CN108179902A - Sky parking is changed to the remodeling method of three-dimensional intelligent parking lot - Google Patents
Sky parking is changed to the remodeling method of three-dimensional intelligent parking lot Download PDFInfo
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- CN108179902A CN108179902A CN201711365975.4A CN201711365975A CN108179902A CN 108179902 A CN108179902 A CN 108179902A CN 201711365975 A CN201711365975 A CN 201711365975A CN 108179902 A CN108179902 A CN 108179902A
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- Prior art keywords
- vehicle
- parking
- wheel
- controller
- floor truck
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
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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
Abstract
The present invention relates to parking lot fields, the present invention is more demanding to the driving technology of driver for existing mechanical stereo garage, the technical issues of driver uses is not easy to, the remodeling method that a kind of sky parking is changed to three-dimensional intelligent parking lot is provided, including following content：S1 stereo garages are transformed, and select a stereo garage, the parking plate in stereo garage is transformed, and a carrying road are opened up on every piece of parking plate, there are the support plates of support vehicle left side front and back wheel and right side front and back wheel for the both sides carried；S2 establishes interaction buffering area, and delivery system is set in interaction buffering area, and delivery system includes several support plates of the liftoff spacing of vehicle for improving user；S3 selects movement system：Movement system includes floor truck, and feasible sail to of floor truck is parked in the abdomen of vehicle on support plate so that by vehicle conveying to parking plate, the vehicle of carrying can be placed on parking plate by floor truck.
Description
Technical field
The present invention relates to parking lot fields, and in particular to a kind of sky parking is changed to the transformation side of three-dimensional intelligent parking lot
Method.
Background technology
With the development of national economy and the raising of living standards of the people, the family for possessing private car is more and more, to stopping
The demand of vehicle facility is also being continuously increased, and then mechanical stereo garage just comes into being.Mechanical stereo garage (especially rises
Traversing class garage drops) can both have been used with large area, can also seize every opportunity setting, moreover it is possible to Surface parking lots, underground garage and
Parking building combination is implemented, and is considered as the effective means for solving city parking hardly possible in recent years.
Mechanical stereo garage (abbreviation machinery garage) is all shown superior in many aspects compared with traditional garage
Property.First, mechanical stereo garage has the prominent advantage that saves land, its space is small, can greatly save limited soil
Ground resource, and save civil engineering development cost (extending up, the space of storage of cars does not need to set excessive driving channel).But
It is so by development in recent years, even if mechanical stereo garage has the advantages that above-mentioned, but is also the failure to progress large area
Popularization, main cause is as follows：Mechanical stereo garage is come to a complete stop in driver's frame car steering to parking plate, is then driven
Personnel leave automobile, under the driving of the elevating mechanism and transverse-moving mechanism of mechanical stereo garage in itself so that parking plate lifts
Or it is traversing, the automobile on parking plate and parking plate is allowed to move together the suitable position completion in mechanical stereo garage and is stopped
It puts.
Above-mentioned parking mode needs driver, and by car steering to parking plate, this is for many drivers
Difficulty on vehicle drive to parking plate is higher, when crimping occur (when i.e. wheel is located at parking plate edge), easily there is side
Accident is turned over, i.e. mechanical stereo garage is more demanding to the driving technology of driver, is not easy to driver's use.
Invention content
The present invention is more demanding to the driving technology of driver for existing mechanical stereo garage, is not easy to drive
The technical issues of personnel use, provides the remodeling method that a kind of sky parking is changed to three-dimensional intelligent parking lot.
Base case provided by the invention is：Sky parking is changed to the remodeling method of three-dimensional intelligent parking lot, including such as
Lower content：
S1 stereo garages are transformed, and select a stereo garage, the parking plate in stereo garage is transformed, is stopped at every piece
A carrying road is opened up on sweep, there are the support plates of support vehicle left side front and back wheel and right side front and back wheel for the both sides carried；
S2 establishes interaction buffering area, and delivery system is set in interaction buffering area, and delivery system improves use including several
The support plate of the liftoff spacing of vehicle at family；
S3 selects movement system：Movement system includes floor truck, and feasible sail to of floor truck is parked in vehicle on support plate
Abdomen with by vehicle conveying to parking plate, the vehicle of carrying can be placed on parking plate by floor truck.
Operation principle and advantage according to the parking lot of the invention built are：When in use, automobile is sailed to friendship by user
In mutual buffering area on the support plate of delivery system, support plate can improve the liftoff spacing of the automobile chassis, can allow transport system at this time
The floor truck of system drives into the abdomen to the automobile, and then movement system is by the carborne to parking plate on support plate, then
Floor truck puts down automobile, and floor truck is driven out to parking plate, completes parking for automobile.
