CN109537950A - A kind of intelligent three-dimensional parking device and control method towards residential area - Google Patents
A kind of intelligent three-dimensional parking device and control method towards residential area Download PDFInfo
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- CN109537950A CN109537950A CN201811454606.7A CN201811454606A CN109537950A CN 109537950 A CN109537950 A CN 109537950A CN 201811454606 A CN201811454606 A CN 201811454606A CN 109537950 A CN109537950 A CN 109537950A
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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
- E04H6/08—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
- E04H6/28—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 turntables or rotary rings for horizontal transport
-
- 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)
- Forklifts And Lifting Vehicles (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
A kind of intelligent three-dimensional parking device and control method towards residential area, it is related to parking device and Transport Vehicle method, it includes forklift device and jiffy stand, the forklift device includes the fork plate for fork truck, the Z-direction control mechanism that control fork plate is moved along Z-direction, the Y-direction control mechanism that control Z-direction control mechanism is moved along Y-direction, the rotating mechanism that the X that control Y-direction control mechanism moves in X direction is rotated to control mechanism and control Z-direction control mechanism, bicycle parking step includes: step 1, car owner is by vehicle parking on vehicle-carrying plate, the stereo parking facility is in preparation state；Step 2: car owner locks after vehicle from vehicle, set on vehicle that whether there is or not personnel；Step 3: parking stall judgement and label；Step 4: preparing bicycle parking；Step 5: parking stall bicycle parking finishes；Step 6: intelligent three-dimensional parking device sets back.Space utilization rate of the present invention is high, do not need to be transformed residential area can fast construction, it can be achieved that unmanned Intelligent stop is picked up the car.
Description
Technical field
The present invention relates to parking device and Transport Vehicle methods, belong to stereo parking facility technical field, and in particular to a kind of
The intelligent three-dimensional parking device and control method towards residential area based on existing cell structure fast construction.
Background technique
China Automobile Industry was rapid in recent years, and automobile initially enters huge numbers of families, with vehicles number in city
Increase, therefore public field parking stall wretched insufficiency, parking difficulty, parking stall compression greenery patches problems occurs.These problems are tight
People's lives quality is affected again and is built to townie satisfaction, therefore in newly-built community, Office Area, shopping centre
Mechanical parking equipment is very important.Existing parking systems is mainly the following form: Simple lifting, vertical
Lift, Vertical Circulating, elevating translational type, AisleStack, horizontal-circulating car.It is to stop that lifting cross-sliding type, which is using vehicle-carrying plate,
The tool of parking stall and access, come Transport Vehicle by way of the lifting of vehicle-carrying plate and transverse motion to the parking stall of required access
Parking apparatus.AisleStack is that the tool using piler as access vehicle will be removed by either vertically or horizontally movement
Before the parking stall that vehicles drive in fortune equipment is accessed required for, then stopped with access mechanism to what vehicle was accessed
Vehicle device.Vertical circulating parking equipment refers to that vehicle-carrying plate stops by way of vertical circulation moves to what vehicle was accessed
Vehicle device.Horizontal-circulating car parking apparatus refers to that the stall system of storage of cars is made horizontal cyclic and moved back and forth to vehicle progress
The parking apparatus of access.Multilayer planar mobile device is to be moved in the plane by hoisting machinery or carrier on the same layer
The parking apparatus that dynamic mode accesses vehicle.However cannot rationally save the Transport Vehicle time mostly in the prior art, no
Only car owner is needed to operate, and Transport Vehicle overlong time, construction structure is complicated, once building up can not move, and takes up a large area, empty
Between utilization rate it is low, be not suitable for residential area build.
The patent No. 201511026442.4, Publication No. CN 105569391B, the hair that publication date is on 2 13rd, 2018
Bright patent discloses a kind of " parking systems ", which vehicle-carrying plate is arranged on elevating screw, passes through the rotation of vehicle-carrying plate
Turn and solid parking is realized in lifting, but the needs of building of the parking device additionally occupy ground space, and do not have smart allocation
Stop bit function.
It is the invention on the 28th of September in 2018 application No. is 201810417083.2, publication number CN108590273A, publication date
Patent application " household small-size parking systems " is, it can be achieved that two cars are stopped on a parking stall, but upper layer vehicle needs to take out
Vehicle below is first driven out to parking stall, then elevating mechanism is mobile makes vehicle decline in upper layer output parking stall again, this vertical
Body parking device pick-up process redundancy is complicated, is only applicable to individual family use, is unsuitable for promoting in residential area.
It is on March 13rd, 2018 application No. is 201610763832.8,107795166 A of Publication No. CN, publication date
Application for a patent for invention " a kind of intelligent three-dimensional parking apparatus and its control method ", the stereo parking facility using it is vertical, laterally with
And the mutual cooperation of longitudinal moving device, so that vehicle is hung to aerial different parking stalls, this structure type needs enough top layers
Space is picked up the car, and the parking number of plies is generally no more than two layers, and space utilization rate is low, which does not have intelligence equally
It can distribution parking bit function.
Patent No. 201610638130.7, notification number are CN 106049940B, the day for announcing is on May 22nd, 2018
Patent of invention " a kind of novel solid garage parking ", the parking systems realize circle using capstan head lifting device and transfer robot
Column type Multilayer parking, building for the stereo parking facility need to carry out ground space planning in advance, are difficult small suitable for existing resident
The ground surface or terrain in area.
Patent No. 201511002611.0, notification number are CN 105735702B, the day for announcing is on June 29th, 2018
Patent of invention " stereo garage ", the stereo garage parking stall are arranged vertically on tunnel both sides in multilayer, are equipped with lifting compartment in lane
Road move horizontallys or vertically, and realizes parking and moving for vehicle, and translation mechanism is mounted in car body, hydraulic system and translation machine
Structure is connected, and compartment makes automobile can be carried out horizontal direction by movement of the idler wheel on guide rail using planker fixed car with this
Transmission, and then realize the storage and the movement such as outbound of automobile.The device is driven and is controlled using hydraulic system, and is equipped with
Compartment and translation mechanism, although land use co efficient is high, overall structure is increasingly complex, so that construction cost is high, construction period
It is long, it is unable to fast construction.
