CN111750833A - Intelligence stereo garage slope detection device - Google Patents
Intelligence stereo garage slope detection device Download PDFInfo
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- CN111750833A CN111750833A CN202010607133.0A CN202010607133A CN111750833A CN 111750833 A CN111750833 A CN 111750833A CN 202010607133 A CN202010607133 A CN 202010607133A CN 111750833 A CN111750833 A CN 111750833A
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- bridge box
- lifting bridge
- lifting
- grating plate
- image sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
Abstract
The invention relates to the field of stereo garages, in particular to an intelligent stereo garage inclination detection device, which comprises a lifting well, a plurality of layers of parking platforms, a lifting bridge box, a plurality of transverse moving table plates, a controller, an image sensor, a plurality of inclination detection grating plates and a distance judgment device, wherein the lifting well is arranged on the lifting bridge box; the image sensor is arranged on the lifting well above the movement joint of the lifting bridge box and the transverse moving bedplate; the oblique detection grating plates are respectively arranged at the positions, far away from the center, of the upper ends of the parking comb teeth of the lifting bridge box and the positions, far away from the center, of the upper ends of the parking comb teeth of the transverse moving platen, and the colors, which are displayed when the oblique detection grating plates are over against the shooting direction of the image sensor, are different from the colors, which are displayed when the oblique detection grating plates are deviated from the shooting direction of the image sensor; the invention quickly and timely judges whether the lifting bridge box and the traverse table plate incline or not by combining the image recognition method and the special inspection module, and stops the operation of the lifting bridge box and the traverse table plate in time if the lifting bridge box and the traverse table plate incline, thereby reducing the occurrence of accidents.
Description
Technical Field
The invention relates to the field of stereo garages, in particular to an intelligent stereo garage inclination detection device.
Background
A stereo garage is a mechanical or mechanical equipment system used to maximize access to stored vehicles. The system is an effective tool for improving the capacity of a parking lot, increasing the income and increasing the income of parking fees for professional parking lot management companies. Comb-tooth formula intelligence stereo garage belongs to one kind in lifting and horizontal moving garage, nevertheless than traditional lifting and horizontal moving garage completion car access action that can be more quick, with low costs, the maintenance cost is low. The existing comb-tooth type intelligent stereo garage is widely used, the comb-tooth type intelligent stereo garage relates to the problem of vehicle exchange, if a lifting car or a car carrying plate (parking comb teeth) inclines in the exchange process, dangers such as vehicle damage, vehicle falling and the like are easily caused, two methods are adopted for measuring whether the lifting car inclines in the traditional method, firstly, methods such as a coder, laser ranging and the like are adopted for measuring the running conditions of 4 lifting points and then judging, the problem is high cost, certain delay exists in indirect judgment, the timeliness of judgment is reduced, the lifting car is usually judged, and the inclination angle of a transverse moving plate is not judged; secondly, the inclination angle of the measured object is directly measured by adopting a gyroscope and the like, but each measured object needs to be additionally arranged, and a passive device is changed into an active device, so that the cost is high.
