CN108179906A - Three-dimensional intelligent parking lot and its parking method - Google Patents
Three-dimensional intelligent parking lot and its parking method Download PDFInfo
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- CN108179906A CN108179906A CN201711363926.7A CN201711363926A CN108179906A CN 108179906 A CN108179906 A CN 108179906A CN 201711363926 A CN201711363926 A CN 201711363926A CN 108179906 A CN108179906 A CN 108179906A
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- Prior art keywords
- parking
- module
- delivery system
- plate
- garage
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/22—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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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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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to intelligent parking lot fields, more demanding to the driving technology of driver for existing mechanical stereo garage, are not easy to the technical issues of driver uses, and provide a kind of three-dimensional intelligent parking lot, including：Mechanical stereo garage is internally provided with several moveable parking plates for parking a car；Delivery system for user parks a car and improves the liftoff spacing of the automobile chassis；Movement system, for the carborne on delivery system will to be parked in parking plate.The invention also discloses a kind of three-dimensional intelligent parking lot parking methods.
Description
Technical field
The present invention relates to intelligent parking lot fields, and in particular to a kind of solid intelligent parking lot and its parking 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 a kind of three-dimensional intelligent parking lot and its parking method.
Base case provided by the invention is：Three-dimensional intelligent parking lot, including：
Mechanical stereo garage is internally provided with several moveable parking plates for parking a car；
Delivery system for user parks a car and improves the liftoff spacing of the automobile chassis；
Movement system, for the carborne on delivery system will to be parked in parking plate.
The operation principle and advantage of the present invention is：When in use, user sails to automobile on delivery system, delivery system
The liftoff spacing of the automobile chassis can be improved, movement system can be allowed to drive into the abdomen to the automobile at this time, then transhipment system
System is by the carborne to parking plate on delivery system, and then movement system puts down automobile, and movement system is driven out to parking plate,
Complete parking for automobile.
In the present invention, user does not need to that, by the parking plate in car steering to mechanical stereo garage, use can be reduced
Family is by the difficulty in car steering to parking plate.Main cause is, existing mechanical stereo garage is frame structure, user
In parking, need on the parking plate in car steering to frame structure, in this process, due to mechanical stereo garage
The purpose of design is to improve space availability ratio, using limited space, parks more automobiles, therefore, existing machinery
The limited area of the parking plate of formula stereo garage by improving the floor space of parking plate (although can be reduced for by automobile
The difficulty of parking plate is docked to, but such design is unreasonable there are space utilization, with mechanical stereo garage setting in itself
Meter original intention is runed counter to).Moreover, mechanical stereo garage is also frame structure in itself, user is will be in car steering to parking plate
When, it is understood that there may be very big pressure at heart.
It therefore, can greatly when user is not needed on the parking plate in car steering to mechanical stereo garage
User experience is improved, reduces technology requirement of the mechanical stereo garage to driver.
And delivery system can provide the liftoff spacing of automobile chassis, also reduce the difficulty of movement system carrier vehicle.
Movement system is facilitated to enter the abdomen carrier vehicle of automobile.
Solid intelligent parking lot of the invention, by setting delivery system, on the one hand avoid user need automobile is direct
It docks on parking plate, improves user experience, another aspect delivery system can improve the liftoff spacing of vehicle, facilitate transhipment
System carrying vehicle.
Further, control system is further included, control system includes delivering sensing module and control module, control module difference
With delivering sensing module, movement system signal is connect, and delivers sensing module for detecting whether having stoppage of vehicle in delivery system
On, if delivering sensor detects there is automobile on delivery system, there is a vehicle signal to control module feedback, control module is to transhipment
System transmission has vehicle signal, and movement system will stay in the carborne to garage on delivery system.
It delivers sensing module to can be used for having detected whether that vehicle (automobile in other words) is rested on delivery system, when user will
After in automobile parking to delivery system, deliver sensing module has a vehicle signal to control module feedback, and control module is to movement system
Transmission has vehicle signal, and movement system starts, will stay on the car carrying to parking plate on delivery system.Such design energy
Enough rotation system is allowed to start automatically, complete to carry, realize unattended.Control module is respectively with delivering sensing module, transhipment system
The mode of system signal connection can transmit signal by way of data line (i.e. wired) and can be by setting wireless receiving and dispatching
Module transmits signal.
Further, mechanical stereo garage is lifting cross sliding type garage, and parking plate can improve the liftoff of the chassis that parks cars
Spacing.
Such design facilitates movement system that will be transported from delivery system onto parking plate, that is, facilitates the dress of movement system
It unloads.
Further, the sensor-based system for detecting parking plate motion state, mechanical stereo garage are provided on parking plate
Including the garage controller for being used to that parking plate to be controlled to move, sensor-based system is connect with garage controller signal.