Application No. is 201611014384.8, Publication No. 108071251A, the invention that publication date is on May 25th, 2018
Patent application " outdoor parking systems ", the parking systems are sent vehicle to different location jiffy stand using lifting transfer car(buggy)
On, although which avoids needs the problem of having enough to meet the need vacancy in conventional stereo garage parking, but it goes up and down transfer car(buggy) and additionally occupies
Ground space, reduces airborne utilization rate, does not equally have smart allocation parking bit function.
It is on May 18th, 2018 application No. is 201711317623.1, Publication No. CN 108049674A, publication date
Patent of invention discloses a kind of " a kind of intelligent three-dimensional garage ", and the landing of the stereo garage is equipped with flexible inclined ladder, needs
Vehicle is artificially driven into specified parking stall along flexible inclined ladder, which is equipped with the telescopic supporting rod so that landing lifting,
Although saving space, car owner's Transport Vehicle needs artificial manipulation, cannot effectively reach Intelligent control, save manpower.
It is on October 30th, 2018 application No. is 201710082392.4, Publication No. CN106836899B, publication date
Patent of invention discloses a kind of " hanging ladder stereo garage ", which is equipped with garage well, traction system, guidance system, and one
Divide parking stall in garage well below ground, lifting carrier loader platform is realized by traction system, which has two and stop taking
Mouthful, the time for stopping picking up the car is saved, garage capacity is big.But stop pick-up every time to require to transfer all carrier loader platforms, this mistake
Journey needs more traction powers, and the garage needs to build garage well in underground, increases project amount, is not suitable in existing cell
It builds.
So may be implemented that residential area fast construction, Transport Vehicle time is short, space utilization rate there is an urgent need to one kind now
High, stable, simple structure, the intelligent three-dimensional parking device at low cost promoted well.
Summary of the invention
The present invention is in order to overcome the deficiencies of the prior art, aiming at the problem that, parking difficulty in short supply residential area parking stall, to provide
A kind of compact-sized, modular intelligent three-dimensional parking device, the device are utilizing the original parking stall of cell, are not occupying soil additionally
On the basis of ground area flexible, fast construction can be carried out according to cell structure；And intelligent algorithm is developed, stopped by proportion optimizing
Vehicle time and parking path choose optimal parking position, to shorten the Transport Vehicle time and save the energy；The stereo parking facility is not
It needs to carry out remaking surface to residential area to realize fast construction, convenient for promoting.
According to an aspect of the present invention, a kind of intelligent three-dimensional parking device towards residential area is provided, it includes fork
Vehicle device and jiffy stand, the forklift device include the Z-direction control machine moved for fork plate, the control fork plate of fork truck along Z-direction
Y-direction control mechanism that structure, control Z-direction control mechanism are moved along Y-direction, the X that moves in X direction of control Y-direction control mechanism are to control
Mechanism processed and the rotating mechanism of control Z-direction control mechanism rotation；
The jiffy stand includes the stall barrier of vehicle and the forklift truck frame for carrying the forklift device；Forklift truck frame and parking stall
Frame links together；X is located in forklift truck frame to control mechanism, and Y-direction control mechanism is located at X on control mechanism, Z-direction control mechanism
It is located on Y-direction control mechanism.
According to another aspect of the present invention, a kind of controlling party of intelligent three-dimensional parking device towards residential area is provided
Method, bicycle parking step include:
Step 1: car owner by vehicle parking on vehicle-carrying plate, which is in preparation state；
Step 2: car owner locks after vehicle from vehicle, the two dimensional code for scanning designated position enters stereo parking facility client and answers
With program APP, into stereo parking facility operation and control interface, car owner first chooses parking item, next fills out the choosing parking last foundation of duration
Duration of stopping payment, then the stereo parking facility reads license plate number by license plate recognition technology and is deposited into the customer data
Library, and client's bicycle parking information integration is sent to single-chip microcontroller, meanwhile, the radar life-detection instrument starting of vehicle both sides will simultaneously be visited
Survey result and be sent to single-chip microcontroller, if detection result be it is interior nobody, then can start stereo parking facility, otherwise cannot start vertical
Body parking device；
Step 3: single-chip microcontroller is after receiving final parking manipulation instruction, by filled out by car owner choosing the bicycle parking time and this
When parking device bicycle parking situation calculate most suitable parking position, trigger corresponding shut-down operation instruction.Wherein, it calculates final
The program of parking position is as follows: if the bicycle parking time less than 5 hours, is preferentially stored in low layer parking stall, if first layer parking stall is free
Remaining parking stall is then pressed in the first layer vacant parking stall of sequence deposit from left to right, if first layer Occupied, by sequence from left to right
It is sequentially stored into second layer vacant parking stall, if second layer Occupied, by being sequentially sequentially stored into the vacant vehicle of third layer from left to right
In position, and so on, until parking stall is full, display garage stall has been expired, and must not be stopped.If the bicycle parking time is more than 5 hours,
It is preferentially stored in high-level parking stall, i.e., first by the third layer vacant parking stall of sequence deposit from left to right, if third layer Occupied, is pressed
It is sequentially sequentially stored into second layer vacant parking stall from left to right, by being sequentially sequentially stored into from left to right if second layer Occupied
One layer of vacant parking stall, and so on until parking stall it is full, display garage stall has been expired, and must not be stopped, wherein first layer vehicle
Stopping taking needs car owner voluntarily to stop to take, without starting stereo parking facility.Pressure sensor is housed on each parking stall, when nothing on parking stall
Vehicle stopping time, pressure sensor do not have output signal, and parking space state is identified as flag=0 in program, when having vehicle on parking stall, then
Pressure sensor is triggered, and exports high level signal, and single-chip microcontroller monitors the signal, and parking space state identifies flag=1 in program,
M layers of label of all parking stalls, M >=1, M are integer；
Step 4: starting carrier vehicle plate collector 1 after stereo parking facility receives shut-down operation instruction, vehicle-carrying plate is received
The steel ball spring 1-1 on 1 both sides of acquisition means compresses certain length, the vehicle-carrying plate 1-2 of top layer is unlocked, so that the vehicle-carrying plate of top layer
1-1 is lifted upwards under the lift effect of the bottom spring 1-3 of big rigidity, and exposing twice fork truck is recessed after being lifted to designated position
Slot, while the control mechanism in tri- directions X, Y, Z and rotating mechanism make fork plate 2-1 move on to vehicle-carrying plate 1-2 from initial position
Groove in front of, then fork plate 2-1 translation is pitched into groove, realizes the firm combination of fork plate 2-1 and vehicle-carrying plate 1-2；
Step 5: after fork truck and the firm combination of vehicle-carrying plate, the control of fork plate, vehicle-carrying plate and vehicle in tri- directions X, Y, Z
It is steadily docked on specified parking stall under mechanism processed and rotating mechanism by lifting, translation and rotation；
Step 6: fork plate is separated with vehicle-carrying plate after vehicle comes to a complete stop, pass through translation, lifting, moving in rotation to initial bit
It sets, then stops movement, complete bicycle parking process.