Disclosure of Invention
In order to solve the problems, the invention aims to provide an intelligent stereo garage inclination detection device which can quickly and timely judge whether an elevator bridge box and a traverse table plate incline or not by combining a special detection module through an image recognition method, and can timely stop the operation of the elevator bridge box and the traverse table plate if the elevator bridge box and the traverse table plate incline so as to reduce the occurrence of accidents.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an intelligent stereo garage inclination detection device comprises a lifting well, a plurality of layers of parking platforms, a lifting bridge box, a plurality of transverse moving table plates and a controller; the lifting shaft is vertically arranged in the height direction, each parking platform is horizontally arranged, the lifting shaft is communicated with each parking platform, the lifting bridge box is a comb-tooth type lifting bridge box, the lifting bridge box is horizontally arranged, the lifting bridge box is connected in the lifting shaft in a sliding manner, and the lifting bridge box can move up and down in the vertical direction in the middle of the lifting shaft under the action of a power device of the lifting bridge box; each parking platform is internally and slidably connected with a traverse table plate, each traverse table plate is a comb-tooth type traverse table plate and is horizontally arranged, and each traverse table plate can horizontally move in the height space of the corresponding parking platform under the action of the power device of the traverse table plate; when any one of the traverse tables is positioned in the middle of the horizontal section of the lifting well, the length direction of the traverse table is parallel to the length direction of the lifting bridge box, the lifting bridge box can freely pass through the traverse table, and the controller is respectively in control connection with the power device of the lifting bridge box and the power device of the traverse table; the controller controls the lifting bridge box to lift the vehicle to a preset height, then the controller controls a traverse table plate to move under the lifting bridge box, the lifting bridge box passes through the traverse table plate downwards, the parking comb teeth on the traverse table plate replace the parking comb teeth on the lifting bridge box to serve as supporting points of the vehicle, the vehicle falls on the traverse table plate, and vehicle exchange is completed;
the device also comprises an image sensor, a plurality of inclined detection grating boards and a distance judgment device; the image sensor is arranged on the lifting well above the movement joint of the lifting bridge box and the transverse moving bedplate, and a lens of the image sensor faces downwards vertically; the system comprises a plurality of inclined detection light grids, a plurality of lifting bridge boxes, a plurality of transverse grating plates and a plurality of transverse grating plates, wherein the inclined detection light grids are respectively arranged at positions, far away from the center, of the upper ends of parking comb teeth of the lifting bridge boxes and at positions, far away from the center, of the upper ends of parking comb teeth of the transverse moving platens; a distance judgment device for judging the distance between the lifting bridge box and the transverse moving bedplate is arranged on the lifting bridge box; the controller is also respectively connected with the image sensor and the distance judgment device; when any one of the traverse tables moves to the position right below the lifting bridge box, the distance judgment device starts to monitor the real-time distance between the lifting bridge box and the traverse tables and transmits data to the controller in real time, when the controller judges that the distance between the lifting bridge box and the traverse tables falls within the range of [0, 10] cm according to the received data, the controller reads the color displayed by each inclined detection grating plate transmitted by the image sensor in real time, if the color displayed by any inclined detection grating plate is not consistent with the set color, the controller judges that the lifting bridge box or the traverse tables incline and controls the motion system of the lifting bridge box and the motion system of the traverse tables to stop moving, and if the colors displayed by all inclined detection grating plates are consistent with the set color, the controller drives the lifting bridge box and the traverse tables until vehicle exchange is completed;
preferably, the horizontal grating plate shows red facing to the shooting direction of the image sensor and green deviating from the shooting direction of the image sensor, the vertical grating plate shows white facing to the shooting direction of the image sensor and blue deviating from the shooting direction of the image sensor, and the lifting bridge box and the traverse table plate are both yellow.
Preferably, the image sensor is a high-definition CCD sensor or other photoelectric sensing element with color discrimination capability.
Preferably, the image sensor is at least 10m away from the moving junction of the lift bridge box and the traverse platen, and the length and width of any tilt detection grating plate are less than 0.1 m.
Preferably, the parking frames of the lifting bridge box and the parking frames of the transverse moving bedplate are both provided with inclination detection grating plates.
Preferably, any one of the tilt detection grating plates mounted on the lift bridge box is arranged in parallel with the upper end face of the lift bridge box, any one of the tilt detection grating plates mounted on the traverse table is arranged in parallel with the upper end face of the traverse table, an image sensor is correspondingly mounted right above each tilt detection grating plate, and the shooting directions of the image sensors are in one-to-one vertical correspondence with the tilt detection grating plates.
