CN108590292A - Three-dimensional parking system and parking and taking method thereof - Google Patents
Three-dimensional parking system and parking and taking method thereof Download PDFInfo
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- CN108590292A CN108590292A CN201810715663.XA CN201810715663A CN108590292A CN 108590292 A CN108590292 A CN 108590292A CN 201810715663 A CN201810715663 A CN 201810715663A CN 108590292 A CN108590292 A CN 108590292A
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- carrying plate
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims description 27
- 239000003550 marker Substances 0.000 claims description 15
- 230000007423 decrease Effects 0.000 claims description 5
- 238000010276 construction Methods 0.000 abstract description 7
- 239000010410 layer Substances 0.000 description 18
- 238000010586 diagram Methods 0.000 description 5
- 239000000725 suspension Substances 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000002356 single layer Substances 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 241000276425 Xiphophorus maculatus Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 238000001514 detection method Methods 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000011150 reinforced concrete Substances 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
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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
- E04H6/24—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 dollies for horizontal transport, i.e. cars being permanently parked on wheeled platforms
-
- 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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- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a three-dimensional parking system, comprising: the parking platform is positioned above the road and is provided with a plurality of parking spaces; the parking and taking auxiliary road is positioned on at least one of the two sides of the road and corresponds to the position of the parking platform; an elevator located within the parking area, the elevator including a bridge box liftable between the parking area and the parking platform; the vehicle carrying plate is used for carrying vehicles and can be placed on the axle box, and a positioning mark for positioning is arranged on the vehicle carrying plate; the automatic guiding vehicle is used for autonomous navigation walking on the parking platform according to the guiding marks and comprises a vehicle body and a lifting device arranged on the vehicle body, and the lifting device is used for lifting the vehicle carrying plate; and the control device is in communication connection with the elevator and the automatic guided vehicle respectively. The invention also discloses a parking and taking method. The full-intelligent parking mode based on the existing road structure can fully utilize the existing road space, reduce the construction cost of the three-dimensional parking equipment and greatly reduce the difficulty of parking operation of users.
Description
Technical field
The present invention relates to parking device technical fields, and in particular to a kind of stereo-parking system and its stops pick-up method.
Background technology
With the development of Chinese society, currently enter auto age comprehensively.However, thing followed parking difficulty becomes
Perplex the major issue of urban development.
In order to alleviate this problem, parking space starts toward three-dimensional development, and parking systems comes into being, but due to vertical
Body garage parking it is complicated, need to configure more lifting devices, cost is very high, and stop when need user manually by vehicle
Stop on the vehicle-carrying plate of narrow space, operation difficulty is very big, because the stacking of vehicle is placed when pick-up, generally requires to carry out more
Vehicle could be moved to pick-up position by secondary place-exchange, stop, the operating time of picking up the car it is long, therefore hinder the hair of parking systems
Exhibition.Therefore there is an urgent need for breaking through the structural form and operation mode of current parking systems, provide a kind of simple structure, stop picking up the car it is convenient
Solid parking scheme.
Invention content
The main object of the present invention is to propose a kind of stereo-parking system, it is intended to solve solid parking mode in the prior art
Cost is high, stops difficult problem of picking up the car.
To achieve the above object, the present invention proposes a kind of stereo-parking system, including：
Landing above road and is disposed with multiple parking stalls；
Stop auxiliary road of picking up the car, is located at at least side in the both sides of the road and, institute corresponding with the position of the landing
It includes going out for the vehicle entrance of road vehicle entrance, for the vehicle return road vehicle to state the auxiliary road that stops picking up the car
Mouth and the parking area between the vehicle entrance and vehicle outlet；
Elevator is located in the parking area, and the elevator includes can be flat in the parking area and the parking
The bridge case lifted between platform；
Vehicle-carrying plate is used for vehicle, and can be positioned on the bridge case, and it is used for positioning fixed that the vehicle-carrying plate is equipped with
Bit flag；
Automatic guided vehicle, for independent navigation walking, the homing guidance on the landing according to guidance mark
Vehicle includes car body and is set to the lifting device of the car body, and the lifting device is for lifting the vehicle-carrying plate；
Control device is communicated to connect with the elevator and automatic guided vehicle respectively.
Preferably, the landing is fixed on the top of the road by least four support columns, wherein it is described extremely
At least two sides for being located at the road in few four support columns, remaining is located at the other side of the road；The parking
Platform is surrounded by safe enclosing, and the vehicle in and out port of elevator described in face is offered on the safe enclosing.
Preferably, the both sides of the road be respectively equipped with it is described stop auxiliary road of picking up the car, the vehicle in the auxiliary road that stops to pick up the car per side
Vehicle pass-through direction in current direction road track adjacent thereto is consistent, and the elevator is exported toward close to the vehicle
Side arrangement.
Preferably, further include the ground dispatching place being located at below the road, be formed in the parking area and institute
State elevator bridge case position is corresponding and the decline passway that sinks downwards, be connected to described ground dispatching place, lower describedly
Degree place includes at least the vehicle-carrying plate dress in described ground dispatching place for placing vehicle-carrying plate, the reachable position of the bridge case
Unload position, the parking area stops pick-up position and the vehicle conveying position of the landing.
Preferably, further include the vehicle pass-through limits device being arranged at the vehicle entrance, the vehicle pass-through limitation
Device includes the limit for height cross bar being located above the auxiliary road that stops picking up the car.
Preferably, the vehicle pass-through limits device further includes the vehicle identification module communicated to connect with the control device
And alarm module, type information to be parked cars, the alarm module are used in institute the vehicle identification module for identification
State vehicle that vehicle identification module identifies not it is default park range when show the graph text information that No entry.
