CN111550098A - Parking system for automatically controlling vehicles to enter and exit parking spaces and parking method thereof - Google Patents
Parking system for automatically controlling vehicles to enter and exit parking spaces and parking method thereof Download PDFInfo
- Publication number
- CN111550098A CN111550098A CN202010351232.7A CN202010351232A CN111550098A CN 111550098 A CN111550098 A CN 111550098A CN 202010351232 A CN202010351232 A CN 202010351232A CN 111550098 A CN111550098 A CN 111550098A
- Authority
- CN
- China
- Prior art keywords
- track
- vehicle
- parking space
- parking
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention provides a parking system for automatically controlling a vehicle to enter and exit a parking space, which is applied to the technical field of intelligent robots, wherein a connecting shaft I (7) is arranged on the lower surface of a base (5) of a moving component (3) of the parking system for automatically controlling the vehicle to enter and exit the parking space, a driven gear I (9) is arranged on the connecting shaft I (7), the driven gear I (9) is meshed with a driving gear I (11), a connecting shaft II (13) is arranged at the lower end of a lifting cylinder I (12) on the lower surface of the base (5), a driven gear II (14) is arranged on the connecting shaft II (13), and a driving gear II (17) is arranged on a driving motor II (16). The problem of dislocation or collision can not appear, promote automatic business turn over intellectuality and security of vehicle comprehensively.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to a parking system for automatically controlling vehicles to enter and exit a parking space.
Background
In the prior art, along with the rapid increase of the automobile keeping quantity year by year, the corresponding parking spaces of all districts and public places are more and more tense. For this reason, parking spaces in many places are small in area, resulting in great inconvenience in parking and easiness in collision. Meanwhile, along with the continuous improvement of the living standard of people, people also put forward the demand of intelligent automatic parking for parking in parking spaces. And the intelligent parking system in the prior art has a complex structure and high cost, and is not beneficial to popularization.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the parking system is simple in structure, can conveniently and reliably realize automatic parking and exiting of the vehicle, is simple to operate when the vehicle automatically enters and exits the parking space, is low in investment cost, simple and rapid in arrangement, free of dislocation or collision, and capable of comprehensively improving the automatic parking and exiting intelligence and safety of the vehicle.
To solve the technical problems, the invention adopts the technical scheme that:
the invention relates to a parking system for automatically controlling vehicles to enter and exit a parking space, which comprises the parking space, an entering and exiting track, a moving component and a road surface, wherein the entering and exiting track is of a structure extending from the parking space to the road surface, the moving component comprises a base, a connecting shaft I is arranged on a connecting block I on the lower surface of the base, which is close to the front end of the base, one end of the connecting shaft I is provided with a traveling wheel I, the other end of the connecting shaft I is provided with another traveling wheel I, a driven gear I is arranged on the connecting shaft I, the driven gear I is meshed with a driving gear I of a driving motor I, the driving motor I is arranged on the lower surface of the base, a lifting cylinder I vertical to the lower surface of the base is also arranged on the lower surface of the base, a connecting shaft II vertical to the connecting shaft I is arranged at, II one ends of connecting axle set up a driving wheel II, II other ends of connecting axle set up another driving wheel II, lower base surface still sets up driving motor II, set up drive gear II on the driving motor II, the base upper surface sets up lift cylinder II, set up the rotating electrical machines on the lift cylinder II, the fixed carriage supporting plate that sets up in rotating cylinder upper end, lower base surface is close to base rear end position and still sets up connecting block II, II one side of connecting block set up one from driving wheel I, II opposite sides of connecting block set up another from driving wheel I, still set up the driven shaft on the lift cylinder I, driven shaft one end set up one from driving wheel II, the driven shaft other end sets up another from driving.
The base be square column structure, connecting axle I sets up to the structure with base lower surface parallel arrangement, connecting axle II sets up to the structure with base lower surface parallel arrangement, the driven shaft sets up to the structure with II parallel arrangement of connecting axle.
Drive motor I with can control drive motor I and open the control unit who stops and be connected, drive motor II can control drive motor II and open the control unit who stops and be connected, control unit control lift cylinder I when contracting, lift cylinder I sets up the level that can drive two running wheels II to be higher than the structure of the level of two running wheels I, when control unit control lift cylinder I stretches out, lift cylinder I sets up to the level that can drive two running wheels II to be less than the structure of the level of two running wheels I.
When control unit control lift cylinder I shrink, driven gear II of connecting axle II on the lift cylinder I sets up to the structure that can separate with II drive gear of driving motor II, when control unit control lift cylinder I stretches out, driven gear II of connecting axle II on the lift cylinder I sets up to the structure that can mesh with II drive gear of driving motor II.
The business turn over track include track front end, track rear end, track portion of turning round, track front end and track portion of turning round be located the road surface position, be located the parking stall position behind the track, track front end, track rear end, track portion of turning round position respectively set up an inductive sensor I, moving part's base lower surface sets up inductive sensor II, inductive sensor I and inductive sensor II be connected with control unit respectively.
The business turn over track include perpendicular track section and parallel track section, perpendicular track section and parallel track section set up to be L shape structure, parallel track section and parking stall side parallel arrangement, perpendicular track section and parking stall side vertical arrangement, parallel track section part is located the parking stall, parallel track section part extends to on the road surface, perpendicular track section is located the road surface.
When sensing the vehicle information that needs got into the parking stall at track front position's inductive sensor I, track front position's inductive sensor I sets up to the structure that can be to control part feedback signal, control part sets up to the structure that can control the moving part that is located track rear end position and can move to the inductive sensor I position that is located track turning portion position, when the inductive sensor I that is located track turning portion position senses the inductive sensor II on the moving part, control part sets up to the I position moving structure of inductive sensor that can control the moving part to being located track front position, when control part control moving part moved to the I position of inductive sensor that is located the track front end, control part sets up to the structure that can control the moving part stop moving.
