CN108086762B - Stereo garage for realizing safe parking and parking method thereof - Google Patents
Stereo garage for realizing safe parking and parking method thereof Download PDFInfo
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- CN108086762B CN108086762B CN201711365134.3A CN201711365134A CN108086762B CN 108086762 B CN108086762 B CN 108086762B CN 201711365134 A CN201711365134 A CN 201711365134A CN 108086762 B CN108086762 B CN 108086762B
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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
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the field of stereo garages, and provides a stereo garage for realizing safe parking aiming at the technical problem that the existing stereo garage can not supervise the moving process of vehicle carrying plates or vehicle carrying frames, which comprises a PLC (programmable logic controller), a multi-layer structure frame and a transverse moving guide rail arranged on the frame, wherein the vehicle carrying plates capable of moving along the guide rail are arranged on the transverse moving guide rail at the bottom layer, a vehicle carrying frame capable of moving along the guide rail and the vehicle carrying plates capable of lifting and descending which are connected to the vehicle carrying frame through slings are arranged on the transverse moving guide rail at the upper layer, and each layer of the frame except the top layer is provided with a vacant vehicle carrying plate position as a passage for the descending of the vehicle carrying plates; the vehicle carrying frame is provided with a lifting motor for driving the vehicle carrying plate to ascend or descend, and the vehicle carrying plate is provided with a transverse moving motor for driving the vehicle carrying plate and the vehicle carrying frame to transversely move; wherein, the lifting motor and the transverse moving motor have self-locking function; the vehicle carrying plate is provided with a gesture detection sensor for detecting the gesture of the vehicle carrying plate.
Description
Technical Field
The invention relates to the field of stereo garages, in particular to a stereo garage for realizing safe parking and a parking method thereof.
Background
In a crowded city, in order to solve the problem of difficult parking, various stereo garages appear on the market. The basic principle of the three-dimensional garages is that the automobiles are regularly and densely parked after being lifted to a certain height by utilizing the mechanical lifting principle, so that the space utilization rate is improved, and the automobiles are parked as many as possible in a limited space.
The existing stereo garage is mostly a lifting and transverse moving type stereo garage, for example, a lifting and transverse moving type stereo garage is described in a document with a Chinese patent number of ZL2003101251812, and comprises a frame with a multilayer structure and a transverse moving guide rail arranged on the frame, wherein a vehicle carrying plate capable of moving along the guide rail is arranged on the transverse moving guide rail at the bottom layer, a vehicle carrying frame capable of moving along the guide rail and a vehicle carrying plate capable of lifting and falling which is connected to the vehicle carrying frame through a sling are arranged on the transverse moving guide rail at the upper layer, and each layer except the top layer on the frame is provided with an idle vehicle carrying plate position as a passage for the vehicle carrying plate at the upper layer.
In the existing lifting and horizontal moving type garage, the left and right horizontal moving of the vehicle carrying plate and the vehicle carrying frame and the ascending and descending of the vehicle carrying plate are controlled by a servo motor, and the servo motor is generally controlled by a PLC. In the stereo garage, after the in-place information of the vehicle carrying plate and the vehicle carrying frame (namely the in-place sensor triggers and feeds back the in-place signal to the PLC after the vehicle carrying plate or the vehicle carrying frame reaches the preset position) is fed back to the PLC, the PLC executes the next instruction. If a vehicle in the middle layer needs to be taken out of the stereo garage, the vehicle carrying plate and the vehicle carrying frame below the middle layer can transversely move left and right to make the vehicle (or the vehicle carrying plate carrying the vehicle) go out of the vacancy for descending. In the process of the transverse movement, generally, after the first vehicle carrying board or the first vehicle carrying frame needing to be transversely moved is transversely moved in place, the second vehicle carrying board or the second vehicle carrying frame needing to be transversely moved is transversely moved, and after the transverse movement of the vehicle carrying board needing to be transversely moved is finished, the vehicle carrying board carrying the vehicle descends. Above-mentioned control process, each control signal all targets in place and triggers, fails to carry out effectual supervision to the intermediate state that carries sweep sideslip, lift, when certain year sweep breaks down, appears inclining even, can not carry out effectual supervision, has certain potential safety hazard.
Disclosure of Invention
The invention provides a stereo garage for realizing safe parking and a parking method thereof, aiming at the technical problem that the existing stereo garage cannot supervise the moving process of a vehicle carrying plate or a vehicle carrying frame.
