CN109812100B - Three-dimensional automatic bicycle storing and taking method - Google Patents

Three-dimensional automatic bicycle storing and taking method Download PDF

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Publication number
CN109812100B
CN109812100B CN201910183138.2A CN201910183138A CN109812100B CN 109812100 B CN109812100 B CN 109812100B CN 201910183138 A CN201910183138 A CN 201910183138A CN 109812100 B CN109812100 B CN 109812100B
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China
Prior art keywords
bicycle
parking
gear
storage mechanism
transmission rail
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Expired - Fee Related
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CN201910183138.2A
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Chinese (zh)
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CN109812100A (en
Inventor
吴强
刘世杰
李运佳
陈宇航
谢卫星
王若愚
李冰梅
刘慧玲
李运召
乔宇鑫
石镜澄
万书宁
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Dalian Maritime University
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Dalian Maritime University
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Publication of CN109812100A publication Critical patent/CN109812100A/en
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Publication of CN109812100B publication Critical patent/CN109812100B/en
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Abstract

The invention provides a three-dimensional automatic bicycle storing and taking method. The method comprises the following steps: when receiving a bicycle storage instruction sent by a user, the master control terminal judges whether the three-dimensional automatic bicycle parking and taking device has an empty parking space, judges whether the empty bicycle storage mechanism is positioned on a public transmission rail according to vacancy information selected by the user, controls the second digital steering engine to park the vacancy on the ground if the empty bicycle storage mechanism is positioned on the public transmission rail, and controls the first digital steering engine to rotate the vacancy to the public transmission rail and then park on the ground if the empty bicycle storage mechanism is not positioned on the public transmission rail. The invention solves the problem of difficult bicycle parking in the prior art, and simultaneously realizes 'parking in multiple layers and multiple layers' by adopting a mode that partial tracks of the mechanism are in butt joint with a public transmission track in turn through a multi-layer rotating track-changing mechanism, thereby further saving the space utilization rate of a bicycle field, intelligently judging empty parking spaces, bringing convenience to users, efficiently finishing bicycle parking and taking and saving the parking and taking time of the users.

Description

Three-dimensional automatic bicycle storing and taking method
Technical Field
The invention relates to the technical field of intelligent parking of vehicles, in particular to a three-dimensional automatic bicycle storing and taking method.
Background
As a green vehicle, the bicycle has the advantages of being green, environment-friendly, flexible, light, body-building and the like, and is one of the most popular travel modes. With the rapid development of urban construction and economy in China, the number of private cars and taxis is continuously increased, and although public transport tools such as subway, light rail and public transport can relieve traffic pressure to a great extent, traffic jam caused by huge traffic flow still seriously affects the travel experience of people. In recent years, people gradually realize the important significance of returning to low-carbon life of bicycles, and people prefer green travel represented by riding.
However, the widespread use of bicycles also causes a lot of troubles for community property and owners: for an owner, a parking space of a bicycle is difficult to find in a community, the bicycle is difficult to lose when the bicycle is placed outside, the bicycle is wanted to be placed in an underground garage without a bicycle channel, and the bicycle can be carried upstairs only by people, so that the utilization rate and the purchasing desire of a user on the bicycle are greatly reduced; for the property of the residential area, there is not enough space to build the underground bicycle garage, the traditional bicycle parking shed is not suitable for the residential area of the large city, and the random parking of the owner's bicycle also affects the overall aesthetic property of the residential area, the bicycle parking of the existing residential area mainly has the following conditions:
(1) the public non-greening area of the small area with small size of soil is small, and the bicycle is difficult to park;
(2) the bicycle parking area is large and scattered, and the space utilization rate is extremely low;
(3) the bicycle parking facility is simple and crude, the bicycle is easy to fall down, and the vehicle is easy to damage;
(4) bicycle parking spaces are not strictly planned and managed, are unreasonably placed, and even occupy lanes.