The vehicle bottom set up position sensor, position sensor is connected with control unit, bee calling organ sets up inside the vehicle, when the vehicle that needs to get into the parking stall traveles the coverage of the induction sensor I of track front position, control unit sets up to the structure that can control bee calling organ and send out alarm sound.
When the induction sensor I of track front position sensed induction sensor II on the moving part, control unit set up to control lift cylinder II and stretches out to make the structure that the car supporting plate held up the vehicle on vehicle chassis, control unit control lift cylinder II stretches out the back, control unit sets up to controlling I actions of driving motor, thereby rotates through two advancing wheels I on the drive connecting axle I, drives the structure that the moving part moved to I position of induction sensor who lies in the track turning portion.
When the inductive sensor I of the track turning part senses the inductive sensor II on the moving part, the control part is set to be capable of controlling the lifting cylinder I to stretch out, so that two traveling wheels II on the connecting shaft II are driven to be attached to the structure on the ground, two traveling wheels II on the connecting shaft II are attached to the structure on the ground, and the two traveling wheels I on the connecting shaft I are set to be away from the structure on the ground.
After the control component controls the lifting cylinder I to extend out, the control component is arranged to be capable of controlling the driving motor II to act, so that the structure that the moving component moves to the position of the induction sensor I positioned at the rear end of the track is driven by driving the two traveling wheels II on the connecting shaft II to rotate; when the control part controls the moving part to move to the position of the induction sensor I positioned at the rear end of the track, the control part is set to be in a structure capable of controlling the driving motor II to stop.
The invention also relates to a parking method for automatically controlling the vehicle to enter and exit the parking space, which comprises a method for the vehicle to enter the parking space and a method for the vehicle to exit the parking space, wherein the method for the vehicle to enter the parking space comprises the following parking steps: 1) the method comprises the following steps that a vehicle needing to be parked in a parking space is parked at a position above an induction sensor I positioned at the front end of a track, the induction sensor I positioned at the front end of the track induces a vehicle signal and feeds the signal back to a control part, the control part controls a lifting cylinder I to extend out to drive two traveling wheels II to be attached to the ground, then the control part controls a driving motor II to act, and a moving part moves to the position of the induction sensor I positioned at a turning part of the track; 2) after the moving part moves to the position of an induction sensor I at the turning part of the track, the control part controls the lifting cylinder I to contract and then controls the driving motor I to act, the driving motor I drives the two traveling wheels I to rotate through the connecting shaft I, and the moving part moves to the position of the induction sensor I at the front end of the track; 3) after the moving part moves the position of an induction sensor I positioned at the front end of the track, the control part controls the lifting cylinder II to extend out, the vehicle supporting plate rises to support the vehicle, the control part controls the driving motor I to move reversely, the driving motor I drives the two traveling wheels I to rotate through the connecting shaft I, and the moving part moves to the position of the induction sensor I positioned at the turning part of the track; 4) control unit control driving motor I stops the action, control unit controls the rotating electrical machines again and rotates 90, it is rotatory 90 to drive the vehicle, then control unit control lift cylinder I stretches out, drive two running wheels II and ground laminating, then II reverse actions of control unit control driving motor, moving part moves to I position of inductive sensor who is located the track rear end, control unit controls lift cylinder I again and II simultaneous contractions of lift cylinder, the vehicle falls on the parking stall subaerially, accomplish the vehicle and get into the parking stall.
The parking step of the method for driving the vehicle out of the parking space comprises the following steps: 1) the control part controls the lifting cylinder I and the lifting cylinder II to rise simultaneously, the vehicle supporting plate supports the vehicle, then the control part controls the driving motor II to act, and the moving part moves to the position of the induction sensor I positioned at the turning part of the track; 2) after the moving part drives the vehicle to move to the position I of the induction sensor at the turning part of the track, the control part controls the rotating motor to rotate 90 degrees to drive the vehicle to rotate 90 degrees, the control part controls the lifting cylinder I to contract again and then controls the driving motor I to act, the driving motor I drives the two traveling wheels I to rotate through the connecting shaft I, and the moving part drives the vehicle to move to the position I of the induction sensor at the front end of the track; 3) the control part controls the driving motor I to stop acting and then controls the telescopic cylinder II to contract, and the vehicle falls on the ground of the road surface; 4) the control component controls the driving motor I to reversely move, the driving motor I drives the two traveling wheels I to rotate through the connecting shaft I, and the moving component moves to the position of the induction sensor I positioned at the turning part of the track; 5) control unit controls lift cylinder I again and stretches out, drives two travelling wheels II and ground laminating, then II reverse motions of control unit control driving motor, and moving part moves to I position of the inductive transducer who is located the track rear end, and control unit controls I shrink of lift cylinder again, accomplishes the vehicle and drives out the parking stall.