For sensing system in the motion state exception for detecting parking plate, sensing system is to garage controller feedback letter
Number, garage controller control parking plate stops movement.
Further, delivery system is the support plate for parking a car, and support plate both sides are high, intermediate low, and the end of support plate is equipped with
For automobile to be facilitated to reach the bridging of support plate.
Such design is to disclose a kind of structure of specific delivery system, and the cost of support plate is low, is capable of low cost
Realize the purpose for facilitating movement system carrier vehicle.
Further, movement system includes transhipment control module, walking module and self-clamping module, transhipment control module difference
It is connect with walking module, self-clamping module signal, for movement system to be driven to move, self-clamping module is used for being parked in walking module
Vehicle on support plate is clamped, and transhipment control module control walking mechanism drives to car abdomen and then controls self-clamping module folder
Hold the tire for fixing automobile.
Movement system is allowed to enter transporting mode as the abdomen of automobile, movement system can be designed more compact,
It can be cost-effective.
Further, walking sensing module is further included, walking sensing module is connect with transhipment control module signal, and walking perceives
Module is used to collected external information feeding back to transhipment control module, and transhipment control module is according to the external information received
Control walking mechanism movement.
Such design using sensing module detection external information of walking, improves the safety of movement system.External information
Mainly extraneous image and obstacle information, it is convenient that barrier data are scanned.
Further, the both sides of parking plate are hollow structure.
Such design can mitigate the weight of parking plate, while can also ensure the intensity of parking plate.
Three-dimensional intelligent parking method, including following content：
S1 delivery steps：User will be in automobile parking to the delivery system that can improve the liftoff spacing of car floor；
S2 transports step：Movement system is by the parking plate in the carborne to mechanical stereo garage on delivery system
On.
In the above-mentioned methods, S1 delivery steps are realized by delivery system, and S2 transports step and realized by transfer device, with
The prior art is maximum, and difference lies in add delivery system, and the delivery system is can improve car floor in this programme
Liftoff spacing.In the industry, although also there is movement system, due to being limited by the liftoff spacing of vehicle chassis, everybody is to turning
Fortune system exploitation more also focuses on reduce movement system thickness, with facilitate movement system automobile is transported (including
Lifting is moved and is unloaded).But this programme has bypassed development technique universal in this industry, opposition thinking is in transhipment
In the case that the thickness of system can also reduce, the direction for continuing to reduce movement system thickness has been abandoned, has been changed to increase on delivery system
The liftoff spacing of car floor, design in this way achieve the purpose that movement system is facilitated to carry.
Further, it is transported in step in S2, parking plate is identical with the structure of delivery system.
Since automobile needs first to dock on delivery system, then transported in mechanical stereo garage by movement system
Parking plate on.It makes delivery system identical with the structure of parking plate, delivery system can be allowed to carry out in advance parked vehicle
Screening, can stop the automobile onto delivery system can just dock on parking plate, it is impossible to dock to the vapour of delivery system
Vehicle can not be lifted on parking plate.Avoiding user in this way needs to go repeatedly to taste by car steering to mechanical stereo garage
Examination, makes user more convenient, improves user experience.
Description of the drawings
Fig. 1 is the structure diagram of the three-dimensional intelligent parking lot embodiment of the present invention；
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 embodiment；
Figure 13 is the space structure schematic diagram of Figure 12；
Figure 14 is the structure diagram of movement system another embodiment；
Figure 15 is the space structure schematic diagram of parking plate；
Figure 16 is schematic diagram of the parking plate of the present invention with existing parking plate in same mechanical stereo garage.
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.
Embodiment is substantially as shown in Figure 1：Three-dimensional intelligent parking lot, including：Mechanical stereo 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 Fig. 5, Figure 15, Figure 16) with supporter 132, buckling parts 133.By buckling parts parking plate both sides shape
Into hollow structure, such design can enhancement unit component 131 vertical direction stress intensity, that is, prevent parking plate because by
It is deformed to pressure of vehicle.
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,
Hydraulic pump moves downward shutter recycling, exposes straight slot.
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 the clamping device 32 of movement system 30 was selected is the mode of hydraulic-driven, in vehicle frame 31
8 telescopic oil cylinders of upper setting, are both provided with clamping seats (as shown in figure 14), telescopic oil cylinder can drive respectively on the outside of telescopic oil cylinder
Dynamic clamping seats are moved or are collapsed inwardly outward, and clamping cylinder is installed on clamping seats, in the event of the end of clamping cylinder
Equipped with gripping block, two gripping blocks can be movable relatively the tire of clamping automobile.Automatic tune is provided between clamping seats and vehicle frame 31
Guide rail is saved, that is, automatically adjusts guide rail and is fixed on vehicle frame 31, clamping seats are slidably connected with automatic adjustment guide rail.In gripping block to vapour
When the tire of vehicle is clamped, clamping seats are since by reaction force, clamping seats can carry out certain on automatic adjustment guide rail
It slides, so as to adapt to the wheelbase of different vehicle.In the present embodiment, using first sidesway, then the mode clamped, it can be to vehicle shape
Into 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.