Based on the above content, the invention provides an inclination judgment method of an intelligent stereo garage inclination detection device, which comprises the following steps:
(1) presetting that a transverse grating plate can display R color in the direction opposite to the shooting direction of the image sensor and G color in the direction deviated from the shooting direction of the image sensor, and a vertical grating plate can display W color in the direction opposite to the shooting direction of the image sensor and B color in the direction deviated from the shooting direction of the image sensor;
(2) the image sensor shoots the tilt detection grating plate and transmits the shot image to the controller;
(3) the controller identifies the obtained image color and compares the identified image color with the color preset in the step (1);
(4) when the controller identifies that the horizontal grating plate of the same inclined detection grating plate shows R color and the vertical grating plate shows W color, the controller judges that the position of the inclined detection grating plate is not inclined;
when the controller identifies that the transverse grating plate of the same inclined detection grating plate shows R color and the vertical grating plate shows P color, the controller judges that the position of the inclined detection grating plate is inclined along the width direction of the lifting bridge box where the inclined detection grating plate is located and does not incline along the length direction of the lifting bridge box where the inclined detection grating plate is located;
when the controller identifies that the transverse grating plate shows G color, the vertical grating plate of the same inclined detection grating plate shows W color, the position of the inclined detection grating plate is inclined along the length direction of the lifting bridge box where the inclined detection grating plate is located, and the inclined detection grating plate is not inclined along the width direction of the lifting bridge box where the inclined detection grating plate is located;
when the controller identifies that the transverse grating plate shows G color and the vertical grating plate of the same inclined detection grating plate shows B color, the controller judges that the inclined detection grating plate is positioned and inclined along the length direction and the width direction of the lifting bridge box where the inclined detection grating plate is positioned at the same time.
In conclusion, due to the adoption of the technical scheme, the invention has the beneficial effects that:
the invention adopts the image sensor to combine with the inclined detection grating plate, and can judge whether the lifting bridge box and the transverse moving platen incline or not in the vehicle exchanging process, so the invention has the advantages of low cost and easy popularization, and the inclined detection grating plate with lower cost is added to increase the detection area and realize multi-area detection, for example, the inclined detection grating plates are arranged on the parking frame of the lifting bridge box and the parking frame of the transverse moving platen, so that whether the parking frame of the lifting bridge box and the parking frame of the transverse moving platen incline or not can be judged, thereby improving the safety of the equipment. The invention adopts the image sensor to remotely measure in a non-contact and passive way, the installation and debugging are very easy, the structure is simple, the reliability is high, and the detection accuracy meets the requirement; the invention collects the color of the tilt detection grating plate through the image sensor, can directly return an instruction, integrates the judgment and calculation at the front end, and has short delay and high response speed; the invention can not only carry out inclination detection on the lifting axle box in the whole operation process, but also judge the inclination direction of each inclination detection grid plate through the color change of the inclination detection grid plate.
Drawings
Fig. 1 is a schematic diagram of a first embodiment of an intelligent stereo garage inclination detection apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic view of an elevator bridge box of a first embodiment of an intelligent stereo garage inclination detection apparatus provided by an embodiment of the present invention.
Fig. 3 is a schematic view of a traverse table of a first embodiment of an intelligent stereo garage inclination detection apparatus according to an embodiment of the present invention.
Fig. 4 is a schematic view of a tilt detection grating plate according to a first embodiment of the tilt detection apparatus for an intelligent stereo garage provided by the embodiment of the present invention.
Fig. 5 is a schematic diagram of a control relationship of a first embodiment of an intelligent stereo garage inclination detection apparatus according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of an intelligent stereo garage inclination detection apparatus according to a second embodiment of the present invention.
Fig. 7 is a schematic diagram of a control relationship of a second embodiment of an intelligent stereo garage inclination detection apparatus according to an embodiment of the present invention.
Wherein: the system comprises a lifting well 1, a lifting bridge box 2, parking comb teeth 21, a distance judging device 22, a parking frame 23, a transverse moving platen 3, an image sensor 4, an inclined detection light grating plate 5, a transverse grating plate 51 and a vertical grating plate 52.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. The drawings are only for purposes of illustration and are not intended to be limiting, certain elements of the drawings may be omitted, enlarged or reduced to better illustrate the embodiments of the present invention, and do not represent the size of the actual product, and it is understood that some well-known structures, elements and descriptions thereof in the drawings may be omitted for persons skilled in the art.