Preferably, further include the parking stall display dress for being arranged at the vehicle entrance and being communicated to connect with the control device
It sets, the parking stall display device is used to show the free parking space quantity on the landing.
Preferably, further include being arranged to grasp in the pick-up of stopping stopped picking up the car on auxiliary road and communicated to connect with the control device
Make terminal, the pick-up operating terminal of stopping has for showing the display screen for stopping pick-up operation information.
What the present invention also proposed a kind of stereo-parking system stops pick-up method, including：
When needing parking, elevator will carry the vehicle-carrying plate for needing to be parked cars and be lifted to the first default height on its bridge case
Degree, so that the parking planes align of the loading plane of bridge case and landing；Automatic guided vehicle runs to bridge according to guidance mark
Need below the vehicle-carrying plate to be parked cars on case and positioned at carrying；After the witness marker positioning on vehicle-carrying plate, homing guidance
Vehicle-carrying plate is lifted to the second preset height by the lifting mechanism of vehicle, and needs to be parked cars by carrying under the guiding of guidance mark
Vehicle-carrying plate be carried to default parking stall to complete to stop；
When needing to pick up the car, automatic guided vehicle is run to according to guidance mark below the vehicle-carrying plate that carrying needs to be picked up the car；
After the witness marker positioning on vehicle-carrying plate, vehicle-carrying plate is lifted to the second preset height by the lifting mechanism of automatic guided vehicle,
And the vehicle-carrying plate that carrying needs to be picked up the car is carried on the bridge case in the first preset height under the guiding of guidance mark；It rises
Drop machine drops to the vehicle-carrying plate that carrying on its bridge case needs to be picked up the car on the road surface in the auxiliary road that stops picking up the car to complete pick-up.
Preferably, the landing is equipped with Double-layer parking space, described to need carrying under the guiding of guidance mark
The vehicle-carrying plate to park cars is carried to default parking stall to include the step of completing parking：
The vehicle-carrying plate that carrying needs to be parked cars is carried to lower layer's parking by automatic guided vehicle under the guiding of guidance mark
Behind position, vehicle-carrying plate is lifted upper-layer parking position to complete to stop by the lifting mechanism of automatic guided vehicle；
When vehicle has been parked on the lower layer parking stall of Double-layer parking space, the automatic guided vehicle is run to according to guidance mark
The step of below the vehicle-carrying plate that carrying needs to be picked up the car includes：
Automatic guide vehicle is run to positioned at lower layer parking stall according to guidance mark, is carried under the vehicle-carrying plate of vehicle to be avoided
Side；After the witness marker positioning on vehicle-carrying plate, vehicle-carrying plate is lifted to the second default height by the lifting mechanism of automatic guided vehicle
Degree, and the vehicle-carrying plate for carrying evacuation pick-up is carried to waiting area under the guiding of guidance mark, then homing guidance
Vehicle is run to below the vehicle-carrying plate that carrying needs to be picked up the car.
Stereo-parking system provided by the present invention is flat by setting up a sufficiently high parking in road upper space
Platform, and setting stops auxiliary road of picking up the car in the side of road, using elevator complete vehicle stop picking up the car auxiliary road and landing it
Between lifting, and unmanned carrying vehicle is realized on landing using automatic guided vehicle, to realize that vehicle is stopping picking up the car
Full-automatic conveying between auxiliary road and the parking stall of landing, under the premise of not influencing traffic and personnel safety, user is only
Need vehicle-carrying plate vehicle being parked on elevator, it is simple and convenient.This full intelligence based on existing road structure
Change solid parking mode, existing road space can not only be made full use of, reduce the construction cost of three-dimensional parking device, Er Qie great
The big difficulty for reducing user's shut-down operation.
Description of the drawings
Fig. 1 is the structural schematic diagram of one embodiment of stereo-parking system of the present invention；
Fig. 2 is the structural schematic diagram of vehicle-carrying plate shown in Fig. 1；
Fig. 3 is the structural schematic diagram of automatic guided vehicle shown in Fig. 1；
Fig. 4 is the structural schematic diagram of the Double-layer parking space in the stereo-parking system of the present invention；
Fig. 5 is the structural schematic diagram of another embodiment of Double-layer parking space in the stereo-parking system of the present invention.
Specific implementation mode
The embodiment of the present invention is described more fully below, the example of embodiment is shown in the accompanying drawings, wherein phase from beginning to end
Identical element or element with the same function are indicated with label.Embodiment below with reference to attached drawing description is exemplary
, it is intended to for explaining the present invention, and it is not considered as limiting the invention, based on the embodiments of the present invention, this field
The every other embodiment that those of ordinary skill is obtained without making creative work, belongs to protection of the present invention
Range.
In order to solve the above technical problems, the present invention proposes that a kind of stereo-parking system, the stereo-parking system combine existing
Highway layout, and the full smart three-dimensional parking realized based on automatic guided vehicle (Automated Guided Vehicle, AGV)
Mode can not only make full use of existing road space, reduce the construction cost of three-dimensional parking device, and substantially reduce user
The difficulty of shut-down operation.
