CN108153220A - A kind of control system of stereo garage - Google Patents

A kind of control system of stereo garage Download PDF

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Publication number
CN108153220A
CN108153220A CN201611097097.8A CN201611097097A CN108153220A CN 108153220 A CN108153220 A CN 108153220A CN 201611097097 A CN201611097097 A CN 201611097097A CN 108153220 A CN108153220 A CN 108153220A
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CN
China
Prior art keywords
module
plc
control
driver
encoder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
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CN201611097097.8A
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Chinese (zh)
Inventor
曹惠中
高杰
丁魏
严惠
周青云
王建宇
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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Application filed by Nanjing University of Science and Technology filed Critical Nanjing University of Science and Technology
Priority to CN201611097097.8A priority Critical patent/CN108153220A/en
Publication of CN108153220A publication Critical patent/CN108153220A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/054Input/output
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/10Plc systems
    • G05B2219/11Plc I-O input output
    • G05B2219/1103Special, intelligent I-O processor, also plc can only access via processor

Abstract

The invention discloses a kind of control system of stereo garage, including programmable logic controller (PLC) PLC, power module, driver, motor, encoder, display module, access controller, card reading module, software control module, wherein:Power module is powered for programmable logic controller (PLC) and driver;Access controller carries out communication interaction with card reading module, display module respectively, controls disengaging and the access charge of vehicle;Software control module connect with access controller and carries out communication interaction, and control information is transmitted to programmable logic controller (PLC) by software control module;The programmable logic controller (PLC) is connect respectively with driver, encoder, and driver is connect by motor with encoder;Programmable logic controller (PLC) is moved by driver control motor, motor according to encoder count, and vehicle is sent into parking stall.The present invention realizes purpose of the ground parking to spatial spread, has many advantages, such as that saving space, automation manipulation, safe and reliable, construction cost is low, configuration is flexible.