Referring to fig. 1 to 5, in a preferred embodiment of the present invention, an intelligent stereo garage inclination detecting apparatus includes a shaft 1, a plurality of parking platforms, a lifting bridge box 2, a plurality of traverse decks 3, and a controller; the lifting shaft 1 is vertically arranged in the height direction, each parking platform is horizontally arranged, the lifting shaft 1 is communicated with each parking platform, the lifting bridge box 2 is a comb-tooth type lifting bridge box, the lifting bridge box 2 is horizontally arranged, the lifting bridge box 2 is connected in the lifting shaft 1 in a sliding manner, and the lifting bridge box 2 can move up and down in the vertical direction in the middle of the lifting shaft 1 under the action of a power device of the lifting bridge box; each parking platform is internally and slidably connected with a traverse table plate 3, each traverse table plate 3 is a comb-tooth type traverse table plate and is horizontally arranged, and each traverse table plate 3 can horizontally move in the height space of the corresponding parking platform under the action of the power device of the traverse table plate 3; when any one of the traverse table boards 3 is positioned in the middle of the horizontal section of the elevator shaft 1, the length direction of the traverse table board 3 is parallel to the length direction of the elevator bridge box 2, the elevator bridge box 2 freely passes through the traverse table board 3, and the controller is respectively in control connection with the power device of the elevator bridge box 2 and the power device of the traverse table board 3; the controller controls the lifting bridge box 2 to lift the vehicle to a preset height, the controller controls a traverse bedplate 3 to move under the lifting bridge box 2, the lifting bridge box 2 passes through the traverse bedplate 3 downwards, the parking comb teeth 21 on the traverse bedplate 3 replace the parking comb teeth 21 on the lifting bridge box 2 to be used as supporting points of the vehicle, the vehicle falls on the traverse bedplate 3, and the vehicle exchange is completed;
further comprising an image sensor 4, a plurality of oblique detection grating plates 5 and distance determining means 22; the image sensor 4 is arranged on the elevator shaft 1 above the movement joint of the elevator bridge box 2 and the traverse table plate 3, and a lens of the image sensor 4 faces downwards vertically; a plurality of inclination detection grating plates 5 are respectively arranged at the positions far away from the center of the upper ends of the parking comb teeth 21 of the lifting bridge box 2 and the position far away from the center of the upper ends of the parking comb teeth 21 of the transverse moving bedplate 3, the position far away from the center of the upper end of the parking comb 21 is installed, so as to reduce the possibility that the inclined detection grating plates 5 are shielded by vehicles, each inclined detection grating plate 5 comprises a transverse grating plate 51 and a vertical grating plate 52, the transverse grating plates 51 and the vertical grating plates 52 are located on the same plane, the grating length direction of the transverse grating plates 51 is perpendicular to the length direction of the lifting bridge box 2 or the traverse table plate 3 where the transverse grating plates 51 are located, the grating length direction of the vertical grating plates 52 is parallel to the length direction of the lifting bridge box 2 or the traverse table plate 3 where the vertical grating plates 52 are located, and the colors displayed by the plurality of inclined detection grating plates 5 when the inclined detection grating plates are opposite to the shooting direction of the image sensor 4 are different from; the lifting bridge box 2 is provided with a distance judgment device 22 for judging the distance between the lifting bridge box 2 and the transverse bedplate 3; the controller is also respectively connected with the image sensor 4 and the distance judgment device 22; when any one of the traverse tables 3 moves to the position right below the lift bridge box 2, the distance judgment device 22 starts to monitor the real-time distance between the lift bridge box 2 and the traverse table 3 and transmits the data to the controller in real time, when the controller judges that the distance between the lift-bridge box 2 and the traverse table 3 falls within the range of [0, 10] cm based on the received data, the controller reads in real time the color displayed by each oblique detection grating 5 transmitted by the image sensor 4, if any one of the inclination detection grating plates 5 does not display the color matching the set color, the controller determines that the lift bridge box 2 or the traverse table 3 is inclined, and controls the motion system of the lifting bridge box 2 and the motion system of the transverse moving bedplate 3 to stop moving, if all the inclination detection grating plates 5 display the same color as the set color, the lift bridge box 2 and the traverse table 3 move until the vehicle exchange is completed.