As shown in Figure 1, in a specific embodiment, which includes landing 10, the auxiliary road 20 that stops picking up the car,
Elevator 30, vehicle-carrying plate 40, automatic guided vehicle 50 and control device (not shown), wherein landing 10 are located at 80 top of road
And multiple parking stalls 11 are disposed with, the present embodiment is divided using single layer parking scheme in the parking plane of landing 10
According to the vehicle placement region of certain sequence arrangement to form parking stall 11, and it is reserved with for vehicle parking to parking stall 11
The space being removed from parking stall 11 with vehicle, specific selection mode can arbitrarily select according to actual conditions, do not make herein
Limitation.Also, the height of landing 10 disclosure satisfy that its beneath vehicle pass-through requirement, for example the height of landing 10 is 5
Rice, naturally it is also possible to other any suitable height are designed as, as long as not impacted to the vehicle pass-through under it.This
In, it should be noted that aforementioned " road 80 " is sensu lato road concept, had both included existing urban construction road, and had also wrapped
The driving channel built according to parking demand is included, for example the driving channel can be the track in residential quarters.
Specifically, as a kind of more excellent embodiment of landing 10, landing 10 passes through at least four support columns
13 are fixed on the top of road 80, and at least two in wherein at least four support columns 13 are located at the side of road 80, remaining position
In the other side (to arrange four support columns 13 as example in Fig. 1) of road 80, and support column 13 is respectively positioned on road 80
Outside impacts to avoid to vehicle traveling, naturally it is also possible to more support columns 13 be arranged to realize more firm branch
Effect is supportted, this is not restricted.In addition, landing 10 is surrounded by safe enclosing 12, offered just on safe enclosing 12
To the vehicle in and out port of elevator 30.When landing 10 is designed to single layer parking scheme, the height of safe enclosing 12 is not
It needs to design excessively high, plays the role of preventing parked vehicle from going out landing 10 because of fortuitous event.Landing 10
As the aerial installation for placing many vehicles, reinforced concrete structure may be used, steel structure structure can also be used, set from raising
It applies the flexibility of arrangement and reduces cost consideration, preferably modular steel structure structure, landing 10 is broken down into multiple logical
There is higher suitability between module, with road 80.
Stop picking up the car at least side that auxiliary road 20 is located in 80 both sides of road and corresponding with the position of landing 10, this stops taking
Che Fudao 20 includes that the vehicle returned for the vehicle entrance of the vehicle entrance on road 80, for vehicle on road 80 exports and is located at
Parking area between vehicle entrance and vehicle outlet.When only design one stop picking up the car auxiliary road 20 when, if road 80 is can be for
Vehicle opposing traffic, then the vehicle of two way shares vehicle entrance and the vehicle outlet in the auxiliary road 20 that stops picking up the car；If road 80
Only it is for vehicle one-way traffic, then the vehicle pass-through direction in the auxiliary road 20 that stops to pick up the car should be with the vehicle pass-through direction one of road 80
It causes.When the both sides of road 80, which are respectively equipped with, stops picking up the car auxiliary road 20, road 80 should can be each for vehicle opposing traffic
The side vehicle pass-through direction in the vehicle pass-through direction road track adjacent thereto in auxiliary road 20 of stopping picking up the car is consistent.Therefore, stop to take
The design scheme of Che Fudao 20 can be driven into depending on the lane design of real road with meeting the vehicle in road 80
Stop picking up the car and auxiliary road 20 and drives into the requirement of road 80 from the auxiliary road 20 that stops picking up the car.
And stop auxiliary road 20 of picking up the car to ensure that nonstandard vehicle enters, which is such as that vehicle body length and width are more than vehicle-carrying plate
40 accommodate the large car of the limit or refitted car, and the stereo-parking system under present embodiment further includes that setting is stopping auxiliary road of picking up the car
Vehicle pass-through limits device 60 at 20 vehicle entrance, as most basic scheme, which includes
Limit for height cross bar 61 above the auxiliary road 20 that stops picking up the car.
Further, in order to realize that effect is driven into more intelligentized limitation, which further includes
It waits parking for identification with the vehicle identification module and alarm module (not shown), vehicle identification module of control device communication connection
The type information of vehicle, for example by identifying car plate, the details of vehicle are then known according to license board information, and then judging should
Vehicle is if appropriate for parking；Alarm module be used for the vehicle that vehicle identification module identifies not it is default park range when show
The graph text information that No entry, alarm module can be display screen, for example warn user that cannot drive by way of signal lamp.
Elevator 30 is located in the parking area in the auxiliary road 20 that stops picking up the car, and is communicated to connect with control device, can control
Pre-programmed operation is pressed under the control of device, more optimal solution is, elevator 30 goes out toward the vehicle close to the auxiliary road 20 that stops picking up the car
The side arrangement of mouth, therefore longer buffer parking area can be reserved.Elevator 30 includes can be in parking area and landing
The bridge case 31 lifted between 10 loads and unloads vehicle for convenience, and bridge case 31 is configured to a slab construction, the holder of elevator 30 with
Guide rail detent mechanism is equipped between bridge case 31, by being connected to the Steel rope drive bridge case 31 between bridge case 31 and driving mechanism
Lifting, base configuration and operation principle in relation to elevator 30 have been known technology, and therefore not to repeat here.
In conjunction with Fig. 2, vehicle-carrying plate 40 is used for vehicle, and can be positioned on bridge case 31, and vehicle-carrying plate 40 is equipped with for fixed
The witness marker 43 of position, the witness marker 43 are a kind of image that can be identified by computer, such as Quick Response Code, and position can be with
Make adaptability selection according to practical application scene, facilitates and read by terminal.In one embodiment of the invention, carrier vehicle
Plate 40 includes that by the molding loading plate 41 of steel material and the support leg 42 in the bottom of loading plate 41 is arranged, and loading plate 41 is square
The quantity of the platy structure of shape, support leg 42 is four, is distributed in four corners of loading plate 41, and the setting of witness marker 43 is being held
The lower center position of support plate 41.It should be understood that the length and width of loading plate 41 are adapted with size to be parked cars, and
Ensure that user can easily open vehicle to vehicle-carrying plate 40.