According to another aspect of the present invention, a kind of controlling party of intelligent three-dimensional parking device towards residential area is provided
Method, pick-up step include:
Step 1: car owner scan designated position two dimensional code enter stereo parking facility client-side program, fill out choose vehicle item with
And license plate number, program is filled out after the completion of choosing by data information and is sent to single-chip microcontroller, starts stereo parking facility；
Step 2: start the control mechanism and rotating mechanism in tri- directions X, Y, Z after single-chip microcontroller receives pick-up instruction,
Before motor drives ball-screw to be rotated under sliding rail guiding role forklift device is made to be moved to specified parking stall from initial position
And consolidate and combine with vehicle-carrying plate, then forklift device steadily send vehicle and vehicle-carrying plate to carrier vehicle plate collector, with rear fork
Vehicle device returns to initial position；
Step 3: the steel ball spring 1-1 of two sides is shunk in carrier vehicle plate collector 1, then forklift device moves down band dynamic load
Sweep 1-2 is moved down, and steel ball spring 1-1 extends and lock vehicle-carrying plate 1-2 after being displaced downwardly to certain distance, and subsequent forklift device resets,
Complete the collection process of vehicle-carrying plate 1-2；
Step 4: voice broadcast prompt car owner picks up the car if carrier vehicle plate collector and forklift device stablize safety, car owner
Pick-up is left, and pick-up process is completed.
Compared with prior art, the beneficial effects of the present invention are:
X, tri- direction control mechanisms of Y, Z and rotating mechanism make device have X, Y, Z three degree of freedom and rotary freedom,
Realize the comprehensive operation of forklift device.Device can fast construction three-dimensional sky taken using modularized design and compact-sized
Between be laid out, parking design space utilization rate is high, do not need to be transformed residential area can fast construction, it can be achieved that unmanned intelligence
It can stop to pick up the car, a hundred percent space utilization rate, the every 4-6 parking stall in conventional stereo garage parking will have a turnover vacancy.Carrier vehicle
Plate collector is abundant to be not take up exceptional space using lane, and does not have to vehicle-carrying plate be put on jiffy stand to save and access
The time of vehicle.Apparatus cost is low, and bottom parking stall is without installing carrier loader platform.Compared to application No. is 201611014384.8 " families
Outer parking systems " use lifting transfer car(buggy) additionally to occupy ground space, parking design space is utilized effectively, space benefit
45% or more is improved with rate.
The present invention is controlled, program modularity, each parking stall in parking toll by single-chip microcontroller timing control and orientation
Depositing, withdrawing vehicle has its independent function.Parking stall distributes C language intelligent algorithm and carries out section screening to the down time that car owner inputs,
Provide the optimum proportioning in time and path.Stop pick-up process without artificial manipulation, is all completed by device intelligent operation, reduce pipe
Cost is managed, while saving car owner and stopping the time of picking up the car.And application No. is 201611014384.8 " outdoor parking systems " can not
It carries out Transport Vehicle to distribute in due course, is unable to fast construction.
Control algolithm provided by the device and parking structure organically combine, so that algorithm and device are all simplified, section
About cost, suitable cell are convenient for Rapid Popularization.
The present invention can situation carries out fast assembling on the spot according to cell, is not changing original cell pattern and Parking situation
Under, to aerial development, space utilization rate is improved, is convenient for practical application and popularization.
Detailed description of the invention
Fig. 1 is overall structure top view of the present invention；
Fig. 2 is X to control mechanism and stall barrier connection relationship diagram；
Fig. 3 is the structural schematic diagram of Z-direction control mechanism；
Fig. 4 is the structural schematic diagram of rotating mechanism；
Fig. 5 is the structural schematic diagram of jiffy stand；
Fig. 6 is vehicle-carrying plate structural schematic diagram；
Fig. 7 is carrier vehicle plate collector structural schematic diagram；
Fig. 8 is that parking space allocation calculates figure；
Fig. 9 is bicycle parking control system schematic diagram；
Figure 10 is bicycle parking smart allocation algorithm pattern.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.Below with reference to embodiment, the present invention will be described in detail.
In order to enable those skilled in the art to better understand the solution of the present invention, right below in conjunction with the embodiment of the present invention
Technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only the present invention one
Partial embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, should fall within the scope of the present invention.