In the present invention, user does not need in car steering to parking stall, will to reduce user by car steering to parking
Difficulty on plate.User is only needed in car steering to parking plate, can by floor truck by vehicle parking to parking plate,
Improve user experience.
And support plate can provide the liftoff spacing of automobile chassis, also reduce the difficulty of floor truck carrier vehicle.It is i.e. square
Just floor truck enters the abdomen carrier vehicle of automobile.Carrying road is both provided on support plate and parking plate, facilitates floor truck
Carrying vehicle and put down vehicle.
Sky parking of the present invention is changed to the remodeling method of three-dimensional intelligent parking lot, passes through setting interaction buffering area, a side
Face, which avoids user, to be needed directly to dock to automobile on parking plate, is reduced the technology requirement to driver, is facilitated driving
Personnel use, and improve user experience；The liftoff spacing of vehicle can be improved on another aspect support plate and parking plate, and all
There is provided road is carried, facilitate movement system carrying vehicle.
Further, in S2, support plate includes two for supporting the wheel of vehicle left side front and back wheel and right side front wheel respectively
Portion, there are the carrying roads driven into for floor truck between two wheel portions, are that setting facilitates vehicle in the side in two wheel portions
Drive to the bridging in wheel portion.
Such design cost is relatively low.
Further, in S2, support plate includes two for supporting the wheel of vehicle left side front and back wheel and right side front wheel respectively
Portion, is provided with lifting device below wheel portion, and lifting device can be by two wheel portions and the automobile being parked in wheel portion
It lifts simultaneously, after being lifted in two wheel portions, there are the carrying roads driven into for floor truck between two wheel portions.
Such design can improve user experience, and user is in parking, it is only necessary to stop to designated position, at the angle of user
Degree, the risk that vehicle is not scratched, parking experience are more preferable.
Further, in S2, the front and back wheel of vehicle can be distinguished traversing conveyor by being set in wheel portion, attached in support plate
The photoelectric sensor for the posture that parks cars on the nearly detectable support plate of setting, sets delivery controller, photoelectric sensor on support plate
The attitude signal that parks cars detected is fed back into delivery controller, delivery controller is controlled according to the signal of photoelectric sensor
The rotation of conveyor.
It is such to improve user experience, vehicle is docked into the position specified with specified posture if necessary to user
It puts, this may need user repeatedly to attempt, but in the present solution, user after the completion of parking, even if there is certain error, passes
Vehicle can also be corrected the position that floor truck is facilitated to carry it by defeated band.
Further, in S2, delivery controller is also connect with lifting device signal, and delivery controller is examined in photoelectric sensor
Lifting device is controlled to lift upwards after measuring vehicle attitude adjustment.
Such to improve the degree of automation, after user is stopped, lifting mechanism lifts upwards automatically, improves effect
Rate.
Further, it further includes S4 and is laid with track：Magnetic wire is laid between support plate and stereo garage, in the intersection of magnetic wire
Setting RFID identification card in place's sets AGV magnetic navigation sensors, laser radar sensor and transhipment control on floor truck
Device, AGV magnetic navigation sensors are used to that surface-based magnetic wire to be identified and feed back to transhipment controller, laser radar
For sensor for sensing ambient enviroment and feeding back to transhipment controller, RFID identification device is mounted on magnetic wire infall for detecting
RFID label tag and feed back to transhipment controller, transhipment controller control floor truck walking.
Such design can trolley easy to carry interaction buffering area and stereo garage between travel.
Further, in S1, gyroscope is set on parking plate, stereo garage includes garage controller, garage controller
The movement of controllable parking plate, gyroscope are used to detect the attitude information in parking plate moving process and feed back to garage control
Device.
Such design can be monitored parking plate operational process, improve the safety in parking plate operational process.
Further, S5 vehicle cab recognition steps are further included, by setting model recognition system that the model of vehicle is identified
And be sent to transhipment controller, transhipment controller control floor truck adjust can carrying vehicle wheelbase it is not coaxial to carry
Away from vehicle.
Such design facilitates floor truck oneself to adjust the wheelbase to adapt to different automobile types.
Further, in S3, floor truck is carried again after being clamped to the wheel of vehicle.
Such floor truck can quickly carry automobile.
Further, in S1, stereo garage is lifting cross sliding type mechanical stereo garage.
Lifting cross sliding type mechanical stereo garage can park more vehicles in the soil of unit area, improve space
Utilization rate.