By adopting the technical scheme of the invention, the following beneficial effects can be obtained:
according to the parking system capable of automatically controlling the vehicles to enter and exit the parking spaces, when the vehicles need to enter and exit the parking spaces, the vehicles need to be lifted up through the moving part and then move to the parking spaces along the entering and exiting tracks. When parking, a vehicle needing to be parked in the parking space is moved to the road surface close to the parking space, and the vehicle and the parking space are basically arranged in a vertical state. At the moment, the control part controls the moving part to move to the bottom of the vehicle, the lifting cylinder II rises, the vehicle supporting plate supports the vehicle, then the control part drives the moving part to move to the position right in front of the parking space through the action of the driving motor I, then the control part controls the rotating motor to rotate 90 degrees, the vehicle is driven to rotate 90 degrees, and the vehicle and the parking space are arranged in parallel at the moment. Then I stop motion of driving motor, control unit control lift cylinder I stretches out, drives walking wheel II and moves down, and support to lean on subaerial, and walking wheel I breaks away from ground this moment, then the action of control unit re-control driving motor drives moving part and removes the parking stall. In this way, the vehicle entering the parking space operation is completed. When the vehicle is required to be driven out of the parking space, the operation is carried out according to the reverse steps. Through the structure, the automatic parking space entering and exiting of the vehicle can be conveniently and reliably realized, the number of parts of the whole robot system is small, the structure is simple, the control program is reliable, the vehicle collision can not be caused when the vehicle enters and exits the parking space, and the convenience and the safety of automatic parking are effectively improved. The invention relates to a parking system for automatically controlling vehicles to enter and exit a parking space, which can conveniently and reliably realize automatic entering and exiting of the vehicles from the parking space, is simple to operate when the vehicles automatically enter and exit the parking space, is low in investment cost, is simple and quick to arrange, cannot cause dislocation or collision problems, and comprehensively improves the automatic entering and exiting intelligence and safety of the vehicles.
Drawings
The contents of the description and the references in the drawings are briefly described as follows:
FIG. 1 is a schematic top view of a parking system for automatically controlling a vehicle to enter and exit a parking space according to the present invention;
FIG. 2 is a front view of the moving parts of the parking system for automatically controlling the movement of a vehicle into and out of a parking space according to the present invention;
FIG. 3 is a schematic side view of the moving components of the parking system for automatically controlling the movement of a vehicle into and out of a parking space according to the present invention shown in FIG. 2;
in the drawings, the reference numbers are respectively: 1. a parking space; 2. entering and exiting the track; 3. a moving member; 4. a pavement; 5. a base; 6. a connecting block I; 7. a connecting shaft I; 8. a travelling wheel I; 9. a driven gear I; 10. driving a motor I; 11. driving a gear I; 12. a lifting cylinder I; 13. a connecting shaft II; 14. a driven gear II; 15. a traveling wheel II; 16. driving a motor II; 17. driving a gear II; 18. a lifting cylinder II; 19. a rotating electric machine; 20. a vehicle supporting plate; 21. a connecting block II; 22. a driven wheel I; 25. a control component; 26. a rail front end; 27. a rail rear end; 28. a track corner; 29. a parking space side; 30. an induction sensor I; 31. an induction sensor II; 32. a vertical track segment; 33. a parallel track section; 34. a first inductive sensor I; 35. a second inductive sensor I; 36. and a third inductive sensor I.
Detailed Description
The following detailed description of the embodiments of the present invention, such as the shapes and structures of the components, the mutual positions and connection relations among the components, the functions and operation principles of the components, will be made by referring to the accompanying drawings and the description of the embodiments:
as shown in the attached drawings 1-3, the invention relates to a parking system for automatically controlling vehicles to enter and exit a parking space, which comprises a parking space 1, an entering and exiting track 2, a moving component 3 and a road surface 4, wherein the entering and exiting track 2 is arranged in a structure extending from the parking space 1 to the position of the road surface 4, the moving component 3 comprises a base 5, a connecting shaft I7 is arranged on a connecting block I6 at the lower surface of the base 5, which is close to the front end of the base 5, one end of the connecting shaft I7 is provided with a traveling wheel I8, the other end of the connecting shaft I7 is provided with another traveling wheel I8, a driven gear I9 is arranged on the connecting shaft I7, the driven gear I9 is meshed with a driving gear I11 of a driving motor I10, the driving motor I10 is arranged on the lower surface of the base 5, and a lifting cylinder I12 vertical to the lower surface, the lower end of a lifting cylinder I12 is provided with a connecting shaft II 13 which is vertically arranged with a connecting shaft I7, a driven gear II 14 is arranged on the connecting shaft II 13, one end of the connecting shaft II 13 is provided with a traveling wheel II 15, the other end of the connecting shaft II 13 is provided with another traveling wheel II 15, the lower surface of a base 5 is also provided with a driving motor II 16, the driving motor II 16 is provided with a driving gear II 17, the upper surface of the base 5 is provided with a lifting cylinder II 18, the lifting cylinder II 18 is provided with a rotating motor 19, the upper end of the rotating cylinder 19 is fixedly provided with a vehicle supporting plate 20, the lower surface of the base 5 is also provided with a connecting block II 21 close to the rear end of the base 5, one side of the connecting block II 21 is provided with a driven wheel I22, one end of the driven shaft is provided with a driven wheel II, and the other end of the driven shaft is provided with another driven wheel II. According to the structure, when a vehicle needs to enter and exit the parking space, the vehicle needs to be lifted up through the moving part and then moved to the parking space along the entering and exiting rail. When parking, a vehicle needing to be parked in the parking space is moved to the road surface close to the parking space, and the vehicle and the parking space are basically arranged in a vertical state. At the moment, the control part controls the moving part to move to the bottom of the vehicle, the lifting cylinder II 18 rises, the vehicle supporting plate supports the vehicle, then the control part drives the moving part to move to the position right in front of the parking space through the action of the driving motor I, then the control part controls the rotating motor to rotate 90 degrees, the vehicle is driven to rotate 90 degrees, and the vehicle and the parking space are arranged in parallel at the moment. Then I stop motion of driving motor, control unit control lift cylinder I stretches out, drives walking wheel II and moves down, and support to lean on subaerial, and walking wheel I breaks away from ground this moment, then the action of control unit re-control driving motor drives moving part and removes the parking stall. Thus, the vehicle entering the parking space operation is completed. And when the vehicle is required to be driven out of the parking space, the operation is carried out according to the reverse steps. Through the structure, the automatic parking space entering and exiting of the vehicle can be conveniently and reliably realized, the number of parts of the whole robot system is small, the structure is simple, the control program is reliable, the vehicle collision can not be caused when the vehicle enters and exits the parking space, and the convenience and the safety of automatic parking are effectively improved. The invention relates to a parking system for automatically controlling vehicles to enter and exit a parking space, which can conveniently and reliably realize automatic entering and exiting of the vehicles from the parking space, is simple to operate when the vehicles automatically enter and exit the parking space, is low in investment cost, is simple and quick to arrange, cannot cause dislocation or collision problems, and comprehensively improves the automatic entering and exiting intelligence and safety of the vehicles.