Description

A kind of control system of stereo garage
Technical field
The invention belongs to control system technical field, particularly a kind of control system of stereo garage.
Background technology
In recent years with economic rapid development, the quickening and the improvement of people's living standards of Chinese Urbanization level, China's automobile quantity is caused to be continuously increased.There is private car since the eighties in last century China, by the end of the year 2016, the whole nation Car ownership is up to 1.54 hundred million.Increase by 12.4%, wherein private car ownership 125,840,000 than year ends 2013, increase 15.5%.Civil car ownership 83,070,000 increases by 16.6%, wherein personal car 75,900,000, increases by 18.4%.In this way Growth rate inevitably result in traffic congestion, the problems such as trip is difficult, parking difficulty, which has become city managers, to be not related to The livelihood issues of note.2016 according to investigation of the relevant departments to the multiple city parking present situations in the whole nation, the car ownership in city and The average proportions on parking stall are 4.84:1, from this, the situation is tense for parking difficulty.Why these problems are occurred after all It is since the construction plan in city comes with some shortcomings.Especially in today that land resource day is becoming tight, can problems It obtains properly settling the long-run development that will be directly related to city.
The appearance of stereo garage alleviates these problems significantly.It compares with traditional parking lot, present stereoscopic vehicle Library is to collect intellectually and automatically in integrated modern facility, has not only saved land resource but also safe and facilitate height Effect.But traditional mechanicalness stereo garage has the following disadvantages and deficiency:First, cost is higher, in addition to building and equipment Investment cost, it is also necessary to which the input of maintenance is to ensure the safety of equipment, lasting operation;Second, it is too long into vehicle line haul hour, do not permit Many vehicles come in and go out simultaneously, and parking efficiency is low.
Invention content
The purpose of the present invention is to provide a kind of controls of stereo garage efficient, safe and reliable, construction cost is low of stopping System processed, so as to make ground parking to spatial spread to economize the land resource.
Realize the object of the invention technical solution be:A kind of control system of stereo garage, including programmable logic Controller PLC, power module, driver, motor, encoder, display module, access controller, card reading module, software control mould Block, wherein:
The power module connects programmable logic controller (PLC) and driver, and gives the two power supply;
The access controller is connect respectively with card reading module, display module, and carries out communication interaction, control with the two The disengaging of vehicle and access charge;
The software control module connect with access controller and carries out communication interaction, transmitted by software control module Information is controlled to programmable logic controller (PLC);
The programmable logic controller (PLC) is connect respectively with driver, encoder, and driver is connected by motor and encoder It connects;Programmable logic controller (PLC) sends signal, driver control motor to driver, and motor is moved according to encoder count It is dynamic, vehicle is sent into parking stall.
Preferably, the programmable logic controller (PLC) PLC uses Siemens S7-300 PLC, and modular construction is by power supply Module, CPU module, digital quantity input expansion module composition, power module provide direct current 24v power supplys, and CPU module model is selected 313-2DP, and digital quantity input and each 16 points of digital output are carried, reserved points is needed to be used as in spare, according to The number of plies that garage is built realizes the laterally or longitudinally extension of stereo garage system by the expansion of points.
Preferably, the software control module uses the Integrated Development Tool C++Builder, C++ of Borland companies Builder uses visual programming mode, and code is mutually unified with interface;Using VCL Component Galleries, compatible ActiveX control, and And built-in expansible control;Support standard C++/C language, in compiling and connection procedure, the function that is not previously used and The code do not changed can be skipped.
Preferably, the data interaction between the access controller and software control module passes through Ethernet and serial data Bus is transmitted, the network interface connection interchanger of software control module, and interchanger will be connected to together with the equipment of each network interface connection One LAN, each network interface are converted to RS485 ports through serial server, and access controller passes through RS485 ports and software Control module is communicated.
Preferably, the power supply of PLC is to be converted into meeting after externally input alternating current is converted in the power module The DC power supply circuit or power module of the internal circuits need of work such as CPU, memory, input/output interface.
Preferably, the encoder uses multi-turn absolute value type encoder, which exports 22, first 12 in total For the number of turns, latter 10 are individual pen line number.
Preferably, the access controller communicate with the communication mode of display module, card reading module including RS485, RS232 communications, ethernet communication, realize data interaction and communication.
Compared with prior art, the present invention its remarkable advantage is:(1) it is developed using based on programmable logic controller (PLC), collection Sequential control, motion control, process control are integrated, and reliability height, strong antijamming capability, system fault self-diagnosis ability are dashed forward Go out, remain able to reliably working in the presence of a harsh environment;(2) it is small, it is easily installed and uses;Adaptability is good, using modularization Design if system needs small variation, only need to change corresponding wiring and program;It is indicative good, power supply, CPU, input and output Interface etc. is designed with indicator light, reflects working condition in real time, conducive to the field adjustable of system;(3) encoder used is multi-turn Absolute value type encoder eliminates the process of pulse count among incremental encoder, intermediate after system power failure no matter to compile How code device moves, and directly reads data and initial value after the power is turned on and compares, be not in incremental encoder zero it is inclined Shift one's love condition, more accurately;(4) using access controller module, cost of labor is reduced, and increase display module in exit, The payment information of car owner can be informed visual and clearly, make payment information Clear & Transparent intuitive.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Description of the drawings
Fig. 1 is the structure diagram of the control system of stereo garage of the present invention.
Fig. 2 is the work flow diagram of the programmable logic controller (PLC) of the present invention.
The motor that Fig. 3 is the present invention controls transmission system schematic diagram.
Fig. 4 is the encoder output sequence diagram of the present invention.
Fig. 5 is the access controller flow chart of the present invention.