Description of the drawings
Fig. 1 is the structure diagram of product embodiments directly obtained according to this method；
Fig. 2 is the structure diagram of the mechanical stereo garage full load in Fig. 1；
Fig. 3 is the structure diagram after the mechanical stereo garage in Fig. 2 is traversing；
Fig. 4 is the front elevational view of parking plate；
Fig. 5 is the front elevational view of unit member；
Fig. 6 is the vertical view of Fig. 4
Fig. 7 is the side view of support plate；
Fig. 8 is the vertical view of support plate；
Fig. 9 is the structure diagram of movement system；
Figure 10 is the position relationship schematic diagram of magnetic wire and RFID identification device；
Figure 11 is the logic diagram of the control system of three-dimensional intelligent parking lot；
Figure 12 is the structure diagram of movement system in other embodiments；
Figure 13 is the space structure schematic diagram of Figure 12；
Figure 14 is the structure diagram of movement system another embodiment.
Specific embodiment
Below by the further details of explanation of specific embodiment：
Reference numeral in Figure of description includes：Mechanical stereo garage 10, delivery system 20, movement system 30, machine
Frame 11, crossbeam 12, parking plate 13, traversing frame 14, outline border 130, unit member 131, supporter 132, buckling parts 133, support plate 21,
Bridging 22, vehicle frame 31, clamping device 32, adjuster 33, magnetic wire 34, RFID identification device 35.
Sky parking is changed to the remodeling method of three-dimensional intelligent parking lot, including following content：
S1 stereo garages are transformed, and a lifting cross sliding type mechanical stereo garage 10 are selected, to lift-sliding class mechanical type
Parking plate 13 in stereo garage 10 is transformed, and a carrying road is opened up on every piece of parking plate 13, and the both sides carried are stayed
There is the support plate of support vehicle left side front and back wheel and right side front and back wheel；Gyroscope, lifting cross sliding type machinery are set on parking plate 13
Formula stereo garage 10 includes garage controller, and garage controller can control the movement of parking plate 13, and gyroscope stops for detecting
Attitude information in 13 moving process of plate simultaneously feeds back to garage controller.Gyroscope detection is not only posture, also speed plus
The physical quantitys such as speed, displacement feed back to garage controller.
S2 establishes interaction buffering area, and delivery system 20 is set in interaction buffering area, and delivery system 20 includes several carry
The support plate 21 of the liftoff spacing of vehicle of high user；Before support plate 21 includes two for supporting vehicle left side front and back wheel and right side respectively
The wheel portion of wheel, there are the carrying roads driven into for floor truck between two wheel portions, are to set in the side in two wheel portions
Put the bridging 22 that vehicle is facilitated to drive to wheel portion.In another embodiment, support plate 21 includes two for supporting vehicle respectively
The wheel portion of left side front and back wheel and right side front wheel, is provided with lifting device below wheel portion, and lifting device can be by two vehicles
Wheel portion and the automobile being parked in wheel portion lift simultaneously, and after being lifted in two wheel portions, there are can between two wheel portions
The carrying road driven into for floor truck.The front and back wheel of vehicle can be distinguished traversing conveyor by setting in wheel portion, in support plate
21 nearby set the photoelectric sensor for the posture that parks cars on detectable support plate 21, and delivery controller, light are set on support plate 21
The attitude signal that parks cars detected is fed back to delivery controller by electric transducer, and delivery controller is according to photoelectric sensor
The rotation of signal controlling transmission band.Delivery controller is also connect with lifting device signal, and delivery controller is examined in photoelectric sensor
Lifting device is controlled to lift upwards after measuring vehicle attitude adjustment.
S3 selects movement system 30：Movement system 30 includes floor truck, and feasible sail to of floor truck is parked in support plate 21
The abdomen of upper vehicle is with by vehicle conveying to parking plate 13, the vehicle of carrying can be placed on parking plate 13 by floor truck；
Floor truck is carried again after being clamped to the wheel of vehicle.
S4 is laid with track：Magnetic wire 34 is laid between support plate 21 and stereo garage, is set in the infall of magnetic wire 34
RFID identification card sets AGV magnetic navigation sensors, laser radar sensor and transhipment controller, AGV magnetic on floor truck
Navigation sensor is used to that surface-based magnetic wire 34 to be identified and feed back to transhipment controller, laser radar sensor
For sensing ambient enviroment and feeding back to transhipment controller, RFID identification device 35 is mounted on 34 infall of magnetic wire for detecting
RFID label tag simultaneously feeds back to transhipment controller, transhipment controller control floor truck walking；
S5 vehicle cab recognition steps, by setting model recognition system that the model of vehicle is identified and being sent to transhipment control
Device processed, transhipment controller control floor truck adjust can carrying vehicle wheelbase to carry the vehicle of different wheelbases.