The basic scheme provided by the invention is as follows: the stereo garage for realizing safe parking comprises a PLC, a multi-layer structure frame and a transverse guide rail arranged on the frame, wherein a vehicle carrying plate capable of moving along the guide rail is arranged on the transverse guide rail at the bottom layer, a vehicle carrying frame capable of moving along the guide rail and a vehicle carrying plate capable of lifting and descending and connected to the vehicle carrying frame through a sling are arranged on the transverse guide rail at the upper layer, and each layer except the top layer on the frame is provided with an idle vehicle carrying plate position as a passage for the vehicle carrying plate at the upper layer to descend; the vehicle carrying frame is provided with a lifting motor for driving the vehicle carrying plate to ascend or descend, and the vehicle carrying plate is provided with a transverse moving motor for driving the vehicle carrying plate and the vehicle carrying frame to transversely move;
wherein, the lifting motor and the transverse moving motor have self-locking function; the vehicle carrying plate is provided with a posture detection sensor for detecting the posture of the vehicle carrying plate, the PLC is respectively in signal connection with the lifting motor, the driving servo motor and the posture detection sensor, and when the posture detection sensor feeds back the posture of the vehicle carrying plate to the PLC and the inclination state occurs, the PLC controls the lifting motor and the transverse moving motor to be self-locked.
The working principle and the advantages of the invention are as follows: the vehicle carrying plate is provided with a posture detection sensor, the posture detection sensor can detect whether the vehicle carrying plate is in a horizontal state, if the posture detection sensor detects that the vehicle carrying plate is inclined, the posture detection sensor feeds an inclined signal back to the PLC, and after the PLC receives the inclined signal detected by the posture detection sensor, the PLC controls the self-locking of the lifting motor and the transverse moving motor, so that the potential safety hazard that the vehicle carrying plate is inclined but the lifting motor or the transverse moving motor still works according to a preset program is avoided.
Because need park the car on the sweep, consequently elevator motor and sideslip motor all are bigger at the during operation, and elevator motor and the sideslip motor of consequently choosing for use in this scheme all have self-locking function, when the outage perhaps does not have PLC's signal, can let and carry the sweep stop motion, reach the function of auto-lock. The transverse moving motor has a self-locking function and can be conveniently controlled; the lifting motor has a self-locking function, and can be rapidly locked when the attitude detection sensor detects an abnormal state, so that the safety problem is avoided.
The stereo garage is used for realizing safe parking, posture detection in the moving process of the vehicle carrying plate is realized through the posture detection sensor, compared with in-place triggering in the prior art, the stereo garage can effectively monitor the moving process of the vehicle carrying plate, and the safety of the stereo garage during parking is improved. With the self-locking function cooperation of elevator motor, sideslip motor, when the accident appearing, will carry the sweep locking rapidly, avoided carrying the sweep and continue to remove and cause the incident.
Furthermore, the two sides of the vehicle carrying plate are provided with wheel parts protruding upwards and used for carrying wheels, and the middle of the vehicle carrying plate is provided with a vehicle bottom used for improving the ground clearance of the vehicle.
In the patent that the applicant filed on the same date, the present applicant also discloses a transfer vehicle for an intelligent parking lot, which is used for transporting a vehicle in cooperation with a transfer carrier plate comprising a vehicle bottom, and comprises: the automobile body part comprises an automobile body part and wheel assemblies, wherein the wheel assemblies are arranged on two sides of the automobile body part, the distance between the wheel assemblies is smaller than the width of the automobile bottom, the automobile body part further comprises a clamping part used for clamping automobile tires, and the height of the clamping part is higher than that of the automobile wheel part used for transferring the carrier plate. The vehicle carrying plate in the scheme can be matched with the transfer trolley, so that vehicles carried by the transfer trolley can be parked on the vehicle carrying plate more conveniently. When the transfer vehicle carries the vehicle, the transfer vehicle moves into the vehicle bottom, wheels of the carried vehicle and clamping parts of the transfer vehicle are positioned on the vehicle wheel part, then the clamping parts of the transfer vehicle are loosened, the wheels of the vehicle are supported by the wheel parts, and then the transfer vehicle moves out of the vehicle bottom on the vehicle carrying plate. The design can let stereo garage and transfer car cooperation like this, does not need the driver to directly park the car on carrying the sweep, and convenience of customers uses more, has improved user experience degree.
Further, the attitude detection sensor is a gyroscope.
The gyroscope is also called as an angular velocity sensor, and can well measure the actions of rotation and deflection, so that the posture of the vehicle carrying plate can be accurately obtained. And the cost of the existing chip-level gyroscope is low, the process monitoring of the vehicle carrying plate can be realized under the condition of low cost, and the moving safety of the vehicle carrying plate is ensured.
Further, the gyroscope is fixed on the vehicle carrying plate.