Disclosure of Invention
In view of the above-mentioned technical problems, a method for accessing a bicycle in a three-dimensional automatic manner is provided. The technical means adopted by the invention are as follows:
a three-dimensional automatic bicycle storing and taking method comprises the following steps:
s1, when receiving a bicycle storage instruction sent by a user, the master control terminal judges whether the three-dimensional automatic bicycle parking and taking device has an empty parking space, if not, the information of the full parking space is visually fed back to the user, and if the empty parking space exists, the empty information is visually fed back to the user;
s2, judging whether the empty bicycle storage mechanism is on the public transmission rail or not according to the vacancy information selected by the user, if so, controlling a gear of the bicycle storage mechanism to drive a lifting mechanism to slide on the public transmission rail through a second digital steering engine of the bicycle storage mechanism until the bicycle storage mechanism is parked on the ground;
if not, the rotating gear part is controlled by the first digital steering engine to drive the rail transfer part of the empty bicycle storage mechanism meshed with the rotating gear part until the empty bicycle storage mechanism is positioned on the common transmission rail, and then the second digital steering engine of the bicycle storage mechanism controls the gear of the bicycle storage mechanism to drive the lifting mechanism to slide on the common transmission rail until the bicycle storage mechanism is parked on the ground;
s3, after receiving a parking completion instruction of a user, controlling a gear of the bicycle storage mechanism to drive a lifting mechanism to slide on a common transmission rail through a second digital steering engine of the bicycle storage mechanism until the bicycle storage mechanism is stored at a preset position;
and S4, after receiving a user vehicle taking instruction, judging whether the bicycle storage mechanism is on the public transmission rail, then performing S2 operation, and after receiving the user vehicle taking completion instruction, controlling a gear driving lifting mechanism of the bicycle storage mechanism to slide on the public transmission rail by a second digital steering engine of the empty bicycle storage mechanism until the bicycle storage mechanism is stored at a preset position.
Further, the three-dimensional automatic bicycle parking and taking device comprises a main shaft rod arranged perpendicular to the ground, a transmission rail longitudinally arranged on the main shaft rod, a rotating device arranged at the upper end of the transmission rail and a bicycle lifting device freely sliding on the transmission rail, wherein the transmission rail comprises a public transmission rail and a polyhedral rotating mechanism, the polyhedral rotating mechanism comprises a polyhedral mechanism main body part sleeved on the main shaft rod, a rotating gear part arranged on the outer circumference of the upper end of the polyhedral mechanism main body part and a plurality of track changing parts arranged on the side surfaces of the polyhedral mechanism main body part, the upper end of the public transmission rail is matched with the lower end of any track changing part of the polyhedral rotating mechanism, the rotating device comprises a bevel gear meshed with the rotating gear part of the transmission rail and a first digital steering engine for controlling the bevel gear to rotate, every becomes rail portion and all is connected with bicycle elevating gear, bicycle elevating gear includes gear drive elevating system and bicycle frame, gear drive elevating system include with transmission track meshing climb the gear, with the second digit steering wheel that the gear links to each other that climbs and the rigidity box of the outside shape of second digit steering wheel, rigidity box one end becomes rail portion sliding connection with transmission track, the corresponding other end with the bicycle frame rotates to be connected, bicycle elevating gear holds a bicycle and is equipped with the fixing device of fixed bicycle tire on it.
Further, the specific method for judging whether the stereoscopic automatic bicycle parking and taking device has an empty parking space comprises the following steps: the image data transmitted by the image acquisition device of the stereoscopic automatic bicycle parking and taking device is judged or the pressure data fed back by the pressure sensor arranged on each bicycle storage mechanism is judged, wherein the image acquisition device is specifically a camera.
Furthermore, a shielding device for shading sun and/or rain is arranged at the top end of the main shaft rod, the transmission track is at least one section, and when the transmission tracks are two or more sections, the public transmission track of the second section or the Nth section is coaxial with the public transmission track of the first section; the transmission tracks are two and symmetrically arranged on two sides of the main shaft rod, the image acquisition device is arranged at the position where all the bicycle storage mechanisms can be acquired or is a plurality of and uniformly distributed on the shielding device, the master control terminal judges the distance between the bicycle storage mechanisms to be stored and taken and two transmission tracks, and the bicycle storage mechanisms which are not arranged on the public transmission tracks are moved to the nearby public transmission tracks according to the nearby principle control digital steering engine during storage and taking.
