12；When park cars there is no number plate when, host computer assign this park cars one it is unique
Vehicle code name.Parking area 15, which is one, in technical scheme can accommodate several the even region of tens automobiles,
For such a region, when driver drives car into the region, can arbitrarily park.The both ends in the region have two fixations to swash
Optical radar does not stop to scan under the cooperation of motor to the region, to obtain the length into vehicle, parking stall angle, wheel position
Put, position of rear view mirror etc..In accompanying drawing 14, J points are laser radar, drive the Plane of rotation of the motor that it rotates back and forth parallel to
WJV planes, the scanning plane of laser radar is perpendicular to WJV planes.Rotation forms scanning plane, motor driven thunder to laser radar at a high speed
Up to the scanning of the paired solid space of rotary.In figure, Data Point are arrived in laser radar J scannings, are obtained according to time flight theory
To laser radar J to Data Point distance R.Data Point to plane UJV intersection point is point A.Converted according to triangle, JA
Length be：JA=R × COS (ω)；Coordinate values of the Data Point in UVW coordinate systems be respectively：U1=R × COS (ω)
×SIN(α)；V1=R × COS (ω) × COS (α)；W1=R × SIN (ω).XYZ coordinate system is parking area coordinate system, is to grab
Car device captures the coordinate system used during vehicle.And to be coordinate system XYZ translated to come coordinate system UVW by vectorial OJ, by changing
Calculate, you can try to achieve coordinates of the Data Point in coordinate system XYZ.All pip data acquisition systems can obtain the three-dimensional of parking area
Image.Industrial computer calculates the length of vehicle, parking stall angle, wheel position, position of rear view mirror etc., is then forwarded to upper
Machine, host computer to grab car device send grab car instruction；During work, first, radar J itself has a coordinate system UVW, the radar
It can be 0 to 360 degree rotations, have single line radar, also have multi-thread radar, when the motor of single line radar does not drive its rotation, it sweeps
The when one limited solid space retouched, single line radar scanning are exactly a face.Motor rotation is formed a solid space.
The scanning theory of radar is exactly the time to reach principle, launches laser, runs into object and reflect, this transmission receives time right and wrong
Often accurately, then the pip to radar precisely calculates apart from can.And motor is with encoder, motor have rotated
How many degree, and it is pinpoint.Radar scanning point distance, R and angle ω is just obtained in figure.Radar is not a scanning car
, it all obtains the pip scanned in scanning range, extracts vehicle by algorithm further according to the feature of car, this two
Individual radar is like the eyes of people, its data can be sent to an industrial computer, and industrial computer handles the data that it sends.This
Two radars are synchronous workings.In order to strengthen the positioning to automobile tire, it is distributed with the long side of parking area 15 fixed
Single line laser radar 19, its laser emission point terrain clearance are less than 100 millimeters, and Laser emission line is parallel to level ground.Single line
There is vehicle entrance in the front of radar scanner 20, and the other parts that we simulate car are only left tire.Single line radar scanning
The scanning of device 20, according to time flight theory, can calculate each pip and be swept to single line radar to a tire of automobile
The distance of imaging apparatus 20.We can be nearly a rectangle the overhead view image of automobile tire, i.e. tire is vertically projected to
The projection of level ground.The laser of LASER Light Source transmitting can only at most touch rectangular two sides, according to what is measured
The distance of every is in different size, can obtain the length on this two sides.Then the central point of the tire is calculated.Obtain automobile
After the central point of four tires, the parking stall angle of automobile can be calculated, during grabbing car device and declining, supersonic sensing
Device, laser sensor etc. send alarm have collision may when, the parking stall angle adjustment that system obtains according to ground laser radar is grabbed
The anglec of rotation of car device.When radar scanner 17 scans automobile 7, radar scanner 17 can only get the one of tire
Bar side, but the radar scanner 17 and single line radar scanner 20 on the side of radar scanner 17 can cooperate with radar scanning
Device 17 completes the scanning to the automobile tire, so as to obtain the central point of tire.