Product in embodiment is substantially as shown in Figure 1：According to the product that this method directly obtains, including：It is mechanical vertical
Body garage 10, delivery system 20 and movement system 30；
Mechanical stereo garage 10 is internally provided with several moveable parking plates 13 for parking a car.
Mechanical Three-dimensional Garage is specially lifting cross sliding type garage, including：Rack 11；Rack 11 fixes on the ground, rack
11 are fixedly welded with five groups of crossbeams 12 in vertical direction, and rack 11 is divided for six layers that (i.e. bottommost does not have to set by five groups of crossbeams 12
Put crossbeam 12)；
Wherein top layer is top layer, and lowest level is bottom, and bottom is contacted with ground, and there are stay six parking stalls on every layer
Width, every layer in addition to top layer is respectively provided with there are five parking plate 13, and setting is there are six parking plate 13 on top layer, in addition to top layer
Parking plate 13 can be traversing, the 13 equal liftable of parking plate in addition to bottom.The only liftable of parking plate 13 i.e. on top layer, on bottom
Parking plate 13 only can be traversing.Parking plate 13 in addition to top layer and bottom, both liftable or can be traversing.
Be cased with traversing frame 14 outside liftable parking plate 13, traversing frame 14 can it is traversing together with parking plate 13 (or
Say that parking plate 13 can be traversing together with traversing frame 14).The parking plate 13 of top layer is also outer to be cased with traversing frame 14, the traversing frame of top layer
14 since the parking plate 13 of this layer does not have to slide, and the traversing frame 14 of top layer is without traversing.It is fixedly mounted on traversing frame 14
It is useful for being promoted the lifting motor of parking plate 13 and for parking plate 13 to be caused to realize the traversing motor of transverse moving left and right, parking plate 13
It is slidably connected with ground and crossbeam 12.
Specifically, traversing motor uses the decelerating motor of 0.4kW, lifting motor has 2 kinds of specifications, 3 layers and less than 3 layers uses
2.2kW decelerating motors, 4 layers and above use 3.7kW decelerating motors.
When 10 full load of mechanical stereo garage, as shown in Fig. 2, working as third layer, under third automobile needs from right to left
When coming, the traversing situation of parking plate 13 is as shown in Figure 3.
Parking plate 13 includes outline border 130, and the both sides of outline border 130 are high, intermediate low (as shown in Figure 4), and 10 are equipped in outline border 130
Root unit component 131 (as shown in Figure 6), the both ends of unit member 131 are high, and intermediate low, unit member 131 is embedded side by side in outline border
In 130, the laying direction of unit member 131 is consistent with the length direction of outline border 130.The both ends of unit member 131 are high, under intermediate
Recessed, unit member 131 is integrally formed.
The both ends of specific unit member 131 are additionally provided with supporter 132 and buckling parts 133, and supporter 132 is located at unit
The both sides of component 131, buckling parts 133 and supporter 132 are rectangular, and buckling parts 133 is towards unit member 131, unit member 131
It is integrally formed (as shown in Figure 5) with supporter 132, buckling parts 133.Such design can enhancement unit component 131 vertical
The stress intensity in direction.
In another embodiment, the gyroscope for detecting 13 motion state of parking plate is provided on parking plate 13, machinery
Formula stereo garage 10 includes the garage controller for parking plate 13 to be controlled to move, and gyroscope is connect with garage controller signal,
Gyroscope to the state of garage controller feedback parking plate 13 it is unhorizontal after (or during other motion state exceptions), garage
Controller control parking plate 13 stops movement.
Automobile is parked in delivery system 20 by delivery system 20 for user.Delivery system 20 is for improving user's vehicle
Liftoff spacing.Therefore delivery system 20 optionally includes support plate 21 (as shown in Figure 8), and support plate 21 is provided with to recessed straight slot
(as shown in Figure 7), for the width of straight slot in 1.1-1.2m, the both sides of straight slot are to be used to support the support plate to park cars, and support plate is with leading to
Slot is structure as a whole.In the present embodiment, the depth of straight slot is 8-15cm, and the bottom of straight slot is contacted with ground, support plate and ground
Between be provided with bridging 22 for assisting vehicle travel upper supporting plate.In other examples, the shape design of support plate 21 can
It is identical with parking plate 13.
Preferably, shutter above straight slot can also be set, recyclable hydraulic pump is provided with below shutter, is propping up
It is provided with whether detection wheel parks suitable voltage sensitive sensor on plate, after voltage sensitive sensor detects that wheel is parked properly,
Downwards after the meeting, straight slot is exposed in shutter recycling to hydraulic pump.
In other embodiments, delivery system 20 optionally includes two stents being mutually parallel, and stent is fixed on ground
On, rack upper surface is provided with support plate, and there are straight slots between two stents.