As shown in Figure 1 and Figure 5, a kind of intelligent three-dimensional parking device towards residential area, it includes forklift device 2 and stops
Vehicle frame 3, the forklift device 2 include the Z-direction control mechanism moved for fork plate 2-1, the control fork plate 2-1 of fork truck along Z-direction
Y-direction control mechanism B2, the X that moves in X direction of control Y-direction control mechanism that A2, control Z-direction control mechanism are moved along Y-direction to
The control mechanism C2 and rotating mechanism 2-11 of control Z-direction control mechanism rotation；
The jiffy stand 3 includes the stall barrier 3-1 of the vehicle and forklift truck frame 3-2 for carrying the forklift device 2；Fork truck
Frame 3-2 links together with stall barrier 3-1；X is located on forklift truck frame 3-2 to control mechanism, and Y-direction control mechanism is located at X to control
In mechanism, Z-direction control mechanism is located on Y-direction control mechanism.
Present embodiment mode is that there are four freedom degree and compact-sized stereo parking facilities for tool, and control system is using single
Piece machine controls the logical order and revolving speed of 4 motors, carries out intelligence using the down time length that intelligent algorithm realizes foundation
Parking stall is distributed, so that saves car owner stops the time and energy saving of picking up the car.In general, the shape of fork plate 2-1 is L shape.
Carrier vehicle plate collector designs on road surface, does not influence normally to walk and be open to traffic, and function is to collect to be filled by fork truck
Set the 2 vehicle-carrying plate 1-2 carried from carrier vehicle position, and to will parked vehicle automatically provide vehicle-carrying plate.The vehicle-carrying plate
Collection device 1 includes that steel ball spring 1-1, vehicle-carrying plate 1-2, bottom spring 1-3 and outer enclosure wall 1-4, vehicle-carrying plate 1-2 pass through bottom bullet
Spring 1-3 is connected on the wall 1-4 of bottom, and the both ends vehicle-carrying plate 1-2 on upper layer are locked by two sides steel ball spring 1-1, and two sides steel ball
Spring 1-1 is connected through a screw thread pair and is connected on side wall 1-4, and vehicle-carrying plate 1-2 is by two sides protrusion 1-2-1 and intermediate groove portion 1-
Mono- system of 2-2 is constituted, and the vehicle-carrying plate 1-2 of quantity identical as parking stall is stored in carrier vehicle plate collector 1, when car owner will park
When vehicle, vehicle need to be reached on the vehicle-carrying plate 1-2 of one layer of device the top, device passes through sensing apparatus after car owner leaves safely
Automatic to decontrol steel ball spring 1-1 locking device, vehicle-carrying plate 1-2 is moved up under the supporting function of bottom spring 1-3, fork truck dress
It sets and vehicle-carrying plate is parked in designated position under motor driven effect, to realize the functions of physical supply of vehicle-carrying plate 1-2.And work as vehicle
When main pick-up, vehicle-carrying plate and vehicle are removed from parking stall and are placed on the device the top designated position by forklift device 2, pass through induction
Device steel ball spring 1-1 compresses certain length, and under gravity and bottom spring 1-3 effect, vehicle-carrying plate is moved down and is collected
Device locking.Meanwhile 2 return of forklift device, car owner can pick up the car.Carrier vehicle plate collector saves room and time, has
High efficiency and stability.
Preferably, X to control mechanism include X-axis ball screw assembly, X-axis motor C2-8, X-axis slide rail C2-7 and X-axis slide block
C2-7-1；X-axis ball screw assembly, includes X-axis ball-screw C2-6-1 and X-axis nut C2-6-2；
X-axis ball screw assembly, and X-axis slide rail C2-7 are arranged in parallel on forklift truck frame 3-2, and the output end of X-axis motor C2-8 connects
The X-axis ball-screw C2-6-1 is met, which is mounted on forklift truck frame 3-2 by bearing, X-axis
Sliding block C2-7-1 is slidably arranged on X-axis slide rail C2-7, and transverse slat C2-13 is mounted on X-axis slide block C2-7-1 and the X-axis nut
On C2-6-2.
Preferably, Y-direction control mechanism B2 includes Y-axis ball screw assembly, y-axis motor B2-10, Y-axis sliding rail B2-14 and Y-axis
Slide block B 2-14-1；Y-axis ball screw assembly, includes Y-axis ball-screw B2-9-1 and Y-axis nut B2-9-2；
Y-axis ball screw assembly, and Y-axis sliding rail B2-14 are arranged in parallel on transverse slat C2-13, the output end of y-axis motor B2-10
The Y-axis ball-screw B2-9-1 is connected, the both ends Y-axis ball-screw B2-9-1 are mounted on transverse slat C2-13 by bearing,
Y-axis slide block B 2-14-1 is slidably arranged on Y-axis sliding rail B2-14, and stringer board B2-12 is mounted on Y-axis slide block B 2-14-1 and the Y-axis
On nut B2-9-2.
Preferably, Z-direction control mechanism A2 includes Z axis ball screw assembly, Z axis motor A2-5, Z axis slide rail A2-4, Z axis sliding block
With vertical plate A2-2；Z axis ball screw assembly, includes Z axis ball-screw A2-3-1 and Z axis nut A2-3-2；
Rotating mechanism 2-11 is mounted on stringer board B2-12, and Z axis ball screw assembly, and Z axis slide rail A2-4 are arranged in parallel at vertical
On plate A2-2, vertical plate A2-2 is connect with the output end of rotating mechanism 2-11, and the output end of Z axis motor A2-5 connects the Z axis silk
Thick stick A2-3-1, the both ends Z axis ball-screw A2-3-1 are mounted on vertical plate A2-2 by bearing, and Z axis sliding block is slidably arranged in Z
On axis sliding rail A2-4, fork plate 2-1 is mounted on Z axis sliding block and the Z axis nut A2-3-2.
Preferably, the rotating mechanism 2-11 includes sleeve 2-11-3, rotary shaft 2-11-4, top cover 2-11-5 and motor 2-
11-7；Sleeve 2-11-3 is mounted on stringer board B2-12, and top cover 2-11-5 is covered on sleeve 2-11-3, and rotary shaft 2-11-4 passes through
Bearing is mounted in sleeve 2-11-3, and the output end that one end of rotary shaft 2-11-4 passes through top cover 2-11-5 and motor 2-11-7 connects
Connect, motor 2-11-7 is mounted on top cover 2-11-5, the other end of rotary shaft 2-11-4 pass through stringer board B2-12 and with vertical plate A2-2
Connection.