As shown in figure 19, the vehicle identification system based on fixed radar and movable radar is then to be based on fixed radar above-mentioned
Vehicle identification system on the basis of, add single line laser radar 19, the single line laser radar 19 on pick-up manipulator 6 works
Principle is as follows：Pick-up manipulator 6 declines, and single line laser radar 19 starts to scan, and each single line laser radar 19 itself is at a high speed
Rotation, so as to form a scanning plane, scanning to after vehicle, the scanning plane and vehicle is intersecting obtains a line, according to
TOF, and triangle conversion, the position of the intersecting lens at per a moment is calculated, then pick-up manipulator 6 is finely tuned, it is ensured that handgrip is under
Vehicle will not be touched during drop.With the continuous undercarriage of handgrip, vehicle tyre is arrived in four scannings of single line laser radar 19, calculates
Single line laser radar 19 and the relative position of corresponding tire, the position of tire grasping device is adjusted, so as to accurately capture tire.
From the structural representation of the vehicle identification system based on optical imagery shown in Figure 19 to Figure 22, including vehicle
Traversing framework 8 and pick-up manipulator 6；Also including the parking area 15 for parking cars, for obtaining vehicle position in parking area 15
Put the industrial camera 18 of coordinate and for controlling the host computer of the work of pick-up manipulator 6 and for checking vehicle position in parking area 15
Put the single line laser radar 19 of coordinate；The code pattern for strengthening contrast is provided with ground in the region of parking area 15；
The top of the traversing framework 8 of vehicle is provided with multiple cantilevers, and the end set of each cantilever has industrial camera 18；Industrial camera 18
Above parking area 15；The bottom of pick-up manipulator 6 has been arranged symmetrically four single line laser radars 19, and single line laser radar 19 is swept
Retouch and an angle theta between face and ground be present, 15 °<θ<90°.Codeization pattern includes Quick Response Code or bar code or gridiron pattern, when this hair
When bright code pattern uses bar code or gridiron pattern, its main function is in order to strengthen contrast, so as to improve industrial phase
Machine 18 catches the accuracy of vehicle outline coordinate points, when the code pattern of the present invention during Quick Response Code, first in parking area 15
Quick Response Code is inside paved with, and assigns each Quick Response Code to coordinate of the necessarily given coordinate value corresponding to the coordinate system of parking area 15,
When the work shooting of industrial camera 18 in the parking area 15 when parking cars, the Quick Response Code of the circle of vehicle periphery one can be obtained, led to
Cross and be scaled single coordinate value to Quick Response Code and plan turns to the outline of vehicle so as to obtain the actual coordinate of vehicle and car
The data such as length, overall width, parking stall angle, the use of Quick Response Code can effectively improve industrial camera 18 and obtain vehicle location in parking area 15
The accuracy of information, consequently facilitating pick-up manipulator 6 captures storage of cars；Each industrial camera 18 can at least photograph parking
One section of region and all industrial cameras 18 in area 15 can photograph whole parking area 15.When being equipped with bar shaped in parking area 15
When code or gridiron pattern, coordinate system mark is provided with parking area 15, the industrial camera 18 passes through in parking area 15
Vehicle outline and coordinate system mark directly obtain vehicle position information, and coordinate system, which is identified as to be located at, is identified in the long side of parking area 15
With the reference axis of broadside, coordinate identification system is provided with each industrial camera 18；Garage coordinate system is provided with parking area 15；Know
Each point coordinate value in other coordinate system is converted into each point coordinate value in garage coordinate system after being handled by host computer conversion.Use
When of the invention, first, every camera can do a demarcation after installing.According to its imaging and two to code ground
The distance between person, the imaging scale of ground in the camera can be drawn by image-forming principle.According to ratio, picture size can
It is converted into the size of material object.We establish a coordinate to image, then every bit can all have a coordinate value in image, equally
According to image-forming principle and ratio, you can converse the coordinate of every bit in parking area coordinate system.Again, the vehicle of entrance is clapped
According to, by feature extraction, edge split, select the automobile in computer software center, then according to overall height, we take 0.75m
This value corrects the distance between camera and made thing.If car in the camera imaging by between ground and camera away from
From converting, obtained size can be relatively larger than automobile actual size.We have taken this value of 0.75m in computer software
Corrected range, finally obtain such as the rectangle frame in accompanying drawing 20.The length of the rectangle frame and it is wide can be similar to the actual length of automobile and