Specific embodiment
The present invention is to use the automatic three-dimensional garage system based on programmable logic controller (PLC).PLC controls driver, so as to Control motor is acted according to encoder count, and notice PLC carries out communication interaction, host computer and gate inhibition's module with host computer, Card reading module etc. carries out communication so as to control vehicles while passing, realizes and vehicle safety is accurately placed.
With reference to Fig. 1, the control system of stereo garage of the present invention, including programmable logic controller (PLC) PLC1, power module 2, Driver 3, motor 4, encoder 5, display module 6, access controller 7, card reading module 8, software control module 9, wherein:
The power module 2, connection programmable logic controller (PLC) 1 and driver 3, and give the two power supply;
The access controller 7 is connect respectively with card reading module 8, display module 6, and carries out communication interaction, control with the two The disengaging of vehicle processed and access charge;
The software control module 9 connect with access controller 7 and carries out communication interaction, passed by software control module 9 Defeated control information is to programmable logic controller (PLC) 1;
The programmable logic controller (PLC) 1 is connect respectively with driver 3, encoder 5, and driver 3 is by motor 4 with compiling Code device 5 connects;Programmable logic controller (PLC) 1 sends signal to driver 3, and driver 3 controls motor 4, and motor 4 is according to encoder 5 readings are moved, and vehicle is sent into parking stall.
As a kind of preferable example, the programmable logic controller (PLC) PLC1 uses Siemens S7-300 PLC, module Change structure to be made of power module, CPU module, digital quantity input expansion module, power module provides direct current 24v power supplys, CPU moulds Block model selects 313-2DP, and included digital quantity input and each 16 points of digital output, and reserved points conduct is needed in It is spare, according to the number of plies that garage is built, the laterally or longitudinally extension of stereo garage system is realized by the expansion of points.
As a kind of preferable example, the software control module 9 uses the Integrated Development Tool C++ of Borland companies Builder, C++Builder use visual programming mode, and code is mutually unified with interface;It is compatible using VCL Component Galleries ActiveX control, and built-in expansible control;Support standard C++/C language, in compiling and connection procedure, is not made Used function and the code do not changed can be skipped.
As a kind of preferable example, the data interaction between the access controller 7 and software control module 9 passes through ether Net and serial data bus are transmitted, the network interface connection interchanger of software control module 9, interchanger by with each network interface connection Equipment is connected to same LAN, and each network interface is converted to RS485 ports through serial server, and access controller 7 passes through RS485 Port is communicated with software control module 9.
As a kind of preferable example, the power supply of PLC is after externally input alternating current is converted in the power module 2 It is converted into the DC power supply circuit or power module that meet the internal circuits need of work such as CPU, memory, input/output interface.
As a kind of preferable example, the encoder 5 uses multi-turn absolute value type encoder, which exports in total 22, first 12 are the number of turns, and latter 10 are individual pen line number.
As a kind of preferable example, the access controller 7 and the communication mode of display module 6, card reading module 8 include RS485 communications, RS232 communications, ethernet communication, realize data interaction and communication.
Embodiment 1
In order to which technical scheme of the present invention and advantage is more clearly understood, below in conjunction with the accompanying drawings to the technical side to invention Case is described in detail:
Fig. 1 is three-dimensional garage control system block diagram, it includes programmable logic controller (PLC) PLC1, power module 2, driver 3rd, motor 4, encoder 5, display module 6, access controller 7, card reading module 8, software control module 9.
1st, programmable logic controller (PLC) PLC1
The internal work flow of PLC refers to Fig. 2, and PLC uses the working method of scan round, and the scan period is generally 40- 100ms, entire scanning process can be divided into input scanning, and user program performs, output scanning, inter-process four-stage, firm Initialization program can also be performed by powering on, and inter-process is actually to run PLC built-in system management programs, the control nothing with user It closes, when PLC is configured with communication interface or module, the communication with external object is completed in internal processing stage, in addition Input scanning, user program perform, and the detailed process that output scans these three working stages enters Fig. 2, and in PLC, there is provided special The state of input signal and output signal is stored in the region of door, respectively inputs image register and output mapped memory.
S7-300PLC in the present invention is using compact, the modularization composite structure of slotless position limitation, according to demand for control Difference, different models and the module of different number can be selected, and these modules can be mounted on to one or more machines It is connected between frame upper module by back Bussing connector, the modular construction of S7-300 is relatively simple, by power module, CPU moulds Block, digital quantity input expansion module composition, power module can provide direct current 24v power supplys, CPU types for CPU and input/output module Number 313-2DP is selected, its included digital quantity input and each 16 points of digital output, processing speed and operational capability are satisfied by this System requirements;Reserved certain point number is needed in practical application as number of plies difference spare, that garage is built, the output input needed Point is also different, and the laterally or longitudinally extension of stereo garage system can be conveniently realized by the expansion of points.
2nd, motor 4 is chosen
The present invention selects threephase asynchronous machine to further include retarder, brake, shaft coupling in transmission system as driving motor Device and multilevel open type gear can obtain suitable gearratio by appropriate Machine Design, as shown in figure 3, for this selected works Vertical Circulating stereo garage transmission system schematic diagram.
There is the following formula:
P=FV/ η (1)
P is power in formula, and F is active force, and V is speed, and η takes 0.8 for mechanical efficiency.
T=FR (2)
T is loading moment in formula, and F is active force, and R is sprocket radius.
T=Tiη'i (3)
In formula T be output loading torque, TiFor motor output shaft torque, it is gearratio that η ' takes 0.8, i for transmission efficiency.
I=ni/no (4)
In formula i be gearratio, niFor input speed, noFor output speed.