The base 5 be square column structure, connecting axle I7 sets up to the structure of arranging with base 5 lower surface parallel, connecting axle II 13 sets up to the structure of arranging with base 5 lower surface parallel, the driven shaft sets up to the structure of arranging with connecting axle II 13 parallel. Above-mentioned structure, connecting axle I7 and connecting axle II 13 are arranged perpendicularly, like this, when the wheel of marcing on connecting axle I7 and the wheel of marcing on connecting axle II 13 are advanced respectively, just can realize moving part and remove to the equidirectional removal to make moving part remove on the road surface earlier, then turn over 90 angle action, moving part drives the vehicle and removes to the parking stall direction, until driving the parking stall.
Drive motor I10 with can control drive motor I10 and open the control unit 25 who stops and be connected, drive motor II 16 can control drive motor II 16 and open the control unit 25 who stops and be connected, control unit 25 control lift cylinder I12 when contracting, lift cylinder I12 sets up the level that can drive two traveling wheels II 15 to be higher than the structure of two traveling wheels I8's level, when control unit 25 control lift cylinder I12 stretches out, lift cylinder I12 sets up to the level that can drive two traveling wheels II 15 to be less than the structure of two traveling wheels I8's level. Above-mentioned structure, telescopic cylinder I is when the contraction state, and control unit can control I actions of driving motor, drives moving part and removes to a direction, and telescopic cylinder I is when stretching out the state, and control unit can control II actions of driving motor, drives moving part and removes to another direction, and the preceding direction of a back direction perpendicular to realizes the automatic business turn over parking stall of vehicle, and full automation is controlled, realizes parking security and convenience.
When control unit 25 control lift cylinder I12 shrink, the driven gear II 14 of connecting axle II 13 on lift cylinder I12 sets up to the structure that can separate with drive gear II 17 of driving motor II 16, and when control unit 25 control lift cylinder I12 stretched out, driven gear II 14 of connecting axle II 13 on lift cylinder I12 set up to the structure that can mesh with drive gear II 17 of driving motor II 16. Above-mentioned structure, when lift cylinder I12 was flexible, II break away from ground of advancing wheel, II 14 and the separation of drive gear II 17 of driven gear this moment, and when lift cylinder I12 stretched out, II laminating ground of advancing wheel, I break away from ground of advancing wheel, II 14 and the meshing of drive gear II 17 of driven gear this moment, II drive moving part removals of drive advancing wheel.
Business turn over track 2 include track front end 26, track rear end 27, track portion of turning 28, track front end 26 and track portion of turning 28 be located 4 positions on the road surface, track rear end 27 is located 1 positions on parking stall, track front end 27, track rear end 27, track portion of turning 28 position respectively set up an inductive sensor I30, moving part 3's 5 lower surfaces of base set up inductive sensor II 31, inductive sensor I30 and inductive sensor II 31 be connected with control unit 25 respectively. Above-mentioned structure, the moving position of removal part can be responded to in the cooperation of inductive sensor I30 and inductive sensor II 31 to through the cooperation of inductive sensor I30 and inductive sensor II 31, realize driving motor I and driving motor II's switching, and different driving motor actions, drive removal part promptly and remove to not equidirectional, realize automatic parking.
The in-out track 2 comprises a vertical track section 32 and a parallel track section 33, the vertical track section 32 and the parallel track section 33 are set to be in an L-shaped structure, the parallel track section 33 is arranged in parallel with the side surface 29 of the parking space, the vertical track section 32 is arranged in perpendicular to the side surface 29 of the parking space, the parallel track section 33 is partially positioned on the parking space 1, the parallel track section 33 partially extends to the road surface 4, and the vertical track section 32 is positioned on the road surface 4. According to the structure, the in-out track is structurally arranged, when a vehicle enters a parking space, the in-out track is matched with the moving part, the moving part runs on the road surface firstly and then runs towards the parking space, the moving part can drive the vehicle to reliably enter the parking space, and when the vehicle runs out of the parking space, the moving part firstly runs out of the parking space and then runs on the road surface.
When the induction sensor I30 at the front end 27 of the track induces the information of the vehicle needing to enter the parking space 1, the induction sensor I31 at the front end 27 of the track is configured to feed back signals to the control part 25, the control part 25 is configured to control the moving part 3 at the rear end 27 of the track to move to the induction sensor I30 at the turning part 28 of the track, when the induction sensor I30 at the turning part 28 of the track senses the induction sensor II 31 on the moving part 3, the control member 25 is configured to control the moving member 3 to move to the position of the induction sensor i 30 located at the front end 26 of the track, and the control member 25 is configured to control the moving member 3 to stop moving when the control member 25 controls the moving member 3 to move to the position of the induction sensor i 30 located at the front end 26 of the track.
The vehicle bottom set up position sensor, position sensor is connected with control unit 25, and buzzer setting is inside the vehicle, and when the vehicle that needs to get into the parking stall traveled the coverage of the induction sensor I30 of track front end 27 position, control unit 25 set up to the structure that can control buzzer and send out the alarm sound.