The design can enable the gyroscope to better detect the posture of the vehicle carrying plate.
Further, the support plate comprises an outer frame, the wheel part and the vehicle bottom part are arranged in the outer frame, the vehicle bottom part and the wheel part are respectively and equally divided into a plurality of vehicle bottom components and a plurality of wheel components, the wheel components and the vehicle bottom components are integrally formed, and the end parts of the wheel components are provided with buckling pieces clamped with the outer frame.
The wheel component and the vehicle bottom component are integrally formed, and the end part of the wheel component is provided with the buckling piece, so that the strength of the wheel part can be improved.
Furthermore, the end part of the outer frame is flush with the bottom of the vehicle.
The design facilitates the transfer trolley to drive into the bottom of the trolley.
The parking method of the stereo garage for realizing safe parking comprises the following steps:
s1, the transfer trolley and the carried automobile run on the automobile carrying plate together;
s2, the transfer vehicle places the carried automobile on the automobile carrying plate and then drives out the automobile carrying plate;
s3, the PLC controls the lifting motor or the transverse moving motor to move the automobile to a proper position;
in the step S3, a posture detection sensor is mounted on the vehicle carrying board, the lifting motor and the traverse motor both have a self-locking function, the posture detection sensor detects whether the vehicle carrying board is inclined, if so, the posture detection sensor feeds back an inclination signal to the PLC, and the PLC controls the lifting motor and the traverse motor to be self-locked.
The scheme has the advantages that: the user does not need to drive the automobile into the stereo garage, and the transfer trolley carries the automobile onto the automobile carrying plate of the stereo garage, so that the user experience degree is improved. Whether the gesture detection sensor can detect and carry the sweep and remove the in-process and take place the slope, carry the sweep and take place the slope back, PLC control elevator motor and sideslip motor auto-lock have improved the security.
Further, in the step S1, the two sides of the vehicle carrying plate are provided with wheel parts protruding upwards for carrying wheels, and the middle of the vehicle carrying plate is provided with a vehicle bottom part for improving the ground clearance of the vehicle.
Due to the design, the stereo garage can be matched with the transfer trolley, a driver does not need to directly park the automobile on the automobile carrying plate, the use of a user is facilitated, and the user experience is improved.
Drawings
Fig. 1 is a schematic structural diagram of a stereo garage, a delivery system and a transfer system for realizing safe parking according to the invention;
fig. 2 is a schematic structural diagram of the stereo garage for realizing safe parking in fig. 1 when the stereo garage is fully loaded;
fig. 3 is a schematic structural diagram of the stereo garage for realizing safe parking in fig. 2 after being traversed;
FIG. 4 is a front cross-sectional view of a vehicle carrying board;
FIG. 5 is a front cross-sectional view of the cell member;
FIG. 6 is a top view of FIG. 4
Fig. 7 is a side view of a carrier plate;
fig. 8 is a top view of the carrier plate;
FIG. 9 is a schematic diagram of the structure of the transfer system;
FIG. 10 is a schematic view of the magnet wire in positional relationship to an RFID identifier;
fig. 11 is a logic block diagram of the stereo garage subsystem, the delivery subsystem, and the transfer subsystem during operation;
FIG. 12 is a schematic diagram of a transfer system in other embodiments;
FIG. 13 is a schematic view of the spatial structure of FIG. 12;
FIG. 14 is a schematic structural view of yet another embodiment of a transfer system.
Detailed Description
The following is further detailed by the specific embodiments:
reference numerals in the drawings of the specification include: the stereo garage 10, the delivery system 20, the transfer system 30, the frame 11, the cross beam 12, the vehicle carrying plate 13, the traverse frame 14, the outer frame 130, the unit component 131, the supporting body 132, the buckling part 133, the carrier plate 21, the bridge 22, the frame 31, the clamping mechanism 32, the regulator 33, the magnet wire 34 and the RFID recognizer 35.
The embodiment is basically as shown in the attached figure 1: the stereo garage 10 is used for realizing safe parking and is matched with the delivery system 20 and the transfer system 30;
comprising a number of movable vehicle loading plates 13 for parking the vehicle.
the uppermost layer is the top layer, the lowermost layer is the bottom layer, the bottom layer contacts with the ground, the width of reserving six parking spaces is reserved on each layer, five vehicle carrying plates 13 are arranged on each layer except the top layer, six vehicle carrying plates 13 are arranged on the top layer, the vehicle carrying plates 13 except the top layer can move transversely, and the vehicle carrying plates 13 except the bottom layer can lift. Namely, the vehicle carrying board 13 on the top layer can only be lifted, and the vehicle carrying board 13 on the bottom layer can only be transversely moved. The vehicle carrying plate 13 except the top layer and the bottom layer can be lifted and moved transversely.