In above scheme, motor-driven ball-screw-transmission control mechanism and rotating mechanism, solid space cloth are selected
Office, it is simple and compact for structure, it is convenient for modularized design.
As the improvement of rotating mechanism 2-11, the rotating mechanism 2-11 passes through interference fit by ball bearing 2-11-12
Sleeve 2-11-3 and rotary shaft 2-11-4 is connected, top cover 2-11-5 is fixed on sleeve 2-11-3 by 4 M5 screws, motor 2-
11-7 is fixed on top cover 2-11-5, by shaft coupling connection motor 2-11-7 and rotary shaft 2-11-4, motor 2-11-7 band moving fork
Plate 2-1 is rotated.
Preferably, stall barrier 3-1 includes X to profile, Y-direction profile and Z-direction profile；X is to profile, Y-direction profile and Z-direction profile
Interconnection is built into multiple parking stall seats.Further, forklift truck frame 3-2 includes fork truck profile and oblique profile；Fork truck profile is solid
It connects on the top of stall barrier 3-1, oblique profile and the bottom of stall barrier 3-1 and the top of fork truck profile are affixed.X is to aluminium 3-1 and X
Axis ball-screw C2-6-1 and X-axis slide rail C2-7 is connected by T-type screw, and each X passes through to profile, Y-direction profile and Z-direction profile
It is threadedly coupled.
One specific embodiment provides a kind of control method of intelligent three-dimensional parking device towards residential area, bicycle parking
Step includes:
Step 1: car owner by vehicle parking on vehicle-carrying plate 1-2, which is in preparation state；
Step 2: car owner locks after vehicle from vehicle, the two dimensional code for scanning designated position enters stereo parking facility client and answers
With program APP, into stereo parking facility operation and control interface, car owner need to first choose parking item, next fill out choosing parking duration finally according to
According to parking duration payment, then the stereo parking facility reads license plate number by license plate recognition technology and is deposited into client's number
According to library, and by client's bicycle parking information integration be sent to single-chip microcontroller, meanwhile, the radar life-detection instrument of vehicle both sides start and incite somebody to action
Detection result is sent to single-chip microcontroller, if detection result be it is interior nobody, then can start stereo parking facility, otherwise cannot start
Stereo parking facility；Radar life-detection instrument uses YSR25 type radar life-detection instrument；
Step 3: single-chip microcontroller is after receiving final parking manipulation instruction, by filled out by car owner choosing the bicycle parking time and this
When parking device bicycle parking situation calculate most suitable parking position, trigger corresponding shut-down operation instruction.Wherein, it calculates final
The program of parking position is as follows: if the bicycle parking time less than 5 hours, is preferentially stored in low layer parking stall, if first layer parking stall is free
Yu Ze, if first layer Occupied, is pressed from left to right sequentially successively as in the first layer vacant parking stall of sequence deposit from left to right
It is stored in second layer vacant parking stall, if second layer Occupied, by being sequentially sequentially stored into third layer vacant parking stall from left to right,
And so on, until parking stall is full, display garage stall has been expired, and must not be stopped, if the bicycle parking time is more than 5 hours, preferentially
It is stored in high-level parking stall, i.e., is first pressed if third layer Occupied from a left side by the third layer vacant parking stall of sequence deposit from left to right
Second layer vacant parking stall is sequentially stored into right sequence, by being sequentially sequentially stored into first layer from left to right if second layer Occupied
Vacant parking stall, and so on until parking stall it is full, display garage stall has been expired, and must not be stopped, wherein first layer vehicle stops taking
Car owner is needed voluntarily to stop to take, without starting stereo parking facility.Pressure sensor is housed on each parking stall, when parking stall is not stopped
When, pressure sensor does not have output signal, and parking space state identifies flag=0, when parking stall has vehicle, then pressure sensing in program
Device is triggered, and exports high level signal, and single-chip microcontroller monitors the signal, and parking space state identifies flag=1, label M in program
All parking stalls of layer, M >=1, M are integer；
Step 4: starting carrier vehicle plate collector 1 after stereo parking facility receives shut-down operation instruction, vehicle-carrying plate is received
The steel ball spring 1-1 on 1 both sides of acquisition means compresses certain length, the vehicle-carrying plate 1-2 of top layer is unlocked, so that the vehicle-carrying plate of top layer
1-1 is lifted upwards under the lift effect of the bottom spring 1-3 of big rigidity, and exposing twice fork truck is recessed after being lifted to designated position
Slot, while the control mechanism in tri- directions X, Y, Z and rotating mechanism make fork plate 2-1 move on to vehicle-carrying plate 1-2 from initial position
Groove in front of, then fork plate 2-1 translation is pitched into groove, realizes the firm combination of fork plate 2-1 and vehicle-carrying plate 1-2；
Carrier vehicle plate collector 1 designs on road surface, does not influence normally to walk and be open to traffic, and function is to collect to be filled by fork truck
Set the 2 vehicle-carrying plate 1-2 carried from carrier vehicle position, and to will parked vehicle automatically provide vehicle-carrying plate, the vehicle-carrying plate
Collection device 1 includes that steel ball spring 1-1, vehicle-carrying plate 1-2, bottom spring 1-3 and outer enclosure wall 1-4, vehicle-carrying plate 1-2 pass through bottom bullet
Spring 1-3 is connected on the wall 1-4 of bottom, and the both ends vehicle-carrying plate 1-2 on upper layer are locked by two sides steel ball spring 1-1, and two sides steel ball
Spring 1-1 is connected through a screw thread pair and is connected on side wall 1-4, and vehicle-carrying plate 1-2 is by two sides protrusion 1-2-1 and intermediate groove portion 1-
Mono- system of 2-2 is constituted, and the vehicle-carrying plate 1-2 of quantity identical as parking stall is stored in carrier vehicle plate collector 1, when car owner will park
When vehicle, vehicle need to be reached on the vehicle-carrying plate 1-2 of one layer of device the top, device passes through sensing apparatus after car owner leaves safely
Automatic to decontrol steel ball spring 1-1 locking device, vehicle-carrying plate 1-2 is moved up under the supporting function of bottom spring 1-3, fork truck dress
It sets and vehicle-carrying plate is parked in designated position under motor driven effect, to realize the functions of physical supply of vehicle-carrying plate 1-2；
Step 5: fork plate 2-1, vehicle-carrying plate 1-2 and vehicle are at X, Y, Z tri- after fork truck and the firm combination of vehicle-carrying plate 1-2
It is steadily docked on specified parking stall under the control mechanism and rotating mechanism in direction by lifting, translation and rotation；
Step 6: fork plate 2-1 is separated with vehicle-carrying plate 1-2 after vehicle comes to a complete stop, by translation, lifting, moving in rotation to first
Then beginning position stops movement, complete bicycle parking process.