In conjunction with Fig. 3,4, automatic guided vehicle 50 is communicated to connect with control device, can be specifically through wireless communication
Connection carries clothes for the independent navigation walking on landing 10 according to guidance mark 70 to provide the user with to stop picking up the car
Business.Automatic guided vehicle 50 includes car body 51 and the lifting device 52 for being set to car body 51, and the lifting device 52 is for lifting carrier vehicle
Plate 40.Automatic guided vehicle 50 is can according to the set procedure, according to the autonomous path of planning under the positioning of guidance mark 70
Navigation walking, therefore car body 51 is equipped with host, driving mechanism and wheel, host is responsible for communicating to connect with control device, be connect
The operational order for receiving control device, to control the operating of driving mechanism, driving mechanism specifically include motor and be connected to motor and
Transmission mechanism between wheel, in order to realize that 360 ° rotate without limitation, it is driving wheel to select two diagonal wheels, another is right
Two wheels at angle are driven wheel.Lifting device 52 realizes lifting action by electronic or hydraulic pressure, and larger amplitude may be implemented
The contraction of degree meets automatic guided vehicle 50 into the bottom of vehicle-carrying plate 40 to reduce the whole height of automatic guided vehicle 50
It is required that for example lifting device 52 is scissor hoisting apparatus.
In addition, in order to realize positioning between automatic guided vehicle 50 and vehicle-carrying plate 40 and automatic guided vehicle 50 and guiding
Positioning between label 70, automatic guided vehicle 50 are equipped with corresponding positioning unit, are that first be located on car body 51 is determined respectively
Bit location 53 and the second positioning unit 54 on lifting device 52, according to the structure class of guidance mark 70 and witness marker 43
Type, the first positioning unit 53 can correspondingly be selected as inertial sensor, laser scanner or camera etc., the second positioning unit
54 can correspondingly be selected as laser scanner or camera.In the present embodiment, guidance mark 70 is arranged in elevator 30
In the parking plane of bridge case 31 and parking plane 10, and it is laser reflection plate, the first positioning unit 53 is laser scanner, is led to
It crosses laser ranging and realizes three-point fix, can realize the other positioning of inferior centimeter order, meet the independent navigation row of automatic guided vehicle 50
It walks to require.Witness marker 43 is the Quick Response Code for the posture information for being implanted into vehicle-carrying plate 40, and the second positioning unit 54 is recognizable two dimension
The camera of code realizes the other positioning of grade, it can be ensured that automatic guided vehicle 50 accurately enters vehicle-carrying plate using framing
40 bottom and the adjustment for realizing relative position between the two.
When user needs parking, vehicle is first driven into the auxiliary road 20 that stops picking up the car, if front does not have waiting vehicle at this time, lifting
The bridge case 31 of machine 30, which is located on stop picking up the car auxiliary road 20 and bridge case 31, is placed with (in a specific embodiment, the bridge case 31 of vehicle-carrying plate 40
Certain distance can be declined relative to the road surface in the auxiliary road 20 that stops picking up the car so that the vehicle loading end of the vehicle-carrying plate 40 on bridge case 31 with stop
The pick up the car road surface in auxiliary road 20 flushes, and is sailed out of to facilitate to open vehicle on vehicle-carrying plate 40 and from vehicle-carrying plate 40), then it can be straight
It connects and reaches vehicle on vehicle-carrying plate 40, after adjusting good position, user leaves vehicle, starts automatic stopping program, in control device
Control under, elevator 30 will be after the carrying vehicle-carrying plate 40 that needs to be parked cars be lifted to landing 10, automatic guided vehicle 50
The lower section that vehicle-carrying plate 40 is run to according to guidance mark 70 adjusts itself and carrier vehicle by identifying the location information of witness marker 43
Relative position relation between plate 40, then vehicle-carrying plate 40 is lifted to by certain altitude by lifting device 52, with vehicle-carrying plate 40
Support leg 42 is left subject to 31 certain distance of bridge case, then runs to default parking stall according to leader label 70, makes lifting device
52 decline, and vehicle-carrying plate 40 is placed in default parking stall, finally control automatic guided vehicle 50 and return to scheduling waiting area, that is, complete
At entire docking process.
When user needs to pick up the car, control device is led automatically according to the corresponding parking stall control of the information of vehicles of user
Draw vehicle 50 from scheduling waiting area, the lower section for the vehicle-carrying plate 40 for waiting for pick-up is run to along guidance mark 70, passes through identification
The location information of witness marker 43 will carry to adjust its relative position relation between vehicle-carrying plate 40, then by lifting device 52
Sweep 40 is lifted to certain altitude, and the support leg 42 of vehicle-carrying plate 40 of being subject to leaves 10 certain distance of landing, then basis
Leader label 70 is run on the bridge case 31 of elevator 30, so that lifting device 52 is declined, vehicle-carrying plate 40 is placed on bridge case 31
On, control automatic guided vehicle 50 returns to scheduling waiting area, and control elevator 30 declines the vehicle-carrying plate 40 that carrying needs to be picked up the car
To stopping picking up the car, entire pick-up process is completed in auxiliary road 20.
In order to facilitate the operation of picking up the car that stops of user, the stereo-parking system further include setting stop picking up the car on auxiliary road 20 and with
Control device communication connection stops pick-up operating terminal (not shown), this stops pick-up operating terminal and stops the behaviour that picks up the car with display is used for
Make the display screen of information, for example be touch screen, shows the feature operation icon of response, such as " key parking ", " a key thereon
Pick up the car " etc..Or user is established with control device by the APP of mobile terminal and is communicated to connect, and realizes stop on mobile terminals
It picks up the car and operates.