A transverse moving frame 14 is sleeved outside the liftable vehicle carrying plate 13, and the transverse moving frame 14 can transversely move along with the vehicle carrying plate 13. The car carrying board 13 on the top layer is also sleeved with the transverse moving frame 14, and the transverse moving frame 14 on the top layer does not need to transversely move because the car carrying board 13 on the top layer does not need to slide. A lifting motor for lifting the vehicle carrying plate 13 and a transverse moving motor for enabling the vehicle carrying plate 13 to transversely move left and right are fixedly arranged on the transverse moving frame 14, and the vehicle carrying plate 13 is connected with the ground and the cross beam 12 in a sliding mode.
Specifically, the sideslip motor adopts 0.4 kW's gear motor, and elevator motor has 2 kinds of specifications, adopts 2.2kW gear motor 3 layers and below 3 layers, adopts 3.7kW gear motor 4 layers and above.
When the stereo garage 10 is fully loaded, as shown in fig. 2, when a third vehicle needs to get down from right to left on a third floor, the lateral movement of the vehicle carrying board 13 is as shown in fig. 3. Wherein, the lifting motor and the transverse moving motor have self-locking function; the vehicle carrying plate 13 is provided with a posture detection sensor for detecting the posture of the vehicle carrying plate 13, the PLC is respectively in signal connection with the lifting motor, the driving servo motor and the posture detection sensor, and when the posture detection sensor feeds back the posture of the vehicle carrying plate 13 to the PLC and the inclination state occurs, the PLC controls the lifting motor and the transverse moving motor to be self-locked.
The vehicle carrying board 13 comprises an outer frame 130, wherein the outer frame 130 is high at two sides and low in the middle (as shown in fig. 4), 10 unit members 131 (as shown in fig. 6) are arranged in the outer frame 130, each unit member 131 comprises a vehicle bottom member and a wheel member, the two ends of each unit member 131 are high, the middle of each unit member 131 is low, the unit members 131 are embedded in the outer frame 130 side by side, and the laying direction of the unit members 131 is consistent with the length direction of the outer frame 130. The unit member 131 is high at both ends and concave in the middle, and the unit member 131 is integrally formed.
Specifically, the unit member 131 is further provided at both ends thereof with a support 132 and an engaging portion 133, the support 132 is located at both sides of the unit member 131, the engaging portion 133 is at a right angle to the support 132, the engaging portion 133 faces the unit member 131, and the unit member 131 is integrally formed with the support 132 and the engaging portion 133 (as shown in fig. 5). Such a design can enhance the force strength of the unit member 131 in the vertical direction. A bridge 22 for facilitating the vehicle to run to the wheel part and the delivery system 20 to run to the bottom of the vehicle is further provided at one end of the outer frame 130
In another embodiment, a gyroscope for detecting the motion state of the parking plate is disposed on the parking plate, the stereo garage 10 further includes a garage controller (PLC) for controlling the movement of the parking plate, the gyroscope is in signal connection with the garage controller, and the garage controller controls the parking plate to stop moving after the gyroscope feeds back the state of the parking plate to the garage controller. The gyroscope detects not only the attitude, but also physical quantities such as speed, acceleration, displacement and the like, and the physical quantities are fed back to the garage controller.
Preferably, can also set up the shielding plate above leading to the groove, the shielding plate below is provided with recoverable hydraulic pump, is provided with on the extension board and detects whether the wheel parks suitable pressure sensitive sensor, detects the wheel at pressure sensitive sensor and parks suitable back, and the hydraulic pump is after meeting downwards, and the shielding plate is retrieved, exposes and leads to the groove.
In other embodiments, delivery system 20 may optionally include two parallel racks, the racks being fixed to the ground, the racks having support plates on the upper surface thereof, and a through-slot being formed between the two racks.
In another embodiment, the delivery system 20 may further include a bottom portion, and wheel portions disposed on both sides of the bottom portion, wherein the wheel portions are used for supporting wheels of the vehicle, and a hydraulic cylinder for lifting the wheel portions upward is disposed below the wheel portions.
The transfer system 30 is used to transfer the vehicle staying on the delivery system 20 to the vehicle carrier 13.