Timing control and orientation control are realized by mcu programming, and there is sudden-stop function, program modularity, Mei Geting
Parking stall Transport Vehicle has its independent function.Smart allocation parking stall algorithm, switch sentence carry out the down time that car owner inputs
Section screening, provides the optimum proportioning in time and path.Among the above, preferably with macrocrystalline science and technology, (company is abbreviated as single-chip microcontroller
STC) the product of the model STC89C5 produced.
As shown in Figure 9 and Figure 10, the intelligent dispensing system in the smart allocation of parking stall inputs information, parking situation by user
Acquisition, parking stall distribution calculate and single-chip microcontroller controls four parts composition.First to each parking stall of intelligent stereo garage into
Row number, i indicate parking stall at i-th layer；J indicates that parking stall is arranged in jth；Flag (i, j)=0 indicates the parking of i-th layer of jth column
Position is vacancy；T is the down time of user's input；S is the shrinkage of steel ball spring in carrier vehicle plate collector；nxIt is x-axis electricity
The revolving speed of motivation；nyIt is the revolving speed of y-axis motor；nzIt is the revolving speed of z-axis motor；nRotationIt is the revolving speed of electric rotating motivation；It will be through sweeping
The input array that the parking condition for each parking stall retouched and the parking information of user's input are calculated as parking stall distribution, passes through
Parking stall distribution calculates, and obtains an output quantity, i.e., best parking stall.The best parking stall (i, j) passes through monolithic as input quantity
Machine controls to obtain 5 output quantities: being the shrinkage of steel ball spring in carrier vehicle plate collector, the revolving speed of x-axis motor, y respectively
The revolving speed of the revolving speed of axis motor, the revolving speed of z-axis motor and electric rotating motivation.After calculating, each mechanism phase will be executed
It should act, complete shut-down operation.
Another embodiment also provides a kind of control method of intelligent three-dimensional parking device towards residential area, picks up the car
Step includes:
Step 1: car owner, which scans designated position two dimensional code, enters stereo parking facility client application, selection vehicle is filled out
And license plate number, fill out after the completion of choosing program for data information and be sent to single-chip microcontroller, start stereo parking facility；
Step 2: starting tri- direction control mechanisms of X, Y, Z and rotating mechanism after single-chip microcontroller receives pick-up instruction, making
Forklift device 2 be moved to before specified parking stall from initial position and with vehicle-carrying plate 1-2 is firm combines, then forklift device is by vehicle
And vehicle-carrying plate 1-2 steadily send to carrier vehicle plate collector 1, subsequent forklift device 2 returns to initial position；
Carrier vehicle plate collector 1 designs on road surface, does not influence normally to walk and be open to traffic, and function is to collect to be filled by fork truck
Set the 2 vehicle-carrying plate 1-2 carried from carrier vehicle position, and to will parked vehicle automatically provide vehicle-carrying plate, the vehicle-carrying plate
Collection device 1 includes that steel ball spring 1-1, vehicle-carrying plate 1-2, bottom spring 1-3 and outer enclosure wall 1-4, vehicle-carrying plate 1-2 pass through bottom bullet
Spring 1-3 is connected on the wall 1-4 of bottom, and the both ends vehicle-carrying plate 1-2 on upper layer are locked by two sides steel ball spring 1-1, and two sides steel ball
Spring 1-1 is connected through a screw thread pair and is connected on side wall 1-4, and vehicle-carrying plate 1-2 is by two sides protrusion 1-2-1 and intermediate groove portion 1-
Mono- system of 2-2 is constituted, and the vehicle-carrying plate 1-2 of quantity identical as parking stall is stored in carrier vehicle plate collector 1；
Step 3: the steel ball spring 1-1 of two sides is shunk in carrier vehicle plate collector 1, then forklift device moves down band dynamic load
Sweep 1-2 is moved down, and steel ball spring 1-1 extends and lock vehicle-carrying plate 1-2 after being displaced downwardly to certain distance, and subsequent forklift device resets,
Complete the collection process of vehicle-carrying plate 1-2；
Step 4: voice broadcast prompts car owner to pick up the car, vehicle if carrier vehicle plate collector 1 and forklift device 2 stablize safety
Main pick-up is left, and pick-up process is completed.
If device interferes, failure, can automatic or manual emergency start safe mode, stop all instructions, close intelligence
It can stereo parking facility.Then press start button again after trouble shooting, device detects itself environment automatically after the reset, peace
Completely without starting to work on again after mistake.
Embodiment, the four side section material frames that jiffy stand 3 multiplies three section material frames and carrying forklift device by three are constituted, be can be realized
The effect of vehicle, parking plate, forklift device and garage top layer plank, builds 3 layers, and every layer of 3 parking stall can park 9 vapour
Vehicle, space utilization rate reach 100% in the ideal situation, at this point, will lead to after single-chip microcontroller receives parking manipulation instruction in step 3
It spends the bicycle parking time and bicycle parking situation calculates most suitable parking position, then calculated parking position is transmitted in single-chip microcontroller
And trigger corresponding operation instruction, be wherein denoted as flag=0 when the free time of parking stall, second layer parking stall is successively denoted as 2.1,2.2,
2.3, third layer parking stall is successively denoted as 3.1,3.2,3.3.