In other above-mentioned middle embodiments, three-dimensional intelligent parking lot (as shown in figure 11) is also disclosed, 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 and delivery controller (specifically, this reality
It is PLC to apply selected in example), photoelectric sensor is used to detect the location information of vehicle and feeds back to delivery controller, and strong position is watched
Take motor for drive the front-wheel that parks cars either trailing wheel or drive simultaneously the position to be parked cars with adjustment (specifically,
Be by conveyor be mounted on straight slot both sides be to be used to support on the support plate to park cars, conveyor is flushed with support plate, conveyor
Rotation is driven by rectifying position servo motor, the rotation direction of conveyor can axis parallel with the axis of wheel or with wheel
Line is vertical), position servo motor pair is rectified in the location information control that delivery controller is used for the vehicle detected according to photoelectric sensor
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；Gyroscope detection is not only posture, also fast
The data such as degree, acceleration, displacement feed back to garage controller.
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. three-dimensional intelligent parking lot, including：
Mechanical stereo garage is internally provided with several moveable parking plates for parking a car；
It is characterized in that, it further includes：
Delivery system for user parks a car and improves the liftoff spacing of the automobile chassis；
Movement system, for the carborne on delivery system will to be parked in parking plate.
2. solid intelligent parking lot according to claim 1, it is characterised in that：Further include control system, control system packet
It includes and delivers sensing module and control module, control module is connect respectively with delivery sensing module, movement system signal, delivers sensing
Module is for detecting whether have stoppage of vehicle on delivery system, if delivering sensor detects there is automobile on delivery system,
There is vehicle signal to control module feedback, control module has vehicle signal to movement system transmission, and movement system will stay on delivery system
In carborne to garage on system.
3. solid intelligent parking lot according to claim 1, it is characterised in that：Mechanical stereo garage is lifting cross sliding type
Garage, parking plate can improve the liftoff spacing on the chassis that parks cars.
4. solid intelligent parking lot according to claim 1, it is characterised in that：It is provided with to detect parking on parking plate
The sensor-based system of plate motion state, mechanical stereo garage include the garage controller for parking plate to be controlled to move, sensing system
System is connect with garage controller signal.
5. solid intelligent parking lot according to claim 1, it is characterised in that：Delivery system is the load for parking a car
Plate, support plate both sides are high, intermediate low, and the end of support plate is equipped with that automobile is facilitated to reach the bridging of support plate.
6. solid intelligent parking lot according to claim 1, it is characterised in that：Movement system include transhipment control module,
Walking module and self-clamping module, transhipment control module are connect respectively with walking module, self-clamping module signal, and walking module is used for
Movement system movement is driven, self-clamping module is for clamping the vehicle being parked on support plate, transhipment control module control row
Mechanism is walked to drive to car abdomen and then self-clamping module is controlled to be clamped the tire of automobile.
7. solid intelligent parking lot according to claim 6, it is characterised in that：Further include walking sensing module, walking sense
Know that module is connect with transhipment control module signal, walking sensing module is used to collected external information feeding back to transhipment control
Module, transhipment control module is according to the external information control walking mechanism movement received.
8. solid intelligent parking lot according to claim 1, it is characterised in that：The both sides of parking plate are hollow structure.
9. three-dimensional intelligent parking method, including following content：
S1 delivery steps：User will be in automobile parking to the delivery system that can improve the liftoff spacing of car floor；
S2 transports step：Movement system will be on the parking plate in the carborne to mechanical stereo garage on delivery system.
10. solid intelligent parking lot parking method according to claim 9, it is characterised in that：It transports in step, stops in S2
Sweep is identical with the structure of delivery system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711363926.7A CN108179906B (en) | 2017-12-18 | 2017-12-18 | Three-dimensional intelligent parking lot and parking method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711363926.7A CN108179906B (en) | 2017-12-18 | 2017-12-18 | Three-dimensional intelligent parking lot and parking method thereof |
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| Publication Number | Publication Date |
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| CN108179906A true CN108179906A (en) | 2018-06-19 |
| CN108179906B CN108179906B (en) | 2020-07-28 |
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|---|---|
| CN108179906B (en) | 2020-07-28 |
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