The transfer system 30 includes a frame 31, a transfer controller, a steering wheel, a driving wheel, and a clamping mechanism 32 (as shown in fig. 9), and the frame 31 is provided with a driving servo motor for driving the driving wheel, a clamping servo motor for driving the clamping mechanism 32, and a steering servo motor for controlling a steering angle of the steering wheel. The transfer system 30 can enter the belly of the parked car on the delivery system 20 from the through slot, and then the clamping servo motor starts to work, and four clamping mechanisms 32 are arranged for respectively clamping the front wheel and the rear wheel of the car. Each of the clamping mechanisms 32 has the same structure and includes a front clamping block, a rear clamping block, and a front servo motor and a rear servo motor for driving the front clamping block and the rear clamping block, respectively. All the servo motors are respectively connected with the transfer controller through signals.
A motor base is arranged between the front servo motor and the frame 31, an adjusting rail is arranged between the motor base and the frame 31, a speed reducer and a worm are arranged between the front servo motor and the front clamping block, the front servo motor transmits power to the speed reducer, the speed reducer transmits the power to the worm, the front clamping block is hinged to the frame 31, a turbine used for driving the front clamping block to rotate is arranged at the hinged position of the front clamping block, and the turbine is meshed with the worm. The connection mode of the rear servo motor, the frame 31 and the rear clamping block is the same as the connection mode of the front servo motor, the frame 31 and the front servo motor. Both the front servo motor and the rear servo motor can slide on the adjusting cabinet. Wherein, the front servo motor and the rear servo motor are both 0.4kW servo motors.
In order to reduce the requirements on the capacity and power of the battery, the clamping mechanism 32 adopts a time-sharing clamping mode, and clamps 2 front wheels of the vehicle firstly and then clamps 2 rear wheels of the vehicle.
In other embodiments, in order to adapt to vehicles with different wheelbases, the length of the frame 31 is adjustable, that is, the frame 31 is provided with an adjuster 33, the adjuster 33 comprises 1 0.1kW servo motor and an adjusting screw rod, one end of the adjusting screw rod is hinged with the frame 31, the other end of the adjusting screw rod is provided with a screw rod on the frame 31 of the frame 31, and the 0.1kW servo motor is meshed with the adjusting screw rod through a gear. The design can adjust the whole length of the frame 31 and change the center distance of the front clamping arm and the rear clamping arm, thereby being suitable for vehicles with different wheelbases. The wheel comprises 2 driving wheels and 2 driven wheels. The front wheels are driving wheels and are controlled by 2 0.75kW servo motors to realize the front and back movement of the frame 31; the rear wheel is a driven wheel and is controlled by 2 servo motors of 0.1kW, so that the steering of the frame 31 is realized. In other embodiments, the structure of the adjuster is a frame structure (as shown in fig. 12 and 13), and 1 servo motor and adjusting screw rod of 0.1kW are arranged at two ends of the adjuster 33.
In another embodiment, the clamping mechanism 32 of the transfer system 30 is driven by hydraulic pressure, 8 telescopic cylinders are disposed on the frame 31, clamping seats (as shown in fig. 14) are disposed on the outer sides of the telescopic cylinders, the telescopic cylinders can respectively drive the clamping seats to move outwards or fold inwards, the clamping cylinders are fixedly disposed on the clamping seats, and clamping blocks are disposed at the ends of the clamping cylinders and can move relatively to clamp the tires of the vehicle. An automatic adjusting guide rail is arranged between the clamping seat and the frame 31, namely the automatic adjusting guide rail is fixed on the frame 31, and the clamping seat is connected with the automatic adjusting guide rail in a sliding manner. When the clamping block clamps the tire of the automobile, the clamping seat can slide on the automatic adjusting guide rail to a certain extent due to the reaction force applied to the clamping seat, so that the clamping block is suitable for the wheelbases of different vehicles. In this embodiment, adopt the side to move earlier, the mode of pressing from both sides tight again, can form very stable centre gripping to the vehicle, because the existence of automatically regulated guide rail, the wheel base of the different vehicles of adaptation that can be more convenient moreover.
All servo motors in the transfer system 30 communicate with the transfer controller via RS232/485 interfaces (such as CAN bus, Modbus, Profibus, etc.). The servo motors act independently or cooperatively to realize the transfer work.
Preferably, a magnet wire 34 can be provided between the delivery system 20 and the stereo garage 10, and a sensor for identifying the magnet wire 34 is provided at the bottom of the frame 31, so that the vehicle can be conveniently guided between the delivery system 20 and the stereo garage 10 for automatic transportation. To facilitate the determination of the path, an RFID code card is disposed at each intersection of the magnet wires 34 (as shown in fig. 10), an RFID identifier 35 is disposed at the bottom of the transit system 30, and the RFID identifier 35 is in signal connection with the transit controller, so that the path can be identified, stored, and navigated by identifying different RFID code cards on different magnet wires 34. Namely, AGV magnetic navigation system technology.