In a further embodiment, delivery system 20 can also include car bottom, positioned at the wheel portion of car bottom both sides, vehicle
Wheel portion is the wheel for supporting automobile, is provided with below wheel portion for the hydraulic cylinder of upward hoist vehicle wheel portion.
Movement system 30 is used to will stay on carborne on delivery system 20 to parking plate 13.
Movement system 30 is floor truck, including vehicle frame 31, transhipment controller, deflecting roller, driving wheel and clamping device
32 (as shown in Figure 9) are provided on vehicle frame 31 for driving the driving servo motor of driving wheel, for driving clamping device 32
Clamp servo motor and the steering servo motor for controlling wheel turning angle degree.Movement system 30 can be entered from straight slot
Then the abdomen to park a car on delivery system 20 clamps servo motor and starts to work, clamping device 32 has four groups, clamps respectively
The front and back wheel of automobile.The structure of each clamping device 32 is identical, including front clamp block, rear grip block and respectively drives fore-clamp
Hold the preceding servo motor of block and rear grip block and rear servo motor.All servo motors connect respectively with transhipment controller signals
It connects.
Motor cabinet is provided between preceding servo motor and vehicle frame 31, buffer rail is provided between motor cabinet and vehicle frame 31, it is preceding
It is provided with retarder and worm screw between servo motor and front clamp block, preceding servo motor is by power transmission to retarder, retarder
Hinged between front clamp block and vehicle frame 31 by power transmission to worm screw, hinged place is provided with that front clamp block is driven to rotate
Turbine, turbine and worm engaging.Servo motor and vehicle frame 31, connection mode and preceding servo motor and the vehicle frame of rear grip block afterwards
31st, the connection mode of preceding servo motor is identical.Preceding servo motor and rear servo motor can slide on regulator cubicle.Wherein before watch
It is 0.4kW servo motors to take motor and rear servo motor.
To reduce the requirement to battery capacity and power, clamping device 32 first grips vehicle 2 by the way of timesharing gripping
A front-wheel, then grip 2 trailing wheels of vehicle.
In other embodiments, it in order to adapt to the vehicle of different wheelbases, is set in 31 adjustable in length of vehicle frame, i.e. vehicle frame 31
There are one adjuster 33, adjuster 33 includes 1 0.1kW servo motor and adjusts screw, adjusts one end of screw and vehicle frame 31
Hinged, the other end is nibbled with being provided with leading screw, the servo motor of 0.1kW on the vehicle frame 31 of vehicle frame 31 with adjusting screw by gear
It closes.Above-mentioned design can adjust 31 entire length of vehicle frame, change the centre-to-centre spacing of forward and backward clamping limb, so as to adapt to different wheelbases
Vehicle.Wheel includes 2 driving wheels and 2 driven wheels.Front-wheel is driving wheel, by 2 0.75kW Serve Motor Controls, to reality
Existing vehicle frame 31 moves forward and backward；Trailing wheel is driven wheel, by the Serve Motor Control of 2 0.1kW, to realize turning for vehicle frame 31
To.In other embodiments, the structure of adjuster is frame structure (as shown in Figure 12 and Figure 13), and the both ends of adjuster 33 are set
There is 1 0.1kW servo motor and adjust screw.
In another embodiment, what movement system 30 was selected is the mode of hydraulic-driven, sets 8 to stretch on vehicle frame 31
Oil cylinder is both provided with clamping seats (as shown in figure 14) on the outside of telescopic oil cylinder, and it is outside that telescopic oil cylinder can respectively drive clamping seats
Side is mobile or collapses inwardly, and clamping cylinder is installed on clamping seats, in the end of clamping cylinder therefore is equipped with gripping block, and two
A gripping block can be movable relatively the tire of clamping automobile.Automatic adjustment guide rail is provided between clamping seats and vehicle frame 31, i.e., automatically
It adjusts guide rail to be fixed on vehicle frame 31, clamping seats are slidably connected with automatic adjustment guide rail.The tire of automobile is carried out in gripping block
During clamping, clamping seats are since by reaction force, clamping seats can carry out certain slip on automatic adjustment guide rail, so as to adapt to
The wheelbase of different vehicle.In the present embodiment, using first sidesway, then the mode clamped, vehicle can be formed highly stable
Clamping, and due to the presence for automatically adjusting guide rail, the wheelbase of adaptation different vehicle that can be more convenient.
All servo motors in movement system 30 and transhipment controller by RS232/485 interfaces (such as CAN bus,
Modbus, Profibus etc.) it is communicated.Servo motor acts alone or synergistically, to realize transhipment work.