The jiffy stand of design realizes vehicle and guide rail and forklift device in the case where Baoding stability and rigidity.
The outline border design being erected on lane is not take up lane, vehicle still can accessible normal walking, realize height spatially
Effect utilizes.There are four freedom degree, the respectively rotation of three in space translation and fork plate, road surface divides into entire parking device tool
There are carrier vehicle plate collector, the parking that control system controls four motors using single-chip microcontroller and operates, and can input according to car owner
The optimum proportioning of time calculating parking path and time.
The present invention is disclosed as above with preferable case study on implementation, and however, it is not intended to limit the invention, any to be familiar with this profession
Technical staff, without departing from the scope of the present invention, according to the technical essence of the invention to the above case study on implementation institute
Any simple modification, equivalent change and modification done still belong to technical solution of the present invention range.
Claims (9)
1. a kind of intelligent three-dimensional parking device towards residential area, it is characterised in that: it includes forklift device (2) and jiffy stand
(3), the forklift device (2) includes the Z-direction control moved for the fork plate (2-1) of fork truck, control fork plate (2-1) along Z-direction
Mechanism (A2), control Z-direction control mechanism moved along Y-direction Y-direction control mechanism (B2), control Y-direction control mechanism transport in X direction
The rotating mechanism (2-11) that dynamic X is rotated to control mechanism (C2) and control Z-direction control mechanism；
The jiffy stand (3) includes the stall barrier (3-1) of vehicle and the forklift truck frame (3-2) of the carrying forklift device (2)；
Forklift truck frame (3-2) links together with stall barrier (3-1)；X is located on forklift truck frame (3-2) to control mechanism, and Y-direction control mechanism is set
In X on control mechanism, Z-direction control mechanism is located on Y-direction control mechanism.
2. a kind of intelligent three-dimensional parking device towards residential area according to claim 1, it is characterised in that: X is to control
Mechanism includes X-axis ball screw assembly, X-axis motor (C2-8), X-axis slide rail (C2-7) and X-axis slide block (C2-7-1)；X-axis ball wire
Thick stick pair includes X-axis ball-screw (C2-6-1) and X-axis nut (C2-6-2)；
X-axis ball screw assembly, and X-axis slide rail (C2-7) are arranged in parallel on forklift truck frame (3-2), the output end of X-axis motor (C2-8)
The X-axis ball-screw (C2-6-1) is connected, which is mounted on forklift truck frame (3- by bearing
2) on, X-axis slide block (C2-7-1) is slidably arranged on X-axis slide rail (C2-7), and transverse slat (C2-13) is mounted on X-axis slide block (C2-7-
1) and on the X-axis nut (C2-6-2).
3. a kind of intelligent three-dimensional parking device towards residential area according to claim 2, it is characterised in that: Y-direction control
Mechanism (B2) includes Y-axis ball screw assembly, y-axis motor (B2-10), Y-axis sliding rail (B2-14) and Y-axis sliding block (B2-14-1)；Y-axis
Ball screw assembly, includes Y-axis ball-screw (B2-9-1) and Y-axis nut (B2-9-2)；
Y-axis ball screw assembly, and Y-axis sliding rail (B2-14) are arranged in parallel on transverse slat (C2-13), the output of y-axis motor (B2-10)
End connects the Y-axis ball-screw (B2-9-1), and Y-axis ball-screw (B2-9-1) both ends are mounted on transverse slat by bearing
(C2-13) on, Y-axis sliding block (B2-14-1) is slidably arranged on Y-axis sliding rail (B2-14), and stringer board (B2-12) is mounted on Y-axis sliding block
(B2-14-1) and on the Y-axis nut (B2-9-2).
4. a kind of intelligent three-dimensional parking device towards residential area according to claim 3, it is characterised in that: Z-direction control
Mechanism (A2) includes Z axis ball screw assembly, Z axis motor (A2-5), Z axis slide rail (A2-4), Z axis sliding block and vertical plate (A2-2)；Z axis
Ball screw assembly, includes Z axis ball-screw (A2-3-1) and Z axis nut (A2-3-2)；
Rotating mechanism (2-11) is mounted on stringer board (B2-12), and Z axis ball screw assembly, and Z axis slide rail (A2-4) are arranged in parallel at
On vertical plate (A2-2), vertical plate (A2-2) is connect with the output end of rotating mechanism (2-11), the output end connection of Z axis motor (A2-5)
The Z axis lead screw (A2-3-1), the Z axis ball-screw both ends (A2-3-1) are mounted on vertical plate (A2-2) by bearing, Z axis
Sliding block is slidably arranged on Z axis slide rail (A2-4), and fork plate (2-1) is mounted on Z axis sliding block and the Z axis nut (A2-3-2).
5. a kind of intelligent three-dimensional parking device towards residential area according to claim 4, it is characterised in that: the rotation
Mechanism (2-11) includes sleeve (2-11-3), rotary shaft (2-11-4), top cover (2-11-5) and motor (2-11-7)；Sleeve (2-
It 11-3) is mounted on stringer board (B2-12), top cover (2-11-5) covers on sleeve (2-11-3), and rotary shaft (2-11-4) passes through axis
It holds and is mounted in sleeve (2-11-3), one end of rotary shaft (2-11-4) passes through the defeated of top cover (2-11-5) and motor (2-11-7)
Outlet connection, motor (2-11-7) are mounted on top cover (2-11-5), and the other end of rotary shaft (2-11-4) passes through stringer board (B2-
12) it and with vertical plate (A2-2) connect.