In other embodiments, an autopilot module, i.e., an existing autopilot system from google, inc, may also be installed on the transit system 30. Automatic driving of the delivery system 20 to the stereo garage 10 is achieved. Optionally, a laser detector may be installed, and the laser detector may scan the environment, autonomously construct a map, and perform path planning. The transfer system 30 achieves accurate tracking by a laser detector.
The embodiment also discloses a parking method for realizing the stereo garage 10 for safe parking, which comprises the following steps:
s1, the transfer trolley and the carried automobile run on the automobile carrying plate 13 together, wherein the two sides of the automobile carrying plate 13 are provided with wheel parts protruding upwards for carrying wheels, and the middle of the automobile carrying plate 13 is provided with an automobile bottom part for improving the ground clearance of the automobile;
s2, the transfer trolley places the carried automobile on the automobile carrying plate 13 and then moves out of the automobile carrying plate 13;
s3, the PLC controls the lifting motor or the transverse moving motor to move the automobile to a proper position;
in the step S3, the vehicle carrying board 13 is provided with a posture detection sensor, the lifting motor and the traverse motor both have a self-locking function, the posture detection sensor detects whether the vehicle carrying board 13 is inclined, if so, the posture detection sensor feeds back an inclination signal to the PLC, and the PLC controls the lifting motor and the traverse motor to be self-locked.
When the three-dimensional garage is used specifically, a user firstly parks the automobile on the delivery system 20 and then transports the automobile to the automobile carrying plate 13 in the three-dimensional garage 10 through the transfer system 30. The delivery system 20 has the same structure as the vehicle carrier 13, and the delivery system 20 can screen the parked vehicles in advance. The delivery system 20 can increase the ground clearance of the automobile floor, so as to facilitate the transportation of the transfer system 30. The user does not need to drive the automobile into the stereo garage 10, and the vehicle is carried to the vehicle carrying plate 13 of the stereo garage 10 by the transfer trolley, so that the user experience degree is improved. The gesture detection sensor can detect whether the car carrying plate 13 inclines in the moving process, and after the car carrying plate 13 inclines, the PLC controls the lifting motor and the transverse moving motor to be self-locked, so that the safety is improved.
This embodiment also discloses stereo garage subsystem, and the delivery subsystem, the transport subsystem cooperation use (as shown in fig. 11), including:
the delivery subsystem is used for realizing unmanned delivery of vehicles of users, and comprises a photoelectric sensor (certainly, other sensors capable of detecting a parking position can be used, specifically, a camera or a laser radar or a pressure-sensitive sensor arranged on a parking plate 13, and the like, in the embodiment, the photoelectric sensor is selected), a position correction servo motor (the requirement on control precision is not high, and a common motor is selected in other embodiments) and a delivery controller (specifically, a PLC is selected in the embodiment), wherein the photoelectric sensor is used for detecting position information of the vehicles and feeding the position information back to the delivery controller, the position correction servo motor is used for driving front wheels or rear wheels of the parked vehicles or simultaneously driving the front wheels or the rear wheels to adjust the positions of the parked vehicles (specifically, a transmission belt is arranged on support plates which are used for supporting the parked vehicles at two sides of a through groove, and is flush with the support plates, the conveying belt is driven by the position correction servo motor to rotate, the running direction of the conveying belt can be parallel to the axis of the wheel or perpendicular to the axis of the wheel), and the delivery controller is used for controlling the position correction servo motor to adjust the position of the parked vehicle according to the position information of the vehicle detected by the photoelectric sensor;
the transfer subsystem is used for controlling the movement of the carrying trolley and comprises an AGV magnetic navigation sensor, a laser radar sensor, an RFID recognizer 35, a walking servo motor, a steering servo motor, a clamping servo motor, an axle distance adjusting servo motor and a transfer controller (specifically, a PLC is selected in the embodiment), wherein the AGV magnetic navigation sensor is used for recognizing a magnetic wire 34 installed on the ground and feeding back the magnetic wire to the transfer controller, the laser radar sensor is used for sensing the surrounding environment and feeding back the surrounding environment to the transfer controller, the RFID recognizer 35 is used for detecting an RFID label installed at the intersection of the magnetic wire 34 and feeding back the RFID label to the transfer controller, the