Preferably, magnetic wire 34, the bottom of vehicle frame 31 can be set between delivery system 20 and mechanical stereo garage 10
For portion's setting for identifying the sensor of magnetic wire 34, such design is can be in delivery system 20 and machinery in order to facilitate vehicle
It navigates between formula stereo garage 10, realizes automatic transporting.For convenience determine path, each magnetic wire 34 infall (such as
Shown in Figure 10), RFID coding cards are both provided with, RFID identification device 35, RFID identification device are provided in the bottom of movement system 30
35 connect with transhipment controller signals, can realize road by identifying RFID coding cards different on different magnetic wires 34 in this way
Identification, preservation and the navigation of diameter.That is, AGV magnetic navigation systems technologies.
In other embodiments, automatic Pilot module, i.e., existing Google can also be installed in movement system 30
Automated driving system.Realize that delivery system 20 arrives the automatic Pilot of mechanical stereo garage 10.Optionally, it can also be installation
Laser detector (also referred to as laser radar sensor), laser detector can be scanned environment, independently build map, and can
Carry out path planning.Movement system 30 realizes accurate tracking by laser detector.
The present embodiment also discloses three-dimensional intelligent parking method, including following content：
S1 delivery steps：User will be in automobile parking to the delivery system 20 that can improve the liftoff spacing of car floor；
S2 transports step：Movement system 30 will stop in the carborne on delivery system 20 to mechanical stereo garage 10
On sweep 13, parking plate 13 is identical with the structure of delivery system 20.
When specifically used, user first by automobile parking to delivery system 20, then transports machine by movement system 30
On parking plate 13 in tool formula stereo garage 10.It makes delivery system 20 identical with the structure of parking plate 13, can allow delivery system
20 pairs of parked vehicles carry out advance screening.Delivery system 20 reaches convenient and turns for that can improve the liftoff spacing of car floor
The purpose that fortune system 30 is carried.
The control system (as shown in figure 11) of three-dimensional intelligent parking lot is also disclosed in the present embodiment, including：
Subsystem is delivered, the unmanned delivery of user's vehicle is used to implement, (can certainly be that other can including photoelectric sensor
To detect the sensor of parking position, the specific can be that camera either laser radar or the pressure being arranged on parking plate 13
Dependent sensor etc., what is selected in the present embodiment is photoelectric sensor), rectify position servo motor (it is not high to control accuracy requirement herein,
What is selected in other embodiments is common electric machine) and delivery controller (specifically, that selected in the present embodiment is PLC), light
Electric transducer is used to detect the location information of vehicle and feeds back to delivery controller, rectifys position servo motor and parks cars for driving
Front-wheel either trailing wheel or drive simultaneously with adjust park cars position (specifically, be by conveyor be mounted on straight slot
Both sides are to be used to support on the support plate to park cars, and conveyor is flushed with support plate, and conveyor drives rotation by rectifying position servo motor,
The rotation direction of conveyor can it is parallel with the axis of wheel can also be vertical with the axis of wheel), delivery controller is used for
The location information control of the vehicle detected according to photoelectric sensor rectifys position servo motor and the position to park cars is adjusted；
Transport subsystem, for floor truck to be controlled to move, including AGV magnetic navigation sensors, laser radar sensor,
RFID identification device 35, walking servo motor turn to servo motor, clamping servo motor, wheelbase adjusting servo motor and transhipment
Controller (specifically, that selected in the present embodiment is PLC), AGV magnetic navigation sensors are used for surface-based magnetic wire
34 are identified and feed back to transhipment controller, and laser radar sensor is used to sense ambient enviroment and feeds back to transhipment control
Device, RFID identification device 35 are transported for detecting the RFID label tag mounted on 34 intersection of magnetic wire and feeding back to transhipment controller
Controller controls walking servo motor, turns to servo motor, clamping servo motor and wheelbase adjusting servo motor (transhipment respectively
Controller control walking servo motor turns to servo motor just as the control automobile traveling in automatic Pilot technology and steering,
Belong to the prior art, do not repeat herein.Transhipment controller control clamping servo motor is according to AGV magnetic navigation sensors or swashs
Optical radar sensor feedback reaches what control clamping servo motor behind precalculated position started.Wheelbase adjusts the control of servo motor
It is to receive laser radar sensor according to transhipment controller either artificial Setting signal or to call to vehicle from server
What signal was adjusted.It can refer to the vehicle cab recognition system of Beijing Fu Wei image techniques Co., Ltd to the identification technology of vehicle
System.)；
Stereo garage subsystem for parking plate 13 to be controlled to move, (is fixedly mounted on and stops including travel switch, gyroscope
On sweep 13), optoelectronic switch (be mounted on rack 11 on), 13 servo motor of parking plate and garage controller be (specifically, this reality
It is PLC to apply selected in example, by the PLC all selected in this present embodiment, for convenience of stating and understanding and explanation is using original
Title illustrates), travel switch is used for the signal in place detected after parking plate 13 moves and feeds back to garage controller,
Gyroscope is for the dynamically mobile status of monitoring parking plate 13 and feeds back to garage controller, and optoelectronic switch is for detecting whether have
Personnel swarm into and feed back to garage controller, and 13 servo motor of parking plate lifts or traversing, garage control for driving parking plate 13
Device processed control 13 servo motor of parking plate is to drive Elevator for parked vehicles or traversing；
Wherein, delivery controller, transhipment controller and garage controller difference signal connection (can certainly set one
A work station is connect respectively with delivery controller, transhipment controller and garage controller signal).