Furthermore the stereo-parking system further includes being arranged at the vehicle entrance in the auxiliary road 20 that stops picking up the car and logical with control device
Believe that the parking stall display device (not shown) of connection, the parking stall display device are used to show the free parking space number on landing 10
Amount, for example by the parking stall volume residual of control device statistics, shown in the display device of parking stall in real time, reach advance notice use
Whether stereo-parking system of the family at this has a surplus the purpose that position can stop.
This full smart three-dimensional parking mode based on existing road structure can not only make full use of existing road empty
Between, the construction cost of three-dimensional parking device is reduced, and substantially reduce the difficulty of user's shut-down operation.
In addition, in order to improve the speed of stereo-parking system response parking and pick-up demand, avoid because when continuously stopping
The problem of waiting for 40 overlong time of idle vehicle-carrying plate, and waiting for idle vehicle-carrying plate 40 to be carried away overlong time when continuous pick-up, this
In the other embodiment of invention, which further includes that the ground dispatching place being located at below road 80 (is schemed not
Show), it is formed in the parking area in the auxiliary road 20 that stops picking up the car corresponding with 31 position of bridge case of elevator 30 and sinks downwards and underground
The decline passway (not shown) of place connection is dispatched, ground dispatching place is for placing vehicle-carrying plate 40, the reachable position of bridge case 31
Set the vehicle for stopping pick-up position and landing 10 including at least vehicle-carrying plate loading position, parking area in ground dispatching place
Carry position, can ground dispatching place place an automatic guided vehicle 50, for carry vehicle-carrying plate 40, also may be used certainly
To realize that the carrying of vehicle-carrying plate 40 can be deposited the vehicle-carrying plate 40 being not used by by this topology layout by other mechanisms
It is placed in ground dispatching place, the parking space without influencing landing 10.When user needs parking, bridge case 31 is from load
Vehicle-carrying plate 40 is loaded onto in sweep loading position, and the pick-up position of stopping for being lifted to parking area is parked for waiting parking cars, and is then lifted
The vehicle conveying position of landing 10 is risen to so that automatic guided vehicle 50 is carried to default parking stall；When followed by next
When vehicle needs to park, bridge case 31 returns to vehicle-carrying plate loading position, then carries out primary above-mentioned lifting flow, thus can meet company
The requirement of continuous parking.And when user needs to pick up the car, bridge case 31 drops to parking area from the vehicle conveying position of landing 10
Pick-up position is stopped so that user picks up the car in domain, and later, bridge case 31 continues to drop to vehicle-carrying plate loading position so that carrying mechanism will
Vehicle-carrying plate 40 moves away from bridge case 31, and bridge case 31 again returns to the vehicle conveying position of landing 10 to execute next vehicle at this time
Thus pick-up flow can meet the requirement continuously picked up the car.
Or in another embodiment of the invention, vehicle-carrying plate parking area is provided near elevator 30,
It, equally can be with simultaneously configured with automatic guided vehicle 50 for carrying vehicle-carrying plate 40 between bridge case 31 and vehicle-carrying plate parking area
Meet the continuous requirement stopped and pick up the car, this mode compares the former also and have the characteristics that simple structure, at low cost.
Scheduling mode in relation to vehicle-carrying plate 40, it is also an option that, a certain number of spare time are reserved on landing 10
Vehicle-carrying plate 40 is set, these idle vehicle-carrying plates 40 can be parked on empty parking stall, or be parked in the position of other delimitations
It sets, typically, the configuration quantity of vehicle-carrying plate 40 is consistent with the quantity on parking stall, naturally it is also possible to the several loads of multi-configuration
Sweep 40, in stopping pick-up alternation procedure, so as to free vehicle-carrying plate 40 be placed on the bridge case 31 of elevator 30 at any time, to keep away
Stand-by period caused by possibility when exempting to cause to stop.When needing parking, first passes through automatic guided vehicle 50 and carry vehicle-carrying plate 40
Vehicle-carrying plate 40 is transported to stopping 20 position of auxiliary road of picking up the car to bridge case 31, then by elevator 30；And it is grasped when completing to pick up the car
When making, if the demand that do not pick up the car again at this time, vehicle-carrying plate 40 can be parked in bridge case 31 and be picked up the car on auxiliary road 20, with
For needing for user's parking；But followed by the demand picked up the car again, then need to transport vehicle-carrying plate 40 to landing 10, with
Bridge case 31 is emptied for pick-up carrying demand.
In conjunction with Fig. 4, the landing 10 in the above embodiment is by taking single layer parking stall as an example, in order to increase parking sky
Between parking stall density, improve landing 10 utilization rate Double-layer parking space side may be used in other embodiments
Case.Specifically, Double-layer parking space includes at least four columns 111, and column 111 surrounds at least one vehicle parking space, one
Vehicle parking space is divided into upper space and lower layer space, that is, forms two parking stalls up and down, and two cars are parked to meet
It is required that.It includes being arranged in column that upper-layer parking position supports vehicle, the support suspension mechanism by the support suspension mechanism being arranged on column 111
Trailing arm 112 on 111, the fulcrum formed by four trailing arms 112 is to be supported vehicle-carrying plate 40.In addition, also far from vehicle
Block piece 113 is set on the column 111 of parking space entrance, block piece 113 is higher than the position of trailing arm 112, so as to
Stop that vehicle-carrying plate 40 exceeds parking space, plays a protective role.