When the inductive sensor I30 at track front end 27 position sensed the inductive sensor II 31 on the moving part 3, control unit 25 set up to can control lift cylinder II 18 and stretch out, thereby make hold in the palm the structure that sweep 20 acted on the vehicle chassis and hold up the vehicle, control unit 25 control lift cylinder II 18 stretches out the back, control unit 25 sets up to controlling driving motor I10 action, thereby rotate through two advancing wheels I8 on the drive connecting axle I7, drive moving part 3 to the structure that is located the I30 position of the inductive sensor of track turning portion 28 and removes.
When the inductive sensor I30 of the track turning part 28 senses the inductive sensor II 31 on the moving part 3, the control part 25 is set to be capable of controlling the lifting cylinder I12 to stretch out, so that the two travelling wheels II 15 on the connecting shaft II 13 are driven to be attached to the structure on the ground, the two travelling wheels II 15 on the connecting shaft II 13 are attached to the structure on the ground, and the two travelling wheels I8 on the connecting shaft I7 are set to be away from the structure on the ground.
After the control part 25 controls the lifting cylinder I12 to extend out, the control part 25 is set to be a structure capable of controlling the driving motor II 16 to act, so that the moving part 3 is driven to move to the position of an induction sensor I30 positioned at the rear end 27 of the track by driving two travelling wheels II 15 on the connecting shaft II 13 to rotate; when the control part 25 controls the moving part 3 to move to the position of the induction sensor I30 positioned at the rear end 27 of the track, the control part 25 is configured to control the driving motor II 16 to stop.
The invention also relates to a parking method for automatically controlling the vehicles to enter and exit the parking spaces, which has the advantages of simple steps, convenient realization of automatic entering and exiting of the vehicles, simple operation, low cost, quick arrangement, no dislocation or collision problem and improvement of the intellectualization and the safety of the automatic entering and exiting of the vehicles when the vehicles automatically enter and exit the parking spaces.
The parking method for automatically controlling the vehicle to enter and exit the parking space comprises a vehicle entering parking space method and a vehicle exiting parking space method, and the parking step of the vehicle entering parking space method is as follows: 1) a vehicle needing to be parked in the parking space 1 is parked at a position above the induction sensor I30 at the front end 26 of the track, the induction sensor I30 at the front end 26 of the track induces a vehicle signal and feeds the signal back to the control part 25, the control part 25 controls the lifting cylinder I12 to extend out to drive the two traveling wheels II 15 to be attached to the ground, then the control part 25 controls the driving motor II 16 to act, and the moving part 3 moves towards the induction sensor I30 at the turning part 28 of the track; 2) after the moving part 3 moves to the position of an induction sensor I30 of a track turning part 28, the control part 25 controls the lifting cylinder I12 to contract, then controls the driving motor I10 to act, the driving motor I10 drives the two traveling wheels I8 to rotate through a connecting shaft I7, and the moving part 3 moves to the position of the induction sensor I30 positioned at the front end 26 of the track; 3) after the moving part 3 moves the position of the induction sensor I30 positioned at the front end 26 of the track, the control part 25 controls the lifting cylinder II 18 to extend out, the vehicle supporting plate 20 ascends to support the vehicle, the control part 25 controls the driving motor I10 to reversely act, the driving motor I10 drives the two traveling wheels I8 to rotate through the connecting shaft I7, and the moving part 3 moves to the position of the induction sensor I30 positioned at the turning part 28 of the track; 4) control unit 25 control driving motor I10 stops the action, control unit 25 controls rotating electrical machines 19 again and rotates 90, it is rotatory 90 to drive the vehicle, then control unit 25 control lift cylinder I12 stretches out, drive two traveling wheels II 15 and ground laminating, then control unit 25 control driving motor II 16 reverse motion, moving part 3 moves to the inductive pick-up I30 position that is located track rear end 27, control unit 25 controls lift cylinder I12 again and the shrink of lift cylinder II 18 simultaneously, the vehicle falls on parking stall 1 subaerial, accomplish the vehicle and get into the parking stall.
The parking step of the method for driving the vehicle out of the parking space comprises the following steps: 1) the control part 25 controls the lifting cylinder I12 and the lifting cylinder II 18 to lift up simultaneously, the vehicle supporting plate 20 supports the vehicle, then the control part 25 controls the driving motor II 16 to act, and the moving part 3 moves to the position of the induction sensor I30 positioned at the track turning part 28; 2) after the moving part 3 drives the vehicle to move to the position of the induction sensor I30 of the turning part 28 of the track, the control part 25 controls the rotating motor 19 to rotate 90 degrees to drive the vehicle to rotate 90 degrees, the control part 25 controls the lifting cylinder I12 to contract again, then controls the driving motor I10 to act, the driving motor I10 drives the two traveling wheels I8 to rotate through the connecting shaft I7, and the moving part 3 drives the vehicle to move to the position of the induction sensor I30 positioned at the front end 26 of the track; 3) the control part 25 controls the driving motor I10 to stop acting, then controls the telescopic cylinder II 18 to contract, the vehicle falls on the ground of the road surface 4, the control part 25 controls the driving motor I10 to act reversely, the driving motor I10 drives the two traveling wheels I8 to rotate through the connecting shaft I7, and the moving part 3 moves to the position of an induction sensor I31 positioned at the turning part 28 of the track; 4) the control part 25 controls the lifting cylinder I12 to extend out to drive the two traveling wheels II 15 to be attached to the ground, then the control part 25 controls the driving motor II 16 to move reversely, the moving part 3 moves towards the position of the induction sensor I30 located at the rear end 27 of the rail, and the control part 25 controls the lifting cylinder I12 to contract again to finish the driving of the vehicle out of the parking space.