When specifically used：User first drives to vehicle on support plate 21, and the tire of vehicle is located on support plate respectively at this time,
It is stayed between support plate there are one the carrying road driven into for floor truck, after user is stopped, photoelectric sensor parks appearance to automobile
State is detected and feeds back to delivery controller, and the startup of position servo motor forward direction or reverse starting are rectified in delivery controller control,
The posture of automobile is adjusted, completes the pose adjustment of automobile.
Photoelectric sensor detects that the pose adjustment of automobile finishes backward delivery controller and feeds back this signal, delivers control
Device can start encoding transport signals to transhipment controller transmission, after transhipment controller receives this signal, be passed by AGV magnetic navigations
Sensor (identification is embedded in the magnetic wire 34 on ground), laser radar sensor (identification ambient enviroment prevents safety accident), RFID
Identifier 35 (determining the running orbit on magnetic wire 34) and transhipment controller (control advance to) cooperation, by floor truck
Automatic running carries the automobile being parked on support plate to carrying in road.
Before completing to carry, the model of vehicle can be identified in model recognition system, can after identifying vehicle model
Parameter of the vehicle about wheelbase is got, this signal is sent to transhipment control system, transhipment control by model recognition system
After system receives this signal, control shaft allows floor truck to adjust to the suitable vehicle wheelbase away from servo motor rotation is adjusted
Pattern.Model recognition system, be additionally operable to judge vehicle whether overlength, ultra-wide, overweight.
Then floor truck clamps the tire of vehicle, is carried, and finally automobile is placed on parking plate 13, due to
Also using the structure that both sides are high, centre is low, transport carriage can drive into intermediate low structure parking plate 13, and automobile is put
It puts on parking plate 13, the tire of automobile is supported by the higher position of 13 both sides of parking plate at this time.Then floor truck is sailed
Go out parking plate 13, transport the signal that controller feeds back parking completion to garage controller at this time, garage controller receives this
After signal, control parking plate 13 lifts, is traversing, completes parking.
Certainly in docking process, the information of vehicle with the number information of parking plate 13 can be mapped, is carried in user
(can pick-up request be proposed to work station or garage controller by cloud server) after vehicle pick-up request, garage controller
Can receiver to this signal, stereo garage controller control 13 lift-sliding of parking plate to the bottom, then garage controller
Send encoding transport signals to transhipment controller, transhipment controller control floor truck drive on parking plate 13 by car carrying to load
On plate 21, after photoelectric sensor is detected on vehicle parking to support plate 21, this signal, delivery controller are fed back to delivering to control
The signal that (passing through cloud server or work station) can pick up the car to user feedback.Vehicle on support plate 21 is sailed out of support plate by user
21, it completes to pick up the car.
Above-described is only the embodiment of the present invention, and the common sense such as well known concrete structure and characteristic are not made herein in scheme
Excessive description, technical field that the present invention belongs to is all before one skilled in the art know the applying date or priority date
Ordinary technical knowledge can know the prior art all in the field, and with using routine experiment hand before the date
The ability of section, one skilled in the art with reference to self-ability can improve and implement under the enlightenment that the application provides
This programme, some typical known features or known method should not implement the application as one skilled in the art
Obstacle.It should be pointed out that for those skilled in the art, without departing from the structure of the invention, it can also make
Go out several modifications and improvements, these should also be considered as protection scope of the present invention, these all do not interfere with the effect that the present invention is implemented
Fruit and practical applicability.The scope of protection required by this application should be based on the content of the claims, the tool in specification
The records such as body embodiment can be used for explaining the content of claim.