Further, gear drive elevating system's the gear that climbs with the transmission track passes through the gear-rack mode meshing, the slide recess is seted up for both ends about the straight-tooth rack form to the public transmission track, become the track portion and set up the slide recess for both ends about the straight-tooth rack form, the rack of public transmission track upper end matches with the lower extreme rack of the arbitrary change track portion of polyhedron rotary mechanism, the rigidity box matches with the slide recess.
Further, the bicycle frame including bear the bicycle frame main part of bicycle, set up in bicycle frame main part major axis one end with rotation connecting portion that gear drive elevating system links to each other, set up in the tire protection portion of the matching bicycle tire shape of the bicycle frame main part major axis other end, set up preceding, the rear tyre fixed establishment who is used for fixed parking bicycle tire on the bicycle frame main part, the tip of tire protection portion is equipped with first gyro wheel, tire protection portion is equipped with the second gyro wheel with bicycle frame main part junction, wherein, preceding, rear tyre fixed establishment structure is the same, specifically includes: the bicycle parking mechanism comprises a first pedal fixed on one side of a short shaft of a bicycle frame main body part, a second pedal which is arranged opposite to the first pedal and can freely lift in a pedal groove, a locking bolt fixed on the side of the first pedal opposite to the second pedal, a pedal groove arranged on the other side of the short shaft of the bicycle frame main body part opposite to the first pedal, and a bicycle parking mechanism which is arranged on the ground and comprises: a position where the bicycle frame main body portion is parallel to the ground.
Furthermore, the general control terminal is a single chip microcomputer, the mechanism for sending the bicycle access instruction is a remote controller, after the remote controller sends the bicycle access instruction, the single chip microcomputer sends a command to the first digital steering engine through the serial port, and the transmitting module transmits a start/end command and a PWM wave, so that the preset second digital steering engine drives the motor vehicle frame to move on the common transmission track.
Further, the bicycle frame further comprises a pressure sensor, the master control terminal records data of the pressure sensor, and the fee to be paid for parking is obtained by multiplying the preset parking price by the numerical value change time of the pressure sensor.
Furthermore, the track transfer parts of the polyhedral rotating mechanism are 6 in number, all the track transfer parts are uniformly distributed on the outer circumference of the polyhedral rotating mechanism, and the first digital steering engine of the rotating mechanism device rotates to drive the rotating gear part to rotate for multiple times by 60 degrees uniformly.
The invention solves the problem of difficult bicycle parking in the prior art, and simultaneously realizes 'parking in multiple layers and multiple layers' by adopting a mode that partial tracks of the mechanism are in butt joint with a public transmission track in turn through a multi-layer rotating track-changing mechanism, thereby further saving the space utilization rate of a bicycle field, intelligently judging empty parking spaces, bringing convenience to users, efficiently finishing bicycle parking and taking and saving the parking and taking time of the users.
Based on the reason, the intelligent parking system can be widely popularized in the technical field of intelligent parking of vehicles.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of a three-dimensional automatic bicycle parking and picking method according to the present invention.
Fig. 2 is a schematic structural view of a three-dimensional automatic bicycle parking and taking device according to an embodiment of the present invention.
Fig. 3 is a schematic structural view of a polyhedral rotating mechanism of a transfer rail according to an embodiment of the present invention.
Fig. 4 is a schematic view of bevel gear driven rotation after the rotating device is structurally matched with a polyhedral rotating mechanism according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of a gear-driven lifting mechanism according to an embodiment of the present invention.
FIG. 6 is a schematic structural view of a vehicle frame according to an embodiment of the invention.