According to the parking system capable of automatically controlling the vehicles to enter and exit the parking spaces, when the vehicles need to enter and exit the parking spaces, the vehicles need to be lifted up through the moving part and then move to the parking spaces along the entering and exiting tracks. When parking, a vehicle needing to be parked in the parking space is moved to the road surface close to the parking space, and the vehicle and the parking space are basically arranged in a vertical state. At the moment, the control part controls the moving part to move to the bottom of the vehicle, the lifting cylinder II rises, the vehicle supporting plate supports the vehicle, then the control part drives the moving part to move to the position right in front of the parking space through the action of the driving motor I, then the control part controls the rotating motor to rotate 90 degrees, the vehicle is driven to rotate 90 degrees, and the vehicle and the parking space are arranged in parallel at the moment. Then I stop motion of driving motor, control unit control lift cylinder I stretches out, drives walking wheel II and moves down, and support to lean on subaerial, and walking wheel I breaks away from ground this moment, then the action of control unit re-control driving motor drives moving part and removes the parking stall. In this way, the vehicle entering the parking space operation is completed. When the vehicle is required to be driven out of the parking space, the operation is carried out according to the reverse steps. Through the structure, the automatic parking space entering and exiting of the vehicle can be conveniently and reliably realized, the number of parts of the whole robot system is small, the structure is simple, the control program is reliable, the vehicle collision can not be caused when the vehicle enters and exits the parking space, and the convenience and the safety of automatic parking are effectively improved. The parking system for automatically controlling the vehicles to enter and exit the parking spaces can conveniently and reliably realize the automatic entering and exiting of the vehicles from the parking spaces, is simple to operate when the vehicles automatically enter and exit the parking spaces, is low in investment cost, is simple and quick to arrange, cannot cause the problem of dislocation or collision, and comprehensively improves the automatic entering and exiting intelligence and safety of the vehicles.
The present invention has been described in connection with the accompanying drawings, and it is to be understood that the invention is not limited to the specific embodiments disclosed, but is intended to cover various modifications, changes and equivalents of the embodiments of the invention, and its application to other applications without departing from the spirit and scope of the invention.
Claims (9)
1. A parking system for automatically controlling vehicles to enter and exit a parking space is characterized in that: the parking system for automatically controlling the vehicle to pass in and out the parking space comprises the parking space (1), a passing in and out track (2), a moving part (3) and a road surface (4), wherein the passing in and out track (2) is set to be a structure extending from the parking space (1) to the position of the road surface (4), the moving part (3) comprises a base (5), a connecting shaft I (7) is arranged on a connecting block I (6) at the position, close to the front end of the base (5), of the lower surface of the base (5), one end of the connecting shaft I (7) is provided with a traveling wheel I (8), the other end of the connecting shaft I (7) is provided with another traveling wheel I (8), a driven gear I (9) is arranged on the connecting shaft I (7), the driven gear I (9) is meshed with a driving gear I (11) of a driving motor I (10), the driving motor I (10) is arranged on the lower surface of the base (5), a lifting cylinder I (12, the lower end of the lifting cylinder I (12) is provided with a connecting shaft II (13) which is vertically arranged with the connecting shaft I (7), the connecting shaft II (13) is provided with a driven gear II (14), one end of the connecting shaft II (13) is provided with a traveling wheel II (15), the other end of the connecting shaft II (13) is provided with another traveling wheel II (15), the lower surface of the base (5) is also provided with a driving motor II (16), the driving motor II (16) is provided with a driving gear II (17), the upper surface of the base (5) is provided with a lifting cylinder II (18), the lifting cylinder II (18) is provided with a rotating motor (19), the upper end of the rotating cylinder (19) is fixedly provided with a vehicle supporting plate (20), the lower surface of the base (5) is also provided with a connecting block II (21) close to the rear end of the base (5), one side of the connecting block II (21) is provided, still set up the driven shaft on lift cylinder I (12), driven shaft one end set up one from driving wheel II, the driven shaft other end sets up another from driving wheel II.
2. A parking system for automatically controlling entry and exit of a vehicle into and out of a parking space as recited in claim 1, wherein: the base (5) is of a square-shaped structure, the connecting shaft I (7) is arranged to be parallel to the lower surface of the base (5), the connecting shaft II (13) is arranged to be parallel to the lower surface of the base (5), and the driven shaft is arranged to be parallel to the connecting shaft II (13).
3. A parking system for automatically controlling entry and exit of a vehicle into and out of a parking space according to claim 1 or 2, wherein: drive motor I (10) with can control drive motor I (10) and open the control unit (25) that open and stop and be connected, drive motor II (16) can control drive motor II (16) and open control unit (25) that open and stop and be connected, control unit (25) when controlling lift cylinder I (12) shrink, lift cylinder I (12) set up the level that can drive two running wheels II (15) and be higher than the structure of the level of two running wheels I (8), when control unit (25) control lift cylinder I (12) stretches out, lift cylinder I (12) set up the level that can drive two running wheels II (15) and are less than the structure of the level of two running wheels I (8).
4. A parking system for automatically controlling entry and exit of a vehicle into and out of a parking space as recited in claim 3, wherein: when control unit (25) control lift cylinder I (12) shrink, driven gear II (14) of connecting axle II (13) on lift cylinder I (12) set up to the structure that can separate with drive gear II (17) of driving motor II (16), when control unit (25) control lift cylinder I (12) stretches out, driven gear II (14) of connecting axle II (13) on lift cylinder I (12) set up to the structure that can mesh with drive gear II (17) of driving motor II (16).