The selected sprocket radius R=1m of the present invention, cannot be too fast for the speed of car operation, otherwise can be brought because of inertia force Safety issue, can not be excessively slow, otherwise influences Transport Vehicle efficiency.Sprocket wheel is taken to drive the speed V=0.2m/ of car operation herein S, the gearratio for selecting retarder is 50, gearratio 10 can be obtained by stage-geared, then resultant gear ratio ia=50 × 10 =500.One car weight is 1600kg, and to the stereo garage studied in the present invention, it is 10 to draft separate unit garage capacity, left and right Each 4, each one up and down, both sides weight difference is up to 4 vehicles, i.e. 1600 × 4=6400kg considers allowance, takes 7000kg.
There is P=7000 × 9.8 × 0.2/0.8=17.15kW by formula (1);
T can be obtained by formula (2) and formula (3)iη ' i=FR, i.e. Ti=FR/ η ' i, then:
Ti=FR/ η ' i=7000 × 9.8 × 1/ (0.8 × 500)=171.5Nm;
N is obtained by formula (4)i=inoThe ≈ 956r/min of=500 × 0.2 × 60/2 π/1
Consulting literatures are understood it is contemplated that it is YTSZ200L1-6 to select motor model.
3rd, encoder 5
What is selected in the present invention is multi-turn absolute value type encoder.Its output timing diagram is as shown in Figure 4.The encoder is in total Output 22, first 12 are the number of turns, and latter 10 are individual pen line number.Using SSI interfaces, positional value is sent out in controller Under clock pulse signal, the synchronous transfer by high significance bit.In the first rising edge of clock pulse signal, present position values quilt It sends out.In sequence diagram, encoder begins preparing for data, t0 in first clock falling edge for receiving master controller transmission Represent that slave device gets out the data that can the be sent required time, the time is shorter, then represents used device operation speed Degree is faster, and requirement of the SSI communications to sequential is t0 >=0.5us.T is a clock cycle, it is desirable that 1us≤T≤10us, t2 are represented Equipment receives the delay of transmission data after rising edge clock, it is desirable that t2≤0.2us, t1 represent data outage signal, and slave device connects When the high level received is more than t1, terminate data transmission, it is desirable that t1 >=30us.
The encoder model selected in the present invention is MF58L10-MA4096/1024B4SLP-DAAA, type coding utensil There is the features such as anti-vibration, corrosion-resistant, anti-pollution, small, at low cost, reliability is high, simple in structure.The highest number of turns is 4096, Individual pen resolution ratio is 1024, and output code is made as binary code, does not need to be converted, and can directly step-by-step be used after reading.
4th, access controller 7
Switch controller, Card Reader controller and access controller use same control panel, wherein Card Reader controller and door Prohibit controller only to communicate, and be that RS485 communicates with the communication of the superior and the subordinate.USART0 and USART1 mouthfuls of MSP430 RS485 communication interfaces are converted to by MAX3485.
5th, software control module 9
Using C++Builder, it is integrated by what Borland companies released for the exploitation of the software control module 9 of the present invention Developing instrument, C++Builder have a set of visual development environment, and quick exploitation can be realized to Application Program Interface.Together When according to New Orleans method design database, obtain IC card information table, user message table, Transport Vehicle task list, parking space information Table etc..
For entrance guard controller program flow of the invention, it is mainly responsible for the IC card letter that reading Card Reader controller summarizes to Fig. 5 Breath, and feeds back to host computer by this information, obtains control entrance after host computer instruction, the gate of outlet rises, and allows vehicle pass-through, It issues related prompt message simultaneously to be shown to display module, shows bicycle parking information or remaining parking space information, this block program ratio It is relatively simple, without complicated logic control, host computer is transferred to solve the information such as the permission judgement of IC card, this controller only needs The information such as IC card number are fed back into host computer, instruction is received and is responsible for execution.Idle moment host computer constantly inquires access control The state of device, access controller are fed back after the inquiry instruction of host computer is received if having solicited message, and otherwise inquiry is read Card controller stops inquiry after inquiring Card Reader controller and having request.If Fig. 5 is entrance guard controller program flow.
During user's bicycle parking, solicited message is fed back to host computer by user card punching, control panel, and host computer is by inquiring data Accordingly result is packaged as instruction and is issued to control panel execution by library, and the corresponding bicycle parking garage number prompting of screen display on doorway is used Family.Flow during pick-up similarly, when sailing out of outlet, go out, and casual user hands over card payment to go out by fixed user card punching.
New Orleans method was to be acknowledged as more complete more authoritative database design method at present, 70 years last century Generation end New Orleans meeting in propose the step of design about database, it by database design is divided into four steps:With Family demand analysis, conception framework design, Logic Structure Design and physical design.To be herein stereoscopic vehicle with New Orleans method Database is established in library.Local view is taken out first, is then merged to obtain global E-R figures.In conception framework design compared with Famous method is " Entity-Relationship ", and abbreviation E-R methods are that P.P.S Chen were proposed in 1976, use entity, attribute It describes, is mutually unified the message structure in reality by E-R models, rectangle presentation-entity, ellipticity tables in E-R figures with contacting Attribute, diamond shape table contact, is connected each other by undirected line segment.
As shown in FIG., " the Transport Vehicle task " in E-R figures is m:N is contacted, and is converted into an independent relationship mould The name of contact, is referred to as the title of relation schema by formula, and the attribute of relation schema is associated by the attribute and the contact contacted Two multi-party entity parking stalls, IC card code, relation schema is such as:Transport Vehicle task (mission number, access status, during bicycle parking Between, it picks up the car the time, parking stall numbering, IC card number).
It is 1 between IC card entity and user subject:1 contact, for the convenience used in stereo garage system, contact is returned And to one side of IC card entity, the code of IC card is the code of relation schema, and the attribute of relation schema is added for IC card entity attributes to be used The code of family entity and the attribute of contact, relation schema are such as:(IC card number opens card time, deadline, IC card to IC card information Type, license plate number, Customs Assigned Number).
User subject therein can be using independent translation as a relation schema, and relation schema is such as:(user compiles user information Number, name, identity card, mobile phone, address).
To sum up, the present invention is based on the three-dimensional garage utilization rate of PLC is high, construction cost is low, without the mechanical structure of complexity, Failure rate is low, more reliably, even if the cost that failure maintenance cost is compared to mechanical garage is much lower, it is bilateral can be with Going out vehicle simultaneously and improve efficiency reduces waiting time, furthermore without administrator, can be automatically performed Transport Vehicle.