It is wide；Coordinate of the midpoint as automobile of rectangle frame is chosen again.The car of the vehicle identification system of optical imagery based on intelligent garage
Storage method, it is that the outline data positioned at vehicle in parking area 15 are obtained by the industrial camera 18 of the top of parking area 15；
Above-mentioned outline data are transferred into host computer by industrial computer to handle to obtain the position coordinates of vehicle；Taken by PC control
Car manipulator 6 captures vehicle；According to imaging area of the industrial camera 18 in the code pattern of ground and the industrial camera
18 air line distance to ground obtains the imaging scale of the industrial camera 18；According to imaging scale by each industrial camera
The 18 vehicle image dimension conversions in parking area 15 photographed are vehicle full size so as to obtain vehicle location coordinate；
Vehicle location coordinate includes vehicle commander, overall width, parking stall angle and the autocentre coordinate of vehicle；Vehicle full size=vehicle image chi
Very little × imaging scale × 0.8.Specific implementation step includes：Step 1, driver will treat that parking is put and drive into code pattern
Parking area 15 and arbitrarily park, when parking drives into parking area 15, number plate machine 16 obtains number plate of vehicle；When parking cars not
When having number plate, host computer assigns the unique vehicle code name that parks cars；Step 2, vehicle come to a complete stop after driver leaves,
Industrial camera 18 shoots parking cars in parking area 15 and obtains vehicle image size and be uploaded to host computer；Step 3, it is upper
Machine obtains vehicle full size according to imaging scale × 0.8 of vehicle image size × industrial camera 18 and obtains vehicle positioned at stopping
The coordinate value of each point in car Regional coordinate system, to being stopped after above-mentioned vehicle full size and the coordinate value each put processing
Put position coordinates and the parking stall angle that vehicle is located in parking area 15；Step 4, host computer driving pick-up manipulator 6, which is moved to, to stop
Vehicle location and the corresponding parking stall angle of rotation are put, pick-up manipulator 6, which declines, realizes that vehicle captures；Step 5, pick-up manipulator
During decline, single line laser radar 19 is scanned to full car, checked in the centre coordinate and vehicle of pick-up manipulator 6 simultaneously
Heart coordinate overlaps, the angle of pick-up manipulator 6 is consistent with parking stall angle and overall width is without departing from the opereating specification of pick-up manipulator 6, clamping
Parking cars makes it be put in storage safely.Parking area 15, which is one, in technical scheme can accommodate several even tens vapour
The region of car, for such a region, when driver drives car into the region, can arbitrarily it park.The top in the region
Have industrial camera 18 coordinate the code pattern in parking area 15 obtain into the length of vehicle, parking stall angle, wheel position,
Position of rear view mirror etc..And when car enters the region, number plate chance obtains to number plate of vehicle, if without number plate, host computer meeting
A code name is assigned for it, code name is unique in the entire system.
The above described is only a preferred embodiment of the present invention, not the structure of the present invention is done any formal
Limitation.Any simple modification, equivalent change and modification that every technical spirit according to the present invention is made to above example,
In the range of still falling within technical scheme.
Claims (10)
1. a kind of intelligent underground parking garage, including the underground garage framework (1) of Multilayer parking position and parking robot, its feature exist
In：The ground is provided with the traversing framework of robot (14), and the traversing framework of robot (14) is provided with can be along horizontal X axle side
To mobile parking robot, the front of the underground garage framework (1) is provided with the frame with each layer of underground garage framework (1)
Set a roof beam in place the traversing framework of the vehicle to link into an integrated entity (8), the traversing framework of vehicle (8) is provided with traversing along horizontal X direction of principal axis direction
Track (9), the cross moving track (9) are provided with the traversing pallet (10) slided along cross moving track (9), the traversing pallet (10)
The vehicle vertical shift dolly (11) moved along horizontal Y direction is provided with, the side of the underground garage framework (1) is provided with lifting electricity
Terraced (12), it is provided with the ground and corresponding with elevator (12) transfers mouth；Every layer of parking of the underground garage framework (1)
Position is comb-tooth-type parking stall, also is provided with comb-tooth-type parking stall in the elevator (12), the comb-tooth-type parking stall includes
Two faces and the parking stall fishback (27) that gap with parking stall ground be present, vertical shift is provided between the parking stall fishback (27)
Trolley track (28).
A kind of 2. intelligent underground parking garage as claimed in claim 1, it is characterised in that：The traversing framework of robot (14) bag
Include the vertical support bar of more be arranged on ground and the two frame girders for being fixed on vertical support bar top, being parallel to each other, institute
Parking robot is stated to be arranged on two frame girders.