In the figure: 1. a common transport track; 2. a bicycle frame body portion; 3. a rotation connecting part; 4. a tire protection unit; 5. a first roller; 6. a second roller; 7. a second digital steering engine; 8. a rudder housing; 9. a climbing gear; 10. a rigid case; 20. a polyhedral mechanism main body portion; 21. a rotation gear portion; 22. a rail transfer part; 23. a main shaft rod; 24. a bevel gear; 25. a first digital steering engine.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present invention provides a three-dimensional automatic bicycle parking and taking method, comprising the following steps:
s1, when receiving a bicycle storage instruction sent by a user, the master control terminal judges whether the three-dimensional automatic bicycle parking and taking device has an empty parking space, if not, the information of the full parking space is visually fed back to the user, and if the empty parking space exists, the empty information is visually fed back to the user;
s2, judging whether the empty bicycle storage mechanism is on the public transmission rail 1 or not according to the vacancy information selected by the user, if so, controlling a gear driving lifting mechanism of the bicycle storage mechanism to slide on the public transmission rail 1 through a second digital steering engine 7 of the bicycle storage mechanism until the bicycle storage mechanism is parked on the ground;
if not, the first digital steering engine 25 controls the rotating gear part 21 to drive the rail transfer part 22 of the empty bicycle storage mechanism meshed with the rotating gear part until the empty bicycle storage mechanism is positioned on the public transmission rail 1, and then the second digital steering engine 7 of the bicycle storage mechanism controls the gear driving lifting mechanism of the bicycle storage mechanism to slide on the public transmission rail 1 until the bicycle storage mechanism is parked on the ground;
s3, after receiving a parking completion instruction of a user, controlling a gear driving lifting mechanism of the bicycle storage mechanism to slide on the public transmission rail 1 through a second digital steering engine 7 of the bicycle storage mechanism until the bicycle storage mechanism is stored at a preset position;
and S4, after receiving a user vehicle taking instruction, judging whether the bicycle storage mechanism is positioned on the public transmission rail 1, then performing operation in step S2, and after receiving the user vehicle taking completion instruction, controlling the gear of the bicycle storage mechanism to drive the lifting mechanism to slide on the public transmission rail 1 by the second digital steering engine 7 of the empty bicycle storage mechanism until the bicycle storage mechanism is stored at a preset position. The vacancy information is specifically the position of this vacancy, i.e. the order or inverse of the second layer.
As a preferred embodiment, the method provided by the present embodiment is based on a device, wherein, as shown in fig. 2, the stereoscopic automatic bicycle parking and taking device comprises a main shaft 23 disposed perpendicular to the ground, a transmission rail longitudinally disposed on the main shaft 23, a rotating device disposed at the upper end of the transmission rail, and a bicycle lifting device freely sliding on the transmission rail, the bicycle lifting device and the transmission rail are engaged by a gear-rack manner, wherein the main shaft 23 is a hollow cylinder.
The transmission track includes public transmission track and polyhedron rotary mechanism as shown in fig. 3, polyhedron rotary mechanism including cup joint polyhedron mechanism main part 20 on spindle rod 23, set up in the outer circumference of rotatory gear portion 21 in polyhedron mechanism main part 20 upper end with set up in a plurality of derailing portion 22 in polyhedron mechanism main part 20 side, there is the angle of predetermineeing with vertical face any teeth of a cogwheel in rotatory gear portion 21, derailing portion 22 is that the slide recess is seted up at both ends about and for the straight-tooth rack form, the rack of public portion upper end matches with the lower extreme rack of the arbitrary derailing portion 22 of polyhedron rotary mechanism, and the specification and the derailing portion 22 of public portion rack are the same, and the rack is evenly arranged. In a normal state, the part of the rotating mechanism of the polyhedral bevel gear 24, which is jointed with the rack rail, is not placed on the frame and is used as a public channel for the frame to move up and down.