With continued reference to Fig. 5, in another embodiment, trailing arm 112 ' is bascule, is rotatably arranged in column 111
On, while the height sensor 114 for being slightly above trailing arm 112 ' is set also on column 111, the height for detecting vehicle-carrying plate 40,
For example height sensor 114 is set on each column 111, realize accurate height detection.In the present embodiment, suspension mechanism is held in the palm
Further include control assembly 116 and actuator 117, control assembly 116 is electrically connected with control device, and actuator 117 is held in the palm for driving
Arm 112 ' is rotated relative to column 111, and control assembly 116 is electrically connected with actuator and height sensor 114, works as height sensor
114 when detecting that the height that vehicle-carrying plate 40 is lifted is suitable with the height of trailing arm 112 ', and altitude signal is passed to control assembly
116, control assembly 116 controls actuator 117 and trailing arm 112 ' is driven to be rotated relative to column 111, and trailing arm 112 ' is made to turn to load
The lower section of sweep 40, to carry vehicle-carrying plate 40.Furthermore it is also possible to weight sensor 115 be arranged on trailing arm 112 ', for incuding
The weight of vehicle-carrying plate 40, to ensure to control the lifting device of automatic guided vehicle 50 after vehicle-carrying plate 40 is placed on trailing arm 112 ' again
52 decline.It can be seen that the stereo-parking system of the present invention also answers deformation type with a variety of, provide density higher parking stall.
Finally, what the present invention also proposed a kind of stereo-parking system stops pick-up method, including：
When needing parking, elevator 30 is lifted to first by the vehicle-carrying plate 40 for needing to be parked cars is carried on its bridge case 31
Preset height, so that the parking planes align of the loading plane of bridge case 31 and landing 10；Automatic guided vehicle 50 is according to guiding
Label 70 runs on bridge case 31 and needs 40 lower section of the vehicle-carrying plate to be parked cars positioned at carrying；Pass through determining on vehicle-carrying plate 40
After bit flag 43 positions, vehicle-carrying plate 40 is lifted to the second preset height by the lifting mechanism 52 of automatic guided vehicle 50, and is being guided
The vehicle-carrying plate 40 that carrying needs to be parked cars is carried to default parking stall to complete to stop under the guiding of label 70.
When specific operation, the bridge case 31 of elevator 30 is located at the auxiliary road 20 that stops picking up the car, and is placed on bridge case 31 available free
Vehicle-carrying plate 40, user opens vehicle to vehicle-carrying plate 40, and vehicle is left after adjusting good position, by starting parking procedure with reality
Show each carrying link of vehicle and is finally completed parking.
When needing to pick up the car, automatic guided vehicle 50 runs to the vehicle-carrying plate 40 that carrying needs to be picked up the car according to guidance mark 70
Lower section；After being positioned by the witness marker 43 on vehicle-carrying plate 40, the lifting mechanism 52 of automatic guided vehicle 50 lifts vehicle-carrying plate 40
To the second preset height, and the vehicle-carrying plate 40 that carrying needs to be picked up the car is carried in first under the guiding of guidance mark 70
On the bridge case 31 of preset height；Elevator 30 vehicle-carrying plate 40 that carrying on its bridge case 31 needs to be picked up the car is dropped to stop picking up the car it is auxiliary
To complete to pick up the car on the road surface in road 20.During this, user only needs to start pick-up program, and then waiting vehicle is completed each
After carrying link, vehicle is sailed out of from vehicle-carrying plate 40.
And the case where Double-layer parking space is equipped with for landing 10, it is aforementioned " to be held under the guiding of guidance mark 70
Be loaded with vehicle-carrying plate 40 to be parked cars and be carried to default parking stall to complete to stop " the step of include：
Under the vehicle-carrying plate 40 that carrying needs to be parked cars is carried to by automatic guided vehicle 50 under the guiding of guidance mark 70
Behind layer parking stall, vehicle-carrying plate 40 is lifted upper-layer parking position to complete to stop by the lifting mechanism 52 of automatic guided vehicle 50.Specifically,
For the support suspension mechanism of fixed form, vehicle-carrying plate 40 is lifted to the height of 112 or more trailing arm by lifting mechanism 52, then slightly under
Drop is vehicle-carrying plate 40 to be placed on trailing arm 112.For the support suspension mechanism of activity form, lifting mechanism 52 is by vehicle-carrying plate 40
It is lifted to the height of 112 ' or more trailing arm, when height sensor 114 senses altitude signal, control assembly 116 controls actuator
117 driving trailing arms 112 ' turn to the lower section of vehicle-carrying plate 40 to carry vehicle-carrying plate 40.
When vehicle has been parked on the lower layer parking stall of Double-layer parking space, " automatic guided vehicle 50 is walked according to guidance mark 70
The step of 40 lower section of vehicle-carrying plate for needing to be picked up the car to carrying " includes：
Automatic guide vehicle 50 runs to according to guidance mark 70 positioned at lower layer parking stall, carries the carrier vehicle of vehicle to be avoided
40 lower section of plate；After being positioned by witness marker 43 on vehicle-carrying plate 40, the lifting mechanism 52 of automatic guided vehicle 50 is by vehicle-carrying plate 40
It is lifted to the second preset height, and the vehicle-carrying plate for carrying evacuation pick-up is carried to waiting under the guiding of guidance mark 70
Region, then automatic guided vehicle 50 run to 40 lower section of vehicle-carrying plate that carrying needs to be picked up the car, behind continue to execute other parts
Pick-up carry link.