A kind of 3. intelligent underground parking garage as claimed in claim 1, it is characterised in that：The vehicle vertical shift dolly (11) includes
Bottom is provided with the vertical shift trolley body (11.1) of roller, and the front and rear sides of the vertical shift trolley body (11.1) are respectively equipped with one
Dolly broach panel assembly corresponding with the front wheels and rear wheels of vehicle, the dolly broach panel assembly include dolly fishback
(11.2), can be front and rear with respect to the first support frame (11.3) and the second support frame (11.4) that slide, the dolly fishback
(11.2) broach supporting plate (21) and more broach bars (22) being fixed at left and right sides of broach supporting plate (21) are included, described the
The rear portion of one support frame (11.3) is fixed with lifting motor (11.5), and the lifting motor (11.5) is connected with and the
The coaxial ball screw (11.6) of one support frame (11.3), the front portion of second support frame (11.4) is provided with and ball screw
(11.6) feed screw nut (11.7) coordinated, the front end left and right sides of first support frame (11.3) are connected to first and cut
Formula link assembly (11.8), the rear end left and right sides of second support frame (11.4) are connected to the second scissors link assembly
(11.9), it is be hinged to include one end and vertical shift trolley body (11.1) for the first scissors link assembly (11.8), the other end and the
Be hinged the first lower link (23) in the front end of one support frame (11.3) and one end and the first support frame (11.3) are be hinged, the other end
The first upper connecting rod (24) being hinged with broach supporting plate (21), the fishback (11.2) are located in vertical shift trolley body (11.1)
Side, it is be hinged that the second scissors link assembly (11.9) includes one end and vertical shift trolley body (11.1), the other end and second
Be hinged the second lower link (25) in the rear end of support (11.4) and one end and the second support frame (11.4) are be hinged, the other end and broach
Be hinged the second upper connecting rod (26) of supporting plate (21).
A kind of 4. intelligent underground parking garage as claimed in claim 1, it is characterised in that：The parking robot includes can be along car
The big mechanism of car of guide rail (2) of the top horizontal X-direction motion of traversing framework；The big mechanism of car of guide rail (2) upper end is set
Having can be along the guide rail trolley body (3) that horizontal Y direction is moved；Being connected with the guide rail trolley body (3) can be along vertical Z axis
The vertical telescopic frame (4) of direction motion；Vertical telescopic frame (4) bottom is hinged with pick-up manipulator (6)；The vertical telescopic
Frame (4) top is connected with the retractable driving device (13) that its can be driven flexible, is fixed with the pick-up manipulator (6) and drives it
The rotating driving device (5) of rotation.
A kind of 5. intelligent underground parking garage as claimed in claim 4, it is characterised in that：The big mechanism of car of guide rail (2) includes
It is arranged at the X direction guiding rails (2.1) and cart (2.2) of the traversing frame roof of vehicle；The cart (2.2) is sliding with X direction guiding rails (2.1)
It is dynamic to be connected；The guide rail trolley body (3) is fixed in the cart (2.2) upper end and mutual with the X direction guiding rails (2.1)
It is arranged vertically；The guide rail trolley body (3) include it is vertical be fixed in the big mechanism of car of guide rail (2) upper end and with X direction guiding rails (2.1)
Orthogonal Y-direction guide rail (3.1)；Dolly (3.2) is slidably connected with the Y-direction guide rail (3.1)；The vertical telescopic
Frame (4) is vertically fixedly connected with dolly (3.2)；
The vertical telescopic frame (4) includes multiple coaxially arranged flexible sections (4.1)；Two telescopic joints of two neighboring section
Section (4.1) slip cap load connects；
The rotating driving device (5) includes rotationally supporting (5.1) and rotary driving source (5.2)；It is described to rotationally support (5.1) bag
Include the interior support ring (5.1-1) and external support circle (5.1-2) being mutually coaxially hinged；The interior support ring (5.1-1) is stretched with vertical
The bottom of contracting frame (4) is affixed；The rotary driving source (5.2) includes being fixed on the motor on pick-up manipulator (6) top
(5.2-1), the output end of the motor (5.2-1) are connected with active worm screw (5.2-2), the active worm screw (5.2-2)
Transmission is combined with driven worm gear (5.2-3)；Pick-up robot top is fixed in driven worm gear (5.2-3) bottom, top with
External support circle (5.1-2) is affixed.