Claims (7)

1. a kind of control system of stereo garage, special to be, including programmable logic controller (PLC) PLC (1), power module (2), driver (3), motor (4), encoder (5), display module (6), access controller (7), card reading module (8), software control Molding block (9), wherein:
The power module (2), connection programmable logic controller (PLC) (1) and driver (3), and give the two power supply;
The access controller (7) connect respectively with card reading module (8), display module (6), and carries out communication interaction with the two, Control disengaging and the access charge of vehicle;
The software control module (9) connect with access controller (7) and carries out communication interaction, passes through software control module (9) Transmission control information gives programmable logic controller (PLC) (1);
The programmable logic controller (PLC) (1) connect respectively with driver (3), encoder (5), and driver (3) passes through motor (4) it is connect with encoder (5);Programmable logic controller (PLC) (1) sends signal, driver (3) control motor to driver (3) (4), motor (4) is moved according to encoder (5) reading, and vehicle is sent into parking stall.
2. the control system of stereo garage according to claim 1, special to be, the programmable logic controller (PLC) PLC (1) is using Siemens S7-300 PLC, and modular construction is by power module, CPU module, digital quantity input expansion module group Into power module provides direct current 24v power supplys, and CPU module model selects 313-2DP, and included digital quantity input and digital quantity are defeated Go out each 16 points, reserved points is needed to be used as in spare, according to the number of plies that garage is built, realized by the expansion of points vertical The laterally or longitudinally extension of body garage system.
3. the control system of stereo garage according to claim 1, special to be, the software control module (9) makes With the Integrated Development Tool C++Builder of Borland companies, C++Builder uses visual programming mode, by code and boundary Face is mutually unified;Using VCL Component Galleries, compatible ActiveX control, and built-in expansible control;Support standard C++/C languages Speech, in compiling and connection procedure, the function not being previously used and the code do not changed can be skipped.
4. the control system of stereo garage according to claim 1, special to be, the access controller (7) with it is soft Data interaction between part control module (9) is transmitted by Ethernet and serial data bus, software control module (9) Network interface connection interchanger, interchanger will be connected to same LAN with the equipment of each network interface connection, and each network interface is through serial server RS485 ports are converted to, access controller (7) is communicated by RS485 ports and software control module (9).
5. the control system of stereo garage according to claim 1, special to be, PLC in the power module (2) Power supply be will externally input alternating current conversion after be converted into meeting the internal circuits such as CPU, memory, input/output interface The DC power supply circuit or power module of need of work.
6. the control system of stereo garage according to claim 1, special to be, the encoder (5) is using more Absolute value type encoder is enclosed, which exports 22 in total, and first 12 are the number of turns, and latter 10 are individual pen line number.
7. the control system of stereo garage according to claim 1, special to be, the access controller (7) with Display module (6), card reading module (8) communication mode include RS485 communication, RS232 communication, ethernet communication, realize number According to interaction and communication.
CN201611097097.8A 2016-12-02 2016-12-02 A kind of control system of stereo garage Pending CN108153220A (en)