In conclusion by setting up a sufficiently high landing in road upper space, and in the side of road
Setting stops auxiliary road of picking up the car, and completes vehicle in the lifting for stopping picking up the car between auxiliary road and landing using elevator, and using automatically
Guiding vehicle realizes unmanned carrying vehicle on landing, to realize vehicle in the parking of auxiliary road and landing that stops picking up the car
Full-automatic conveying between position, under the premise of not influencing traffic and personnel safety, user only needs vehicle being parked in elevator
On vehicle-carrying plate, it is simple and convenient.This full smart three-dimensional parking mode based on existing road structure, can not only
Existing road space is enough made full use of, the construction cost of three-dimensional parking device is reduced, and substantially reduces user's shut-down operation
Difficulty.
Above is only part or the preferred embodiment of the present invention, therefore either word or attached drawing cannot all limit this
The range of protection is invented under every design with an entirety of the invention to be made using description of the invention and accompanying drawing content
Equivalent structure transformation, or directly/be used in other related technical areas indirectly and be included in the scope of protection of the invention.
Claims (10)
1. a kind of stereo-parking system, which is characterized in that including：
Landing above road and is disposed with multiple parking stalls；
Stop auxiliary road of picking up the car, is located at at least side and corresponding with the position of the landing in the both sides of the road, it is described to stop
Pick up the car auxiliary road include the vehicle entrance entered for the road vehicle, road vehicle outlet is returned to for vehicle and
Parking area between the vehicle entrance and vehicle outlet；
Elevator is located in the parking area, the elevator include can the parking area and the landing it
Between the bridge case that lifts；
Vehicle-carrying plate is used for vehicle, and can be positioned on the bridge case, and the vehicle-carrying plate is marked equipped with positioning used for positioning
Will；
Automatic guided vehicle, for according to guidance mark on the landing independent navigation walk, the automatic guided vehicle packet
Car body and the lifting device for being set to the car body are included, the lifting device is for lifting the vehicle-carrying plate；
Control device is communicated to connect with the elevator and automatic guided vehicle respectively.
2. stereo-parking system as described in claim 1, which is characterized in that the landing passes through at least four support columns
It is fixed on the top of the road, wherein at least two sides for being located at the road at least four support columns,
It is remaining positioned at the other side of the road；The landing is surrounded by safe enclosing, is offered just on the safe enclosing
To the vehicle in and out port of the elevator.
3. stereo-parking system as described in claim 1, which is characterized in that the both sides of the road, which are respectively equipped with, described stops taking
Che Fudao, the vehicle pass-through direction in the road track adjacent thereto of vehicle pass-through direction in the auxiliary road that stops picking up the car per side is consistent,
And the elevator is arranged toward close to the side of vehicle outlet.
4. stereo-parking system as claimed in claim 3, which is characterized in that further include that the ground being located at below the road is lowered
Place is spent, is formed with corresponding with the bridge case position of the elevator in the parking area and sinks downwards, with described lowers
The decline passway of place connection is spent, described ground dispatching place is for placing vehicle-carrying plate, and the reachable position of the bridge case is at least
Stop pick-up position and the landing including the vehicle-carrying plate loading position in described ground dispatching place, the parking area
Vehicle conveying position.
5. stereo-parking system as described in claim 1, which is characterized in that further include the vehicle being arranged at the vehicle entrance
Current limits device, the vehicle pass-through limits device include the limit for height cross bar being located above the auxiliary road that stops picking up the car.
6. stereo-parking system as claimed in claim 5, which is characterized in that the vehicle pass-through limits device further includes and institute
The vehicle identification module and alarm module of control device communication connection are stated, the vehicle identification module waits parking cars for identification
Type information, the alarm module be used for the vehicle that the vehicle identification module identifies not it is default park range when it is aobvious
Show the graph text information that No entry.
7. stereo-parking system as described in claim 1, which is characterized in that further include be arranged at the vehicle entrance and with
The parking stall display device of the control device communication connection, the parking stall display device are used to show the sky on the landing
Not busy parking stall quantity.
8. stereo-parking system as described in claim 1, which is characterized in that further include setting on the auxiliary road that stops picking up the car simultaneously
Stop pick-up operating terminal with what the control device communicated to connect, the pick-up operating terminal of stopping has for showing that stopping pick-up grasps
Make the display screen of information.
9. a kind of stereo-parking system stops pick-up method, which is characterized in that including：
When needing parking, elevator is lifted to the first preset height by the vehicle-carrying plate for needing to be parked cars is carried on its bridge case,
So that the loading plane of bridge case and the parking planes align of landing；Automatic guided vehicle runs to bridge case according to guidance mark
It goes up and is located at carrying and need below the vehicle-carrying plate to be parked cars；After the witness marker positioning on vehicle-carrying plate, automatic guided vehicle
Lifting mechanism vehicle-carrying plate is lifted to the second preset height, and under the guiding of guidance mark carrying is needed to be parked cars
Vehicle-carrying plate is carried to default parking stall to complete to stop；
When needing to pick up the car, automatic guided vehicle is run to according to guidance mark below the vehicle-carrying plate that carrying needs to be picked up the car；Pass through
After witness marker positioning on vehicle-carrying plate, vehicle-carrying plate is lifted to the second preset height by the lifting mechanism of automatic guided vehicle, and
The vehicle-carrying plate that carrying needs to be picked up the car is carried on the bridge case in the first preset height under the guiding of guidance mark；Elevator
The vehicle-carrying plate that carrying on its bridge case needs to be picked up the car is dropped on the road surface in the auxiliary road that stops picking up the car to complete pick-up.