A kind of 6. intelligent underground parking garage as described in claim 4 or 5, it is characterised in that：The pick-up manipulator (6) includes
It is articulated with the clamping device movable stand (610) of vertical telescopic frame (4) bottom；The rotating driving device (5) is fixed on clamping dress
Put at the top of movable stand (610)；The clamping device movable stand (610) includes horizontal upper frame and vertical bracket；The horizontal upper frame
The affixed vertical bracket in both sides along its length；The vertical bracket bottom is slidably connected with can be along automobile axial direction
The clamping device (620) of slip, the both ends of the clamping device (620) are hingedly connected with clamping bar (621).
7. the parking method based on a kind of intelligent underground parking garage described in the claims 1, it is characterised in that：Including following
Step：
Step 1：Driver drives automobile (7) into Transport Vehicle area, arbitrarily parks, and gets off and is left after shutting car door；
Step 2：Robot stop by being captured from the information of vehicles that identifying system is obtained by automobile (7), adjustment automobile (7)
Automobile (7) is placed in elevator (12) behind direction；
Step 3：If the B1 of underground garage framework (1) has vacant parking stall, elevator (12) carries automobile (7) edge
Automobile (7) is transferred to one layer of underground garage framework by vertical Z-direction motion, and the traversing pallet (10) of B1 is along horizontal X
Before direction of principal axis is moved to specified vacant parking stall, then moved along horizontal Y direction by vehicle vertical shift dolly (11), automobile (7) is put
Put on parking stall, then in vehicle vertical shift dolly (11) counter motion to traversing pallet (10)；
If the B1 of underground garage framework (1) does not have vacant parking stall, elevator (12) carries automobile (7) along vertical Z
Direction of principal axis moves to the underground garage ccf layer with vacant parking stall, traversing pallet (10) equipped vehicle of corresponding parking stall layer
Vertical shift dolly (11) moves to elevator position along horizontal X direction of principal axis, traversing pallet (10) with after elevator (12) flat bed,
Vehicle vertical shift dolly (11) moves to elevator (12) along horizontal Y direction, and it is reverse along horizontal Y direction to carry automobile (7)
Traversing pallet (10) is moved to, traversing pallet (10) equipped vehicle vertical shift dolly (11) and automobile (7) move along horizontal X direction of principal axis
To vacant parking stall, vehicle vertical shift dolly (11) carries automobile (7) and moves to parking stall along horizontal Y direction, and automobile (7) is put
Put on parking stall, parking is completed in last vehicle vertical shift dolly (11) counter motion to traversing pallet (10).
A kind of 8. parking method of intelligent underground parking garage as claimed in claim 7, it is characterised in that：In the step 2
Identifying system is the vehicle identification system based on fixed radar；Driver will treat that parking is put and drive into parking area (15) and arbitrarily stop
Put, radar scanner (17) scans whole parking area, obtains cloud data, and industrial computer extracts the outline of the vehicle and place
Reason obtains position coordinates and the parking stall angle of the vehicle；Industrial computer will handle the obtained vehicle location coordinate, parking stall angle is sent
To host computer；Host computer driving pick-up manipulator (6) is moved to vehicle location to be stopped and the corresponding parking stall angle of rotation, clamping are treated
In parking to elevator (12).
A kind of 9. parking method of intelligent underground parking garage as claimed in claim 7, it is characterised in that：In the step 2
Identifying system is the vehicle identification system based on optical imagery；Driver will treat that parking is put and drive into the parking with code pattern
Area (15) is simultaneously arbitrarily parked, and treats that parking obtains vehicle image size and uploaded in industrial camera (18) shooting parking area (15)
To host computer；Host computer obtains vehicle full size according to the imaging scale of vehicle image size × industrial camera (18) and obtained
Vehicle is located at the coordinate value of each point in parking area coordinate system, at above-mentioned vehicle full size and the coordinate value each put
Obtain treating position coordinates and parking stall angle of the parking in parking area (15) after reason；Industrial computer will handle the obtained vehicle
Position coordinates, parking stall angle are sent to host computer；Host computer driving pick-up manipulator (6) is moved to vehicle location to be stopped and rotation
Corresponding parking stall angle, pick-up manipulator, which declines, realizes that vehicle captures；During pick-up manipulator declines, single line laser radar (19)
While the centre coordinate that pick-up manipulator is scanned, checked to full car overlaps with vehicle center coordinate, the angle of pick-up manipulator
And overall width consistent with parking stall angle is spent without departing from pick-up Robot actions scope, is clamped and is treated parking to elevator (12).