transfer controller respectively controls the walking servo motor, the steering servo motor, the clamping servo motor and the axle distance adjusting servo motor (the transfer controller controls the walking servo motor and the steering servo motor just like controlling the automobile to walk and turn in the automatic driving technology, belong to the prior art and are not described herein. The transfer controller controls the clamping servo motor to be started after the clamping servo motor reaches a preset position according to feedback of an AGV magnetic navigation sensor or a laser radar sensor. The control of the wheel base adjusting servo motor is adjusted according to a laser radar sensor received by the transfer controller or a given signal manually or a vehicle type signal called from a server. The vehicle type recognition technology can refer to a vehicle type recognition system of Beijing Fuwei image technology Co. ) (ii) a
The stereo garage subsystem is used for controlling the movement of the parking plate 13 and comprises a travel switch and a gyroscope (fixedly arranged on the parking plate 13), the parking system comprises a photoelectric switch (installed on a rack 11), a parking plate 13 servo motor and a garage controller (specifically, the embodiment adopts a PLC (programmable logic controller), the PLC is adopted for the convenience of expression, understanding and explanation, the original name is adopted for explanation), a travel switch is used for detecting an in-place signal after the parking plate 13 moves and feeding the in-place signal back to the garage controller, a gyroscope is used for dynamically monitoring the moving state of the parking plate 13 and feeding the moving state back to the garage controller, the photoelectric switch is used for detecting whether a person intrudes into the garage controller or not and feeding the person back to the garage controller, the parking plate 13 servo motor is used for driving the parking plate 13 to lift or move transversely, and the garage controller controls the parking plate 13 servo motor to drive the parking plate to lift or move transversely;
wherein, the delivery controller, the transfer controller and the garage controller are respectively in signal connection (certainly, a workstation can also be arranged and respectively in signal connection with the delivery controller, the transfer controller and the garage controller).
When in specific use: the user drives the vehicle onto the support plate 21, tires of the vehicle are respectively positioned on the support plates at the moment, a carrying channel for the carrying trolley to drive in is reserved between the support plates, after the user stops the vehicle, the parking posture of the vehicle is detected by the photoelectric sensor and fed back to the delivery controller, the delivery controller controls the position correction servo motor to be started in the forward direction or the reverse direction, the posture of the vehicle is adjusted, and the posture adjustment of the vehicle is completed.
After the photoelectric sensor detects that the posture of the automobile is adjusted, the photoelectric sensor feeds back a signal to the delivery controller, the delivery controller sends a transfer signal capable of starting to transport to the transfer controller, and after the transfer controller receives the signal, the AGV magnetic navigation sensor (recognizing the magnetic wire 34 embedded on the ground), the laser radar sensor (recognizing the surrounding environment to prevent safety accidents), the RFID recognizer 35 (determining the running track on the magnetic wire 34) and the transfer controller (controlling the running direction) are matched, so that the carrying trolley automatically runs to the carrying channel, and the automobile stopped on the support plate is carried.
Before the carrying is completed, the model of the vehicle can be identified by the vehicle type identification system, the parameters of the vehicle about the wheel base can be acquired after the model of the vehicle is identified, the vehicle type identification system sends the signal to the transfer control system, and after the transfer control system receives the signal, the wheel base is controlled to adjust the servo motor to rotate, so that the carrying trolley is adjusted to a mode suitable for the wheel base of the vehicle. The vehicle type recognition system is also used for judging whether the vehicle is overlong, superwide or overweight.
Then the carrying trolley clamps and carries the tires of the vehicle, finally the vehicle is placed on the parking plate 13, the parking plate 13 also adopts a structure with two high sides and a low middle, the transfer trolley can drive into the structure with the low middle, the vehicle is placed on the parking plate 13, and the tires of the vehicle are supported by the higher parts of the two sides of the parking plate 13. Then the carrying trolley drives out the parking plate 13, the transfer controller feeds back a parking completion signal to the garage controller, and the garage controller controls the parking plate 13 to lift and move transversely after receiving the parking completion signal, so that parking is completed.