Claims (10)
1. sky parking is changed to the remodeling method of three-dimensional intelligent parking lot, it is characterised in that：Including following content：
S1 stereo garages are transformed, and select a stereo garage, the parking plate in stereo garage are transformed, in every piece of parking plate
On open up a carrying road, there are the support plates of support vehicle left side front and back wheel and right side front and back wheel for the both sides carried；
S2 establishes interaction buffering area, and delivery system is set in interaction buffering area, and delivery system improves user's including several
The support plate for spacing that vehicle is liftoff；
S3 selects movement system：Movement system includes floor truck, and floor truck is feasible to sail to the abdomen for being parked in vehicle on support plate
Portion is with by vehicle conveying to parking plate, the vehicle of carrying can be placed on parking plate by floor truck.
2. sky parking according to claim 1 is changed to the remodeling method of three-dimensional intelligent parking lot, it is characterised in that：
In S2, support plate includes two for supporting the wheel portions of vehicle left side front and back wheel and right side front wheel respectively, between two wheel portions
There are the carrying roads driven into for floor truck, are that setting facilitates vehicle to drive to taking for wheel portion in the side in two wheel portions
Bridge.
3. sky parking according to claim 1 is changed to the remodeling method of three-dimensional intelligent parking lot, it is characterised in that：
In S2, support plate includes two for supporting the wheel portion of vehicle left side front and back wheel and right side front wheel respectively, in the lower section in wheel portion
Lifting device is provided with, lifting device can lift in two wheel portions and the automobile being parked in wheel portion simultaneously, in two vehicles
After wheel portion is lifted, there are the carrying roads driven into for floor truck between two wheel portions.
4. sky parking according to claim 3 is changed to the remodeling method of three-dimensional intelligent parking lot, it is characterised in that：
In S2, setting can be by the traversing conveyor of the front and back wheel of vehicle difference in wheel portion, the detectable support plate of setting near support plate
On park cars the photoelectric sensor of posture, delivery controller is set on support plate, and photoelectric sensor parks vehicle by what is detected
Attitude signal feeds back to delivery controller, and delivery controller is according to the rotation of the signal controlling transmission band of photoelectric sensor.
5. sky parking according to claim 3 is changed to the remodeling method of three-dimensional intelligent parking lot, it is characterised in that：
In S2, delivery controller is also connect with lifting device signal, and delivery controller detects that vehicle attitude adjusts in photoelectric sensor
After control lifting device lift upwards.
6. sky parking according to claim 3 is changed to the remodeling method of three-dimensional intelligent parking lot, it is characterised in that：Also
Track is laid with including S4：Magnetic wire is laid between support plate and stereo garage, RFID identification card is set in the infall of magnetic wire,
AGV magnetic navigation sensors, laser radar sensor and transhipment controller, AGV magnetic navigation sensors are set on floor truck
For transhipment controller to be identified and fed back to surface-based magnetic wire, laser radar sensor is for sensing surrounding
Environment simultaneously feeds back to transhipment controller, and RFID identification device mounted on the RFID label tag of magnetic wire infall and feeds back to for detection
Transport controller, transhipment controller control floor truck walking.
7. sky parking according to claim 3 is changed to the remodeling method of three-dimensional intelligent parking lot, it is characterised in that：
In S1, gyroscope is set on parking plate, stereo garage includes garage controller, and garage controller can control the shifting of parking plate
Dynamic, gyroscope is used to detect the attitude information in parking plate moving process and feeds back to garage controller.
8. sky parking according to claim 3 is changed to the remodeling method of three-dimensional intelligent parking lot, it is characterised in that：Also
Including S5 vehicle cab recognition steps, by setting model recognition system that the model of vehicle is identified and being sent to transhipment control
Device, transhipment controller control floor truck adjust can carrying vehicle wheelbase to carry the vehicle of different wheelbases.
9. sky parking according to claim 3 is changed to the remodeling method of three-dimensional intelligent parking lot, it is characterised in that：
In S3, floor truck is carried again after being clamped to the wheel of vehicle.
10. the remodeling method of three-dimensional intelligent parking lot is changed to according to claim 1-9 any one of them sky parking, it is special
Sign is：In S1, stereo garage is lifting cross sliding type mechanical stereo garage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711365975.4A CN108179902B (en) | 2017-12-18 | 2017-12-18 | Sky parking is changed to the remodeling method of three-dimensional intelligent parking lot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711365975.4A CN108179902B (en) | 2017-12-18 | 2017-12-18 | Sky parking is changed to the remodeling method of three-dimensional intelligent parking lot |
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| Publication Number | Publication Date |
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| CN108179902A true CN108179902A (en) | 2018-06-19 |
| CN108179902B CN108179902B (en) | 2019-12-03 |
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| CN105350801A (en) * | 2015-09-18 | 2016-02-24 | 杜开淼 | Intelligent three-dimensional garage |
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| CN108179902B (en) | 2019-12-03 |
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