A kind of 10. parking method of intelligent underground parking garage as claimed in claim 7, it is characterised in that：In the step 2
Identifying system be the vehicle identification system based on fixed radar and movable radar；Driver will treat that parking is put and drive into parking area
(15) and arbitrarily park, radar scanner (17) scans whole parking area, obtains cloud data, and industrial computer extracts the vehicle
Outline and processing obtain position coordinates and the parking stall angle of the vehicle；Industrial computer will handle obtained vehicle location seat
Mark, parking stall angle are sent to host computer；Host computer driving pick-up manipulator (6) is moved to vehicle location to be stopped and rotation is corresponding
Parking stall angle, pick-up manipulator, which declines, realizes that vehicle captures；During pick-up manipulator declines, single line laser radar (19) while right
The centre coordinate that full car was scanned, checked pick-up manipulator overlaps with vehicle center coordinate, the angle of pick-up manipulator and car
Parallactic angle is consistent and overall width is without departing from pick-up Robot actions scope, clamps and treats parking to elevator (12).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710586655.5A CN107386730B (en) | 2017-07-18 | 2017-07-18 | Intelligent underground parking garage and parking method thereof |
| PCT/CN2018/094868 WO2019015495A1 (en) | 2017-07-18 | 2018-07-06 | Smart underground parking lot, and parking method for same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710586655.5A CN107386730B (en) | 2017-07-18 | 2017-07-18 | Intelligent underground parking garage and parking method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN107386730A true CN107386730A (en) | 2017-11-24 |
| CN107386730B CN107386730B (en) | 2022-11-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710586655.5A Active CN107386730B (en) | 2017-07-18 | 2017-07-18 | Intelligent underground parking garage and parking method thereof |
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| WO (1) | WO2019015495A1 (en) |
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| CN108533034A (en) * | 2018-06-05 | 2018-09-14 | 嘉兴学院 | A kind of automated three-dimensional access device |
| CN108643650A (en) * | 2018-04-27 | 2018-10-12 | 上海工程技术大学 | A kind of old residential area motor-vehicle garage system based on UV sampling algorithms |
| CN108643639A (en) * | 2018-07-06 | 2018-10-12 | 浙江工业大学 | The shifting vehicle device of rotary garage |
| WO2019015495A1 (en) * | 2017-07-18 | 2019-01-24 | 武汉智象机器人有限公司 | Smart underground parking lot, and parking method for same |
| CN111176299A (en) * | 2020-01-22 | 2020-05-19 | 广州富港万嘉智能科技有限公司 | Vehicle position adjusting method, computer readable storage medium, AGV control system and AGV |
| CN112001963A (en) * | 2020-07-31 | 2020-11-27 | 浙江大华技术股份有限公司 | Fire fighting channel investigation method, system and computer equipment |
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| CN112567101B (en) * | 2018-08-06 | 2023-08-01 | 克拉克设备公司 | Augmented loader control |
| CN113382898A (en) * | 2019-02-15 | 2021-09-10 | 大众汽车股份公司 | Parking robot for transporting parked motor vehicles and method for operating such a parking robot |
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| CN113963569A (en) * | 2021-09-17 | 2022-01-21 | 中通服网盈科技有限公司 | Intelligent scenic spot comprehensive management system |
| WO2023071201A1 (en) * | 2021-10-25 | 2023-05-04 | 全焜 | Intelligent parking garage under highway |
| CN114251001A (en) * | 2021-12-31 | 2022-03-29 | 安徽博微联控科技有限公司 | Multifunctional stereo garage and use method |
| CN115095204A (en) * | 2022-06-21 | 2022-09-23 | 深圳市中科利亨车库设备股份有限公司 | Parking lot management method and terminal for dynamically dividing parking spaces |
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| WO2019015495A1 (en) | 2019-01-24 |
| CN107386730B (en) | 2022-11-18 |
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