Certainly, in the parking process, the information of the vehicle corresponds to the number information of the parking plate 13, after a user takes the vehicle and takes the vehicle (the vehicle taking request can be taken out to a workstation or a garage controller through a cloud server), the garage controller can receive the signal, the stereo garage controller controls the parking plate 13 to ascend and descend to the bottommost layer, then the garage controller sends a transfer signal to the transfer controller, the transfer controller controls the transfer trolley to drive into the parking plate 13 to transfer the vehicle onto the carrier plate 21, after the photoelectric sensor detects that the vehicle is parked on the carrier plate 21, the signal is fed back to the delivery control, and the delivery controller (through the cloud server or the workstation) feeds back the signal capable of taking the vehicle to the user. The user drives the vehicle on the carrier plate 21 away from the carrier plate 21 to finish the vehicle taking.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (5)
1. The stereo garage for realizing safe parking comprises a PLC, a multi-layer structure frame and a transverse guide rail arranged on the frame, wherein a vehicle carrying plate moving along the guide rail is arranged on the transverse guide rail at the bottom layer, a vehicle carrying frame moving along the guide rail and a vehicle carrying plate lifting and descending by being connected to the vehicle carrying frame through a sling are arranged on the transverse guide rail at the upper layer, and each layer except the top layer on the frame is provided with a vacant vehicle carrying plate position as a passage for descending the vehicle carrying plate at the upper layer; the vehicle carrying frame is provided with a lifting motor for driving the vehicle carrying plate to ascend or descend, and the vehicle carrying plate is provided with a transverse moving motor for driving the vehicle carrying plate and the vehicle carrying frame to transversely move; the method is characterized in that:
wherein, the lifting motor and the transverse moving motor have self-locking function; the vehicle carrying plate is provided with a posture detection sensor for detecting the posture of the vehicle carrying plate, the PLC is respectively in signal connection with the lifting motor, the driving servo motor and the posture detection sensor, and when the posture detection sensor feeds back the posture of the vehicle carrying plate to the PLC and is in an inclined state, the PLC controls the lifting motor and the transverse moving motor to be self-locked;
the vehicle carrying plate comprises an outer frame, wherein the two sides of the outer frame are high, the middle of the outer frame is low, unit components are arranged in the outer frame, and each unit component comprises a vehicle bottom component and a wheel component; the two ends of the unit components are high, the middle of the unit components is low, the unit components are embedded in the outer frame side by side, and the laying direction of the unit components is consistent with the length direction of the outer frame; the two ends of the unit component are also provided with a supporting body and a buckling part, the supporting body is positioned on the two sides of the unit component, the buckling part and the supporting body form a right angle, the buckling part faces the unit component, and the unit component, the supporting body and the buckling part are integrally formed;
still include the transfer system, the transfer system includes frame, transportation controller, directive wheel, drive wheel and fixture, and fixture has four, all includes preceding grip block, back grip block and drives preceding servo motor and the back servo motor of preceding grip block and back grip block respectively.
2. The stereo garage for effecting safe parking according to claim 1, wherein: the attitude detection sensor is a gyroscope.
3. The stereo garage for enabling safe parking according to claim 2, wherein: the gyroscope is fixed on the vehicle carrying plate.
4. The parking method of the stereo garage for realizing safe parking comprises the following steps:
s1, the transfer vehicle and the carried vehicle run on the vehicle carrying board, the photoelectric sensor detects the parking attitude of the vehicle and feeds the parking attitude back to the delivery controller, and the delivery controller controls the position correction servo motor to start in the forward direction or in the reverse direction, so that the attitude of the vehicle is adjusted, and the attitude adjustment of the vehicle is completed;
s2, before the transportation is finished, the model of the vehicle is identified, and after the model of the vehicle is identified, the parameters of the vehicle wheelbase are obtained, so that the transfer trolley is adjusted to a mode suitable for the vehicle wheelbase; the transfer trolley places the carried automobile on the automobile carrying plate and then drives out the automobile carrying plate;
s3, the PLC controls the lifting motor or the transverse moving motor to move the automobile to a proper position;
in the step S3, a posture detection sensor is mounted on the vehicle carrying board, the lifting motor and the traverse motor both have a self-locking function, the posture detection sensor detects whether the vehicle carrying board is inclined, if so, the posture detection sensor feeds back an inclination signal to the PLC, and the PLC controls the lifting motor and the traverse motor to be self-locked.
5. The parking method for the stereo garage for realizing safe parking according to claim 4, wherein the method comprises the following steps: and in the S1, two sides of the vehicle carrying plate are provided with wheel parts protruding upwards for carrying wheels, and the middle of the vehicle carrying plate is provided with a vehicle bottom part for improving the ground clearance of the vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711365134.3A CN108086762B (en) | 2017-12-18 | 2017-12-18 | Stereo garage for realizing safe parking and parking method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711365134.3A CN108086762B (en) | 2017-12-18 | 2017-12-18 | Stereo garage for realizing safe parking and parking method thereof |
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| CN108086762A CN108086762A (en) | 2018-05-29 |
| CN108086762B true CN108086762B (en) | 2020-03-24 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110043081B (en) * | 2019-02-28 | 2020-10-20 | 江苏中泰停车产业有限公司 | Vertical lifting type automatic parking device and working method thereof |
| CN113294018A (en) * | 2021-05-20 | 2021-08-24 | 河南森源中锋智能制造有限公司 | Stereo garage parking gesture correcting unit |
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| CN108086762A (en) | 2018-05-29 |
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