10. stopping pick-up method as claimed in claim 9, which is characterized in that the landing is equipped with Double-layer parking space, institute
It states and the vehicle-carrying plate that carrying needs to be parked cars is carried to default parking stall to complete the step of parking under the guiding of guidance mark
Suddenly include：
After the vehicle-carrying plate that carrying needs to be parked cars is carried to lower layer parking stall by automatic guided vehicle under the guiding of guidance mark,
Vehicle-carrying plate is lifted upper-layer parking position to complete to stop by the lifting mechanism of automatic guided vehicle；
When vehicle has been parked on the lower layer parking stall of Double-layer parking space, the automatic guided vehicle runs to carrying according to guidance mark
The step of below the vehicle-carrying plate for needing to be picked up the car includes：
Automatic guide vehicle runs to positioned at lower layer parking stall according to guidance mark, carries below the vehicle-carrying plate of vehicle to be avoided；
After the witness marker positioning on vehicle-carrying plate, vehicle-carrying plate is lifted to the second preset height by the lifting mechanism of automatic guided vehicle,
And the vehicle-carrying plate that evacuation is picked up the car will be carried under the guiding of guidance mark and be carried to waiting area, then homing guidance garage
It walks below the vehicle-carrying plate for needing to be picked up the car to carrying.
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|---|---|---|---|
| CN201810715663.XA CN108590292A (en) | 2018-06-29 | 2018-06-29 | Three-dimensional parking system and parking and taking method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810715663.XA CN108590292A (en) | 2018-06-29 | 2018-06-29 | Three-dimensional parking system and parking and taking method thereof |
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| CN108590292A true CN108590292A (en) | 2018-09-28 |
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ID=63635026
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810715663.XA Pending CN108590292A (en) | 2018-06-29 | 2018-06-29 | Three-dimensional parking system and parking and taking method thereof |
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| CN108999449A (en) * | 2018-10-17 | 2018-12-14 | 常州工学院 | A kind of road upper layer intelligence automatic access parking device |
| CN108999448A (en) * | 2018-10-12 | 2018-12-14 | 常州工学院 | A kind of road upper layer annular automatic access parking device |
| CN109025435A (en) * | 2018-10-12 | 2018-12-18 | 常州工学院 | A kind of road upper layer annular automatic access shutdown system and its control method |
| CN109025436A (en) * | 2018-10-17 | 2018-12-18 | 常州工学院 | A kind of road upper layer intelligence automatic access shutdown system and its control method |
| CN109267790A (en) * | 2018-10-26 | 2019-01-25 | 北京理工大学 | A kind of intelligent parking system of multiple carrier loader platforms |
| CN109296236A (en) * | 2018-10-26 | 2019-02-01 | 北京理工大学 | A kind of intelligent parking system of single carrier loader platform |
| CN110161993A (en) * | 2019-05-22 | 2019-08-23 | 态好停停车设备科技(无锡)有限公司 | A kind of control method of stereo garage, device and intelligent three-dimensional garage |
| CN110626775A (en) * | 2019-06-28 | 2019-12-31 | 北京致行慕远科技有限公司 | Distribution system |
| CN111145581A (en) * | 2019-11-20 | 2020-05-12 | 恒大智慧科技有限公司 | Community parking method, community server and computer readable storage medium |
| CN112049493A (en) * | 2020-09-17 | 2020-12-08 | 安徽工程大学 | Intelligent parking garage and parking and picking-up method |
| CN112681845A (en) * | 2020-11-30 | 2021-04-20 | 深圳怡丰自动化科技有限公司 | Three-dimensional parking garage and parking method |
| CN115116254A (en) * | 2022-05-26 | 2022-09-27 | 安徽鸿杰威尔停车设备有限公司 | AGV double-deck parking robot driving and parking track monitored control system |
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| CN108999448A (en) * | 2018-10-12 | 2018-12-14 | 常州工学院 | A kind of road upper layer annular automatic access parking device |
| CN109025435A (en) * | 2018-10-12 | 2018-12-18 | 常州工学院 | A kind of road upper layer annular automatic access shutdown system and its control method |
| CN108999449A (en) * | 2018-10-17 | 2018-12-14 | 常州工学院 | A kind of road upper layer intelligence automatic access parking device |
| CN109025436A (en) * | 2018-10-17 | 2018-12-18 | 常州工学院 | A kind of road upper layer intelligence automatic access shutdown system and its control method |
| CN109267790A (en) * | 2018-10-26 | 2019-01-25 | 北京理工大学 | A kind of intelligent parking system of multiple carrier loader platforms |
| CN109296236A (en) * | 2018-10-26 | 2019-02-01 | 北京理工大学 | A kind of intelligent parking system of single carrier loader platform |
| CN110161993A (en) * | 2019-05-22 | 2019-08-23 | 态好停停车设备科技(无锡)有限公司 | A kind of control method of stereo garage, device and intelligent three-dimensional garage |
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| CN112049493A (en) * | 2020-09-17 | 2020-12-08 | 安徽工程大学 | Intelligent parking garage and parking and picking-up method |
| CN112049493B (en) * | 2020-09-17 | 2021-11-02 | 安徽工程大学 | Intelligent parking garage and parking and picking-up method |
| CN112681845A (en) * | 2020-11-30 | 2021-04-20 | 深圳怡丰自动化科技有限公司 | Three-dimensional parking garage and parking method |
| CN115116254A (en) * | 2022-05-26 | 2022-09-27 | 安徽鸿杰威尔停车设备有限公司 | AGV double-deck parking robot driving and parking track monitored control system |
| CN115116254B (en) * | 2022-05-26 | 2023-06-09 | 安徽鸿杰威尔停车设备有限公司 | AGV double-deck parking robot driving and parking track monitored control system |
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