As shown in fig. 4, the rotating device includes a bevel gear 24 engaged with the rotating gear part 21 of the transmission rail and a first digital steering gear 25 controlling the rotation of the bevel gear 24; each track changing part 22 can be connected with a corresponding bicycle lifting device shown in fig. 5, the bicycle lifting device comprises a gear driving lifting mechanism and a bicycle frame, as shown in fig. 5, the gear driving lifting mechanism comprises a climbing gear 9 meshed with the transmission track rack, a second digital steering gear 7 connected with the climbing gear 9 and a rigid box body 10 matching the shapes of the outer parts of the climbing gear 9 and the second digital steering gear 7, one end of the rigid box body 10 is matched with a slide groove of the transmission track changing part 22, and the other corresponding end of the rigid box body is rotatably connected with the bicycle frame; in order to protect the integrity of the second digital steering engine, a steering engine shell 8 can be sleeved outside the rigid box body, as shown in fig. 6, the bicycle frame comprises a bicycle frame main body part 2 for bearing a bicycle, a rotating connecting part 3 which is arranged at one end of a long shaft of the bicycle frame main body part 2 and connected with the gear driving lifting mechanism, a tire protecting part 4 which is arranged at the other end of the long shaft of the bicycle frame main body part 2 and matched with the shape of a bicycle tire, a front tire fixing mechanism and a rear tire fixing mechanism which are arranged on the bicycle frame main body part 2 and used for fixedly parking the bicycle tire, a first roller 5 is arranged at the end part of the tire protecting part 4, a second roller 6 is arranged at the joint of the tire protecting part 4 and the bicycle frame main body part 2, and the tire protecting part 4 is also used for; when the frame descends to the ground, the first roller 5 contacts with the ground firstly, then the second roller 6 contacts with the ground, the second roller 6 drives the frame to continuously fall to the ground along the direction of the front baffle plate, and finally the main body part of the frame is coplanar with the ground.
The specific method for judging whether the stereoscopic automatic bicycle parking and taking device has an empty parking space comprises the following steps: the image data transmitted by the image acquisition device of the stereoscopic automatic bicycle parking and taking device is judged or the pressure data fed back by the pressure sensor arranged on each bicycle storage mechanism is judged, wherein the image acquisition device is specifically a camera.
The top end of the main shaft rod 23 is provided with a shading device for shading sun and/or rain, the shading device is a square or round regular plate-shaped structure, the transmission track is at least one section, and when the transmission track is two or more sections, the public transmission track of the second section or the Nth section is coaxial with the public transmission track of the first section; the transmission tracks are two and symmetrically arranged on two sides of the main shaft rod 23, the image acquisition device is arranged at the position where all bicycle storage mechanisms can be acquired, namely, the image acquisition device is arranged near a road of the device in a community or a plurality of the image acquisition devices are uniformly distributed on the shielding device, the master control terminal judges the distance between the bicycle storage mechanisms to be stored and taken and two transmission tracks, and the digital steering engine is controlled according to the principle of being nearby when the bicycles are stored and taken, so that the bicycle storage mechanisms which are not arranged on the public transmission tracks are moved to the nearby public transmission tracks.
The gear that climbs of gear drive elevating system with the transmission track passes through the gear-rack mode meshing, the slide recess is seted up for both ends about for the straight-tooth rack form to the public transmission track, the slide recess is seted up for both ends about the straight-tooth rack form to the derail portion, the rack of public transmission track upper end matches with the lower extreme rack of the arbitrary derail portion of polyhedron rotary mechanism, rigidity box matches with the slide recess.
As preferred embodiment, the 3 cross-sectional areas of rotation connecting portion of bicycle frame are less than the cross-sectional area of bicycle frame main part 2 along width direction, are equipped with variable cross-section structure between connecting portion and the bicycle frame main part 2, be equipped with on the connecting portion with rigidity box 10 rotates the screw of 3 screw isodiametric screws of connecting portion, connecting portion pass through the spiro union connection on the rotation connecting portion 3 of rigidity box 10. Wherein the joint point of the connection portion and the rotating connection portion 3 of the rigid case 10 has the highest stress, and in actual production, a reinforcing rib or other similar structures should be arranged to give local reinforcement.
In a preferred embodiment, the first digital steering engine 25 and the second digital steering engine 7 are connected with a power supply device in the main shaft rod 23 and are in communication connection with an external controller in a communication connection mode, and a stepping motor 42 is selected in practical application. The main control terminal is a single chip microcomputer, the mechanism for sending the bicycle access instruction is a remote controller, the single chip microcomputer receives an instruction from a user after the remote controller sends the bicycle access instruction and automatically allocates an address register for the steering engine, the single chip microcomputer sends a command to the first digital steering engine 25 through a serial port, and a starting/ending command and PWM waves are transmitted through the transmitting module, so that the preset second digital steering engine 7 drives the frame to move on the public part 1. If the pressure sensor is arranged in a temporary parking place, in order to record parking time, the bicycle frame further comprises the pressure sensor, the master control terminal records data of the pressure sensor, and the cost required to be paid for parking is obtained by multiplying the preset parking price and the numerical value change time of the pressure sensor.