5. A parking system for automatically controlling entry and exit of a vehicle into and out of a parking space according to claim 1 or 2, wherein: business turn over track (2) including track front end (26), track rear end (27), track turning portion (28), track front end (26) and track turning portion (28) be located road surface (4) position, track rear end (27) are located parking stall (1) position, track front end (27), track rear end (27), track turning portion (28) position respectively set up an induction sensor I (30), base (5) lower surface of moving part (3) sets up induction sensor II (31), induction sensor I (30) and induction sensor II (31) be connected with control unit (25) respectively.
6. The parking system for automatically controlling entry and exit of a vehicle into and out of a parking space of claim 5, wherein: the access track (2) comprises a vertical track section (32) and a parallel track section (33), the vertical track section (32) and the parallel track section (33) are arranged to be L-shaped structures, the parallel track section (33) is arranged in parallel with the side face (29) of the parking space, the vertical track section (32) is arranged in perpendicular to the side face (29) of the parking space, the parallel track section (33) is partially positioned on the parking space (1), the parallel track section (33) is partially extended to the road surface (4), and the vertical track section (32) is positioned on the road surface (4).
7. The parking system for automatically controlling entry and exit of a vehicle into and out of a parking space of claim 6, wherein: when the induction sensor I (30) at the front end (27) of the track senses the information of a vehicle needing to enter the parking space (1), the induction sensor I (31) at the front end (27) of the track is set to be in a structure capable of feeding back signals to the control part (25), the control part (25) is set to be in a structure capable of controlling the moving part (3) at the rear end (27) of the track to move to the induction sensor I (30) at the turning part (28) of the track, when the induction sensor I (30) at the turning part (28) of the track senses the induction sensor II (31) on the moving part (3), the control part (25) is set to be in a structure capable of controlling the moving part (3) to move to the induction sensor I (30) at the front end (26) of the track, and when the control part (25) controls the moving part (3) to move to the induction sensor I (30) at the front end (26) of the track, the control member (25) is configured to control the moving member (3) to stop moving.
8. A parking method for automatically controlling vehicles to enter and exit a parking space comprises a vehicle entering parking space method and a vehicle exiting parking space method, and the parking method for vehicles to enter the parking space comprises the following parking steps: 1) the method comprises the following steps that a vehicle needing to be parked in a parking space (1) is parked above an induction sensor I (30) located at the front end (26) of a track, the induction sensor I (30) located at the front end (26) of the track induces a vehicle signal and feeds the signal back to a control part (25), the control part (25) controls a lifting cylinder I (12) to stretch out to drive two traveling wheels II (15) to be attached to the ground, then the control part (25) controls a driving motor II (16) to act, and a moving part (3) moves towards the induction sensor I (30) located at a track turning part (28); 2) after the moving part (3) moves to the position of an induction sensor I (30) of a track turning part (28), the control part (25) controls the lifting cylinder I (12) to contract, then controls the driving motor I (10) to act, the driving motor I (10) drives the two traveling wheels I (8) to rotate through a connecting shaft I (7), and the moving part (3) moves to the position of the induction sensor I (30) positioned at the front end (26) of the track; 3) after the moving component (3) moves the position of an induction sensor I (30) positioned at the front end (26) of the track, the control component (25) controls the lifting cylinder II (18) to extend out, the vehicle supporting plate (20) rises to support the vehicle, the control component (25) controls the driving motor I (10) to reversely act, the driving motor I (10) drives the two traveling wheels I (8) to rotate through the connecting shaft I (7), and the moving component (3) moves to the position of the induction sensor I (30) positioned at the turning part (28) of the track; 4) the control part (25) controls the driving motor I (10) to stop acting, the control part (25) controls the rotating motor (19) to rotate 90 degrees, the vehicle is driven to rotate 90 degrees, then the control part (25) controls the lifting cylinder I (12) to stretch out, the two traveling wheels II (15) are driven to be attached to the ground, then the control part (25) controls the driving motor II (16) to reversely act, the moving part (3) moves to the position of the induction sensor I (30) positioned at the rear end (27) of the track, the control part (25) controls the lifting cylinder I (12) and the lifting cylinder II (18) to contract simultaneously, the vehicle falls on the ground of the parking space (1), and the vehicle enters the parking space.