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Application Number Priority Date Filing Date Title
CN201611097097.8A CN108153220A (en) 2016-12-02 2016-12-02 A kind of control system of stereo garage

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Application Number Priority Date Filing Date Title
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101881967A (en) * 2010-07-12 2010-11-10 江苏润邦重工股份有限公司 Control system and method for two-layer lift-sliding parking equipment
CN202870558U (en) * 2012-11-09 2013-04-10 上海工程技术大学 RFID (Radio Frequency Identification)-based stereo garage control system
CN104391473A (en) * 2014-11-14 2015-03-04 湖南工程学院 System and method for monitoring stereo garage
CN105625784A (en) * 2016-02-03 2016-06-01 江苏普腾停车设备有限公司 Control system of rapid variable-frequency lifting and transverse-moving parking equipment
CN205608507U (en) * 2016-04-28 2016-09-28 常州市翔云测控软件有限公司 Intelligence tricot machine control system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101881967A (en) * 2010-07-12 2010-11-10 江苏润邦重工股份有限公司 Control system and method for two-layer lift-sliding parking equipment
CN202870558U (en) * 2012-11-09 2013-04-10 上海工程技术大学 RFID (Radio Frequency Identification)-based stereo garage control system
CN104391473A (en) * 2014-11-14 2015-03-04 湖南工程学院 System and method for monitoring stereo garage
CN105625784A (en) * 2016-02-03 2016-06-01 江苏普腾停车设备有限公司 Control system of rapid variable-frequency lifting and transverse-moving parking equipment
CN205608507U (en) * 2016-04-28 2016-09-28 常州市翔云测控软件有限公司 Intelligence tricot machine control system

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