The number of the track changing parts of the polyhedral rotating mechanism determines the number of the bicycles which can be parked, as a preferred embodiment, the number of the track changing parts of the polyhedral rotating mechanism is 6, the track changing parts are uniformly distributed on the outer circumference of the polyhedral rotating mechanism, and the first digital steering engine of the rotating mechanism device rotates to drive the rotating gear part to rotate for multiple times by 60 degrees uniformly. In a specific embodiment, the optimal number of vehicles on each floor is 8, the highest floor can occupy the track and can park 10 vehicles, three layers of parking devices can be arranged in a community, and 26 bicycles can be parked by a single device. The mode avoids crowding among vehicles and has good practicability.
When parking temporarily, the user still can fix a position according to APP software to look for near parking stall, fix a position the retrieval and send the bicycle vacancy information at near total control terminal to APP software after the instruction that the user sent is retrieved to the high in the clouds server, APP software installs on user's cell-phone, personal computer or panel.
The embodiment with remote communication also can remotely perform a function of inquiring or virtual occupying, and the specific operation method of the mobile phone APP is as follows:
sending the parking instruction to a cloud server, drawing an electronic map of a nearby three-dimensional automatic bicycle parking and taking device by the cloud server based on the positioning information of the user, and acquiring vacancy information on the electronic map;
sending a vacancy selection instruction of a user to a master control terminal of the designated three-dimensional automatic bicycle parking and taking device;
after receiving the payment information of the subscription of the user, the cloud server sends the key which can be stored to the APP client of the user, the cloud server marks the vacancy, even if the bicycle of the owner is not stored in the vacant position, other users can not select and purchase the vacant position, the using order of the bicycle parking and taking device is ensured, the singlechip can also integrate a key type display screen or a touch screen, under the responsibility of a specially-assigned person, the operation of the three-dimensional automatic bicycle parking and taking device is manually controlled, at the moment, the master control terminal locks the virtual selection icon of the vacant position of the key type display screen or the touch screen and sets the virtual selection icon as unselected, the bicycle owner arrives at the bicycle parking and taking device and sends the key and the current bicycle storage information to the cloud server, after the verification, the cloud server sends verification passing information to the master control terminal, and then the specific steps of accessing the bicycle of S2-S4 of the three-dimensional automatic bicycle accessing method provided by the application can be entered. After the user pays the fee and takes out the bicycle, the cloud server refunds the fixed money, the fixed money is stored in the virtual wallet of the APP or refunds in a remote payment and bank card payment mode, after the fixed money is refunded, the vacancy is reset to be the selectable vacancy, and specifically, the verification mode can be two-dimensional codes or short message verification codes and other means.
If the local user 1 and the remote online user 2 have parking instructions at the same time, namely when the instructions of the local master control terminal and the parking waiting for paying the fixed fund are overlapped, the local user 1 is taken as the main part, the cloud server returns the fixed fund for the remote online user 2, and the empty position is retrieved again.