9. The parking system for automatically controlling entry and exit of a vehicle into and out of a parking space of claim 8, wherein: the parking step of the method for driving the vehicle out of the parking space comprises the following steps: 1) the control part (25) controls the lifting cylinder I (12) and the lifting cylinder II (18) to rise simultaneously, the vehicle supporting plate (20) supports the vehicle, then the control part (25) controls the driving motor II (16) to act, and the moving part (3) moves to the position of the induction sensor I (30) positioned at the track turning part (28); 2) after the moving part (3) drives the vehicle to move to the position of an induction sensor I (30) of a track turning part (28), the control part (25) controls the rotating motor (19) to rotate 90 degrees to drive the vehicle to rotate 90 degrees, the control part (25) controls the lifting cylinder I (12) to contract again, then controls the driving motor I (10) to act, the driving motor I (10) drives two traveling wheels I (8) to rotate through a connecting shaft I (7), and the moving part (3) drives the vehicle to move to the position of the induction sensor I (30) positioned at the front end (26) of the track; 3) the control part (25) controls the driving motor I (10) to stop, and then controls the telescopic cylinder II (18) to contract, so that the vehicle falls on the ground of the road surface (4); 4) the control component (25) controls the driving motor I (10) to move reversely, the driving motor I (10) drives the two traveling wheels I (8) to rotate through the connecting shaft I (7), and the moving component (3) moves to the position of the induction sensor I (31) located at the turning part (28) of the track; 5) control unit (25) is the extension of control lift cylinder I (12) again, drives two travelling wheels II (15) and ground laminating, then control unit (25) control driving motor II (16) reverse motion, and moving part (3) move to the inductive pick-up I (30) position that is located track rear end (27), and control unit (25) is the shrink of control lift cylinder I (12) again, and the completion vehicle is sailed out the parking stall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010351232.7A CN111550098A (en) | 2020-04-28 | 2020-04-28 | Parking system for automatically controlling vehicles to enter and exit parking spaces and parking method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010351232.7A CN111550098A (en) | 2020-04-28 | 2020-04-28 | Parking system for automatically controlling vehicles to enter and exit parking spaces and parking method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111550098A true CN111550098A (en) | 2020-08-18 |
Family
ID=71998290
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010351232.7A Withdrawn CN111550098A (en) | 2020-04-28 | 2020-04-28 | Parking system for automatically controlling vehicles to enter and exit parking spaces and parking method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111550098A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112282459A (en) * | 2020-10-18 | 2021-01-29 | 安徽鸿杰威尔停车设备有限公司 | AGV intelligent transfer robot for stereo parking garage and working method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102155102A (en) * | 2011-04-26 | 2011-08-17 | 曾庆义 | Parking device capable of moving independently and parking method thereof |
| CN105523330A (en) * | 2016-01-19 | 2016-04-27 | 南京金牛机械制造股份有限公司 | Multi-wheel shuttle |
| CN107663966A (en) * | 2016-07-28 | 2018-02-06 | 北海和思科技有限公司 | A kind of intelligent parking lot |
| CN108104557A (en) * | 2017-12-10 | 2018-06-01 | 湖南库特智能科技有限公司 | The movable positioning system and method for multi-storied garage |
| GB2561857A (en) * | 2017-04-25 | 2018-10-31 | My Parker Ltd | A vehicle parking device |
| WO2019024441A1 (en) * | 2017-07-31 | 2019-02-07 | Yin Chuanfeng | A longitudinal-transverse robot system, an intelligent three-dimensional storehouse or garage, an access method of the intelligent three-dimensional storehouse and an app application of the intelligent three-dimensional garage |
-
2020
- 2020-04-28 CN CN202010351232.7A patent/CN111550098A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102155102A (en) * | 2011-04-26 | 2011-08-17 | 曾庆义 | Parking device capable of moving independently and parking method thereof |
| CN105523330A (en) * | 2016-01-19 | 2016-04-27 | 南京金牛机械制造股份有限公司 | Multi-wheel shuttle |
| CN107663966A (en) * | 2016-07-28 | 2018-02-06 | 北海和思科技有限公司 | A kind of intelligent parking lot |
| GB2561857A (en) * | 2017-04-25 | 2018-10-31 | My Parker Ltd | A vehicle parking device |
| WO2019024441A1 (en) * | 2017-07-31 | 2019-02-07 | Yin Chuanfeng | A longitudinal-transverse robot system, an intelligent three-dimensional storehouse or garage, an access method of the intelligent three-dimensional storehouse and an app application of the intelligent three-dimensional garage |
| CN108104557A (en) * | 2017-12-10 | 2018-06-01 | 湖南库特智能科技有限公司 | The movable positioning system and method for multi-storied garage |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112282459A (en) * | 2020-10-18 | 2021-01-29 | 安徽鸿杰威尔停车设备有限公司 | AGV intelligent transfer robot for stereo parking garage and working method thereof |
| CN112282459B (en) * | 2020-10-18 | 2021-11-05 | 安徽鸿杰威尔停车设备有限公司 | AGV intelligent transfer robot for stereo parking garage and working method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201771231U (en) | Solid parking garage with an elevator in the middle | |
| CN205400194U (en) | Empty formula stereo garage of multi - layer frame | |
| WO2018076527A1 (en) | Singlechip control based intelligent parking device for cars | |
| CN108505794A (en) | Narrow road section fully automatic stereo-parking garage | |
| CN2666771Y (en) | Vehicle lifting and lowering lateral moving apparatus | |
| CN100532765C (en) | Rotary type vehicle carrying board one-position for two-car parking device | |
| CN105064741A (en) | Non-avoidance type double-layer intelligent garage and method for storing and fetching vehicles | |
| CN111550098A (en) | Parking system for automatically controlling vehicles to enter and exit parking spaces and parking method thereof | |
| CN108331394A (en) | It is a kind of double-deck without the convenient parking device of interference | |
| CN206016371U (en) | A kind of intelligent parking robot | |
| CN201620748U (en) | Railless sliding door device | |
| CN108316724B (en) | A kind of parking storage method of parking systems | |
| CN104594689B (en) | Garage | |
| CN110344626B (en) | Conveniently controlled electric drive plane moving parking space | |
| CN206016364U (en) | A kind of intelligent parking garage | |
| CN108343299B (en) | A kind of parking systems | |
| CN1279259C (en) | Mechanical multilayered garage | |
| CN206903312U (en) | A kind of roadside multifunctional monomer car berth pavilion | |
| CN214498545U (en) | Surrounding type community intelligent stereo parking garage | |
| CN111550099A (en) | Automatic vehicle entering and exiting parking space control robot system and control method thereof | |
| CN208763497U (en) | A kind of parking AGV and garage | |
| CN201802104U (en) | Universal vehicle moving device | |
| CN111593922A (en) | Intelligent parking space entering and exiting robot control system for vehicle and control method thereof | |
| CN207920187U (en) | Remote control Intelligent carrier for carrier vehicle | |
| CN111550097A (en) | Multi-parking-space intelligent robot parking equipment and parking method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200818 |
|
| WW01 | Invention patent application withdrawn after publication |