6. a kind of intelligent three-dimensional parking device towards residential area according to claim 5, it is characterised in that: stall barrier
(3-1) includes X to profile, Y-direction profile and Z-direction profile；X is built into multiple to the interconnection of profile, Y-direction profile and Z-direction profile
Parking stall seat.
7. a kind of intelligent three-dimensional parking device towards residential area according to claim 6, it is characterised in that: forklift truck frame
(3-2) includes fork truck profile and oblique profile；Fork truck profile is fixed in the top of stall barrier (3-1), oblique profile and stall barrier (3-1)
Bottom and fork truck profile top it is affixed.
8. a kind of control method of the intelligent three-dimensional parking device as described in any one of claim 1 to 7 towards residential area,
Be characterized in that: bicycle parking step includes:
Step 1: car owner by vehicle parking on vehicle-carrying plate (1-2), which is in preparation state；
Step 2: car owner locks after vehicle from vehicle, the two dimensional code for scanning designated position enters stereo parking facility client application journey
Sequence APP, into stereo parking facility operation and control interface, car owner need to first choose parking item, next fills out choosing parking duration, and finally foundation is stopped
The payment of vehicle duration, then the stereo parking facility reads license plate number by license plate recognition technology and is deposited into the customer data
Library, and client's bicycle parking information integration is sent to single-chip microcontroller, meanwhile, the radar life-detection instrument starting of vehicle both sides will simultaneously be visited
Survey result and be sent to single-chip microcontroller, if detection result be it is interior nobody, then can start stereo parking facility, otherwise cannot start vertical
Body parking device；
Step 3: single-chip microcontroller is after receiving final parking manipulation instruction, stop by the bicycle parking time for filling out choosing by car owner and at this time
The bicycle parking situation of vehicle device calculates most suitable parking position, triggers corresponding shut-down operation instruction, wherein calculate final parking
The program of position is as follows: if the bicycle parking time less than 5 hours, it is preferential to be stored in low layer parking stall, if first layer parking stall have it is vacant if
By in the first layer vacant parking stall of sequence deposit from left to right, if first layer Occupied, by being sequentially sequentially stored into from left to right
Second layer vacant parking stall, if second layer Occupied, by being sequentially sequentially stored into third layer vacant parking stall from left to right, with this
Analogize, until parking stall is full, display garage stall has been expired, and must not be stopped, preferential to be stored in if the bicycle parking time is more than 5 hours
High-level parking stall, i.e., first by the third layer vacant parking stall of sequence deposit from left to right, if third layer Occupied, by from left to right
Sequence is sequentially stored into second layer vacant parking stall, vacant by first layer is sequentially sequentially stored into from left to right if second layer Occupied
Parking stall, and so on until parking stall it is full, display garage stall has been expired, and must not be stopped；Wherein, first layer vehicle stops taking and needs vehicle
Master voluntarily stops to take, without starting stereo parking facility.Pressure sensor is housed on each parking stall, when parking stall is not stopped,
Pressure sensor does not have output signal, and parking space state identifies flag=0, when there is vehicle in parking stall, then pressure sensor quilt in program
Triggering exports high level signal, and single-chip microcontroller monitors the signal, and parking space state identifies flag=1 in program, M layers of label
All parking stalls, M >=1, M are integer；
Step 4: starting carrier vehicle plate collector (1) after stereo parking facility receives shut-down operation instruction, vehicle-carrying plate is collected
The steel ball spring (1-1) on device (1) both sides compresses certain length, the vehicle-carrying plate (1-2) of top layer is unlocked, so that the load of top layer
Sweep (1-1) lifting upwards under the lift effect of the bottom spring (1-3) of big rigidity, exposes twice after being lifted to designated position
Fork truck groove, while the control mechanism in tri- directions X, Y, Z and rotating mechanism make fork plate (2-1) move on to the load from initial position
In front of the groove of sweep (1-2), then fork plate (2-1) translation is pitched into groove, and realization fork plate (2-1) is steady with vehicle-carrying plate (1-2)
Consolidation is closed；
Step 5: fork plate (2-1), vehicle-carrying plate (1-2) and vehicle are in X, Y, Z tri- after fork truck and vehicle-carrying plate (1-2) firm combination
It is steadily docked on specified parking stall under a direction control mechanism and rotating mechanism by lifting, translation and rotation；
Step 6: fork plate (2-1) is separated with vehicle-carrying plate (1-2) after vehicle comes to a complete stop, by translation, lifting, moving in rotation to first
Then beginning position stops movement, complete bicycle parking process.
9. a kind of control method of the intelligent three-dimensional parking device as described in any one of claim 1 to 7 towards residential area,
Be characterized in that: pick-up step includes:
Step 1: car owner, which scans designated position two dimensional code, enters stereo parking facility client-side program, fills out and choose vehicle item and vehicle
Trade mark code fills out after the completion of choosing program for data information and is sent to single-chip microcontroller, starts stereo parking facility；
Step 2: starting tri- direction control mechanisms of X, Y, Z and rotating mechanism after single-chip microcontroller receives pick-up instruction, so that fork
Vehicle device (2) be moved to before specified parking stall from initial position and with vehicle-carrying plate (1-2) is firm combines, then forklift device is by vehicle
And vehicle-carrying plate (1-2) steadily send on carrier vehicle plate collector (1), subsequent forklift device (2) returns to initial position；
Step 3: the steel ball spring (1-1) of two sides is shunk in carrier vehicle plate collector (1), then forklift device moves down band dynamic load
Sweep (1-2) moves down, and steel ball spring (1-1) extends and locks vehicle-carrying plate (1-2), subsequent forklift device after being displaced downwardly to certain distance
It resets, completes the collection process of vehicle-carrying plate (1-2)；
Step 4: security context is detected at field control PC platform end, if carrier vehicle plate collector (1) and forklift device (2) are stablized
Safe then voice broadcast prompt car owner picks up the car, and car owner picks up the car and leaves, and completes pick-up process.
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| CN109537950B (en) | 2020-10-13 |
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