The singlechip is also integrated with a communication module which is used for regularly releasing the vacancy information to a cloud server after the vacancy information is collected and updated, the communication mode is specifically wireless communication lines such as WIFI, 4G, GPS and the like, and the communication CAN also be based on wired communication lines of a nearby base station through a CAN bus, the positioning module is integrated in the mobile phone, after a user downloading the mobile phone APP starts the positioning service, the cloud server can be pushed according to the position of the bicycle to construct all the networked bicycle parking and taking devices nearby on the electronic map, vacancy information of the bicycle parking and taking devices is displayed, wherein, the mobile phone APP can expand further VIP function besides normal functions of registering, logging in, inquiring the vacancy information, parking information, payment information and the like of the nearby bicycle parking device, after the cloud server receives VIP payment information of a user, and opening more preferential expansion functions such as discount, reservation of fixed bicycle parking spaces and the like for the user.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (8)

1. A three-dimensional automatic bicycle storing and taking method is characterized by comprising the following steps:
s1, when receiving a bicycle storage instruction sent by a user, the master control terminal judges whether the three-dimensional automatic bicycle parking and taking device has an empty parking space, if not, the information of the full parking space is visually fed back to the user, and if the empty parking space exists, the empty information is visually fed back to the user;
s2, judging whether the empty bicycle storage mechanism is on the public transmission rail or not according to the vacancy information selected by the user, if so, controlling a gear of the bicycle storage mechanism to drive a lifting mechanism to slide on the public transmission rail through a second digital steering engine of the bicycle storage mechanism until the bicycle storage mechanism is parked on the ground;
if not, the rotating gear part is controlled by the first digital steering engine to drive the rail transfer part of the empty bicycle storage mechanism meshed with the rotating gear part until the empty bicycle storage mechanism is positioned on the common transmission rail, and then the second digital steering engine of the bicycle storage mechanism controls the gear of the bicycle storage mechanism to drive the lifting mechanism to slide on the common transmission rail until the bicycle storage mechanism is parked on the ground;
s3, after receiving a parking completion instruction of a user, controlling a gear of the bicycle storage mechanism to drive a lifting mechanism to slide on a common transmission rail through a second digital steering engine of the bicycle storage mechanism until the bicycle storage mechanism is stored at a preset position;
s4, after receiving a user vehicle taking instruction, judging whether the bicycle storage mechanism is on the public transmission rail, then performing S2 operation, and after receiving the user vehicle taking completion instruction, controlling a gear driving lifting mechanism of the bicycle storage mechanism to slide on the public transmission rail by a second digital steering engine of the empty bicycle storage mechanism until the bicycle storage mechanism is stored at a preset position;
the three-dimensional automatic bicycle parking and taking device comprises a main shaft rod, a transmission rail, a rotating device and a bicycle lifting device, wherein the main shaft rod is arranged perpendicular to the ground, the transmission rail is longitudinally arranged on the main shaft rod, the rotating device is arranged at the upper end of the transmission rail, the bicycle lifting device freely slides on the transmission rail, the transmission rail comprises a public transmission rail and a polyhedral rotating mechanism, the polyhedral rotating mechanism comprises a polyhedral mechanism main body part sleeved on the main shaft rod, a rotating gear part arranged on the outer circumference of the upper end of the polyhedral mechanism main body part and a plurality of track changing parts arranged on the side faces of the polyhedral mechanism main body part, the upper end of the public transmission rail is matched with the lower end of any track changing part of the polyhedral rotating mechanism, the rotating device comprises a bevel gear meshed with the rotating gear part of the transmission rail and a first digital steering engine for controlling the bevel, the bicycle lifting device comprises a gear driving lifting mechanism and a bicycle frame, the gear driving lifting mechanism comprises a climbing gear meshed with the transmission track, a second digital steering gear connected with the climbing gear and a rigid box body matched with the climbing gear and the external shape of the second digital steering gear, one end of the rigid box body is connected with the transmission track in a sliding mode, the other end of the rigid box body is connected with the bicycle frame in a rotating mode, the bicycle lifting device contains a bicycle, and a fixing device for fixing a bicycle tire is arranged on the bicycle lifting device.
2. The stereoscopic automatic bicycle parking and taking method as claimed in claim 1, wherein the specific method for determining whether the stereoscopic automatic bicycle parking and taking device has an empty parking space comprises the following steps: the image data transmitted by the image acquisition device of the stereoscopic automatic bicycle parking and taking device is judged or the pressure data fed back by the pressure sensor arranged on each bicycle storage mechanism is judged, wherein the image acquisition device is specifically a camera.
3. The stereoscopic automatic bicycle storing and taking method according to claim 2, wherein a shielding device for shading sun and/or rain is arranged at the top end of the main shaft rod, the transmission track is at least one section, and when the transmission track is two or more sections, the common transmission track of the second section or the Nth section is coaxial with the common transmission track of the first section; the transmission tracks are two and symmetrically arranged on two sides of the main shaft rod, the image acquisition device is arranged at the position where all the bicycle storage mechanisms can be acquired or is a plurality of and uniformly distributed on the shielding device, the master control terminal judges the distance between the bicycle storage mechanisms to be stored and taken and two transmission tracks, and the bicycle storage mechanisms which are not arranged on the public transmission tracks are moved to the nearby public transmission tracks according to the nearby principle control digital steering engine during storage and taking.
4. The stereoscopic automatic bicycle storing and taking method according to claim 1, wherein a climbing gear of the gear-driven lifting mechanism is engaged with the transmission rail in a gear-rack manner, the common transmission rail is in a straight rack shape, slide grooves are formed in the left end and the right end of the common transmission rail, a rack on the upper end of the common transmission rail is matched with a rack on the lower end of any one of the track changing parts of the polyhedral rotating mechanism, and the rigid box body is matched with the slide grooves.
5. The stereoscopic automated bicycle storing and taking method according to claim 1, wherein the bicycle frame comprises a bicycle frame main body for carrying a bicycle, a rotary connecting part arranged at one end of a long axis of the bicycle frame main body and connected with the gear-driven lifting mechanism, a tire protecting part arranged at the other end of the long axis of the bicycle frame main body and matched with the shape of a bicycle tire, and front and rear tire fixing mechanisms arranged on the bicycle frame main body and used for fixedly parking the bicycle tire, wherein a first roller is arranged at the end part of the tire protecting part, a second roller is arranged at the joint of the tire protecting part and the bicycle frame main body, and the front and rear tire fixing mechanisms are identical in structure and specifically comprise: the bicycle storage mechanism comprises a first pedal fixed on one side of a short shaft of a bicycle frame main body part, a second pedal arranged opposite to the first pedal and capable of freely lifting in a pedal groove, and a locking bolt fixed on the side of the first pedal opposite to the second pedal, wherein the pedal groove is arranged on the other side of the short shaft of the bicycle frame main body part opposite to the first pedal, and the parking of the bicycle storage mechanism on the ground is specifically as follows: the position of the bicycle frame body portion when parallel to the ground.
6. The stereoscopic automatic bicycle storing and taking method according to claim 1, wherein the master control terminal is a single chip microcomputer, the mechanism for sending the bicycle storing and taking command is a remote controller, after the remote controller sends the bicycle storing and taking command, the single chip microcomputer sends a command to the first digital steering engine through a serial port, and a starting/ending command and a PWM wave are transmitted through the transmitting module, so that a preset second digital steering engine drives the bicycle frame to move on the common transmission track.
7. The stereoscopic automatic bicycle storing and taking method as claimed in claim 1, wherein the bicycle frame further comprises a pressure sensor, the general control terminal records data of the pressure sensor, and the fee to be paid for parking is obtained by multiplying a preset parking price by the value change time of the pressure sensor.
8. The stereoscopic automatic bicycle storing and taking method as claimed in claim 1, wherein the number of the orbital transfer parts of the polyhedral rotating mechanism is 6, each orbital transfer part is uniformly distributed on the outer circumference of the polyhedral rotating mechanism, and the first digital steering engine of the rotating mechanism device rotates to drive the rotating gear part to rotate for 60 degrees uniformly for multiple times.
CN201910183138.2A 2019-03-12 2019-03-12 Three-dimensional automatic bicycle storing and taking method Expired - Fee Related CN109812100B (en)

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CN203112287U (en) * 2013-03-20 2013-08-07 中建三局建设工程股份有限公司 Single-tower multi-cage cycle operation construction elevator
CN105350804B (en) * 2015-10-28 2017-12-05 余小刚 A kind of rotary type tower sky parking
CN206886484U (en) * 2017-05-09 2018-01-16 中建三局集团有限公司 One kind circulation building hoist system
CN108487712A (en) * 2018-04-09 2018-09-04 青岛理工大学 The double-deck controllable moped access device of pure manpower
CN109204619A (en) * 2018-09-30 2019-01-15 陕西科技大学 A kind of Double-layer vertical bicycle parking device

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