In this embodiment, the image sensor 4 may be a CCD sensor, a CMOS sensor, or other photoelectric sensing elements with color discrimination capability, preferably a high-definition CCD sensor, which can provide good image quality, noise immunity, and flexibility in design, and only one image sensor 4 is required to be installed at the top of the inner side of the shaft 1; the distance between the image sensor 4 and the motion junction of the lift bridge box 2 and the traverse table 3 is as far as possible within the allowable range of the lift shaft 1, and is at least 10m, the length and the width of any inclination detection grating plate 5 are less than 0.1m, but not less than 20mm, the area of the tilt detection grating plate 5 is too small to facilitate the image sensor 4 to recognize the color change of the tilt detection grating plate 5, and at this time, the difference of the angle between the shooting direction of the image sensor 4 and each grating of the same transverse grating plate 51 is extremely small, it can be considered that the shooting direction of the image sensor 4 is equal to each grating angle of the same lateral grating plate 51, that is, the color displayed by each grating of the same horizontal grating plate 51 toward the image sensor 4 is the same, and similarly, the color displayed by each grating of the same vertical grating plate 52 toward the image sensor 4 is the same; according to the color rendering principle of the grating plate, the included angle between the shooting direction and the grating length direction is changed, but the included angle between the shooting direction and the direction perpendicular to the grating length direction is not changed, the color displayed by the grating plate is not changed, and when the included angle between the shooting direction and the direction perpendicular to the grating length direction is changed, the color displayed by the grating plate is changed accordingly.
At the moment of vehicle exchange, the sudden and drastic changes in the forces applied to the lift-bridge box 2 and the traverse table 3 will cause the lift-bridge box 2 and the traverse table 3 to tilt, and therefore, in the present embodiment, only when the distance between the lift bridge box 2 and the traverse table 3 falls within the range of [0, 10] cm, the controller judges whether the color of the tilt detection lenticular plate 5 is consistent with the set color through the image sensor 4, in the process, the traverse table 3 is kept stationary, the moving distance of the lift bridge box 2 is 20cm, the distance difference of 20cm is very small for a height of 10m, the change in the distance has little influence on the change in the angle between the shooting direction of the image sensor 4 and any one of the gratings, in the case where the lift-bridge box 2 and the traverse table 3 are not tilted, the color of the tilt detection grating 5 received by the image sensor 4 is not changed by the movement of the lift-bridge box 2; the tilt detection grating plate 5 of the embodiment is composed of a horizontal grating plate 51 and a vertical grating plate 52, and the grating length direction of the horizontal grating plate 51 is perpendicular to the grating length direction of the vertical grating plate 52, so that as long as the color of any grating plate in the shooting direction of the image sensor 4 is changed, it can be judged that the lifting bridge box 2 or the traverse table plate 3 is tilted, and the controller controls the motion system of the lifting bridge box 2 and the motion system of the traverse table plate 3 to stop moving, thereby reducing the occurrence of accidents; this embodiment adopts image sensor 4 to combine the slope to detect optical grating 5 and judges whether lift axle box 2 and sideslip platen 3 take place the slope among the vehicle exchange process, and the benefit of doing so is that low cost easily promotes, and it can increase detection area to increase the lower slope of cost and detect optical grating 5, realizes the multizone and detects to improve equipment's security. In addition, the image sensor 4 is adopted for remote non-contact passive measurement, so that the installation and debugging are very easy, the structure is simple, the reliability is high, and the detection accuracy meets the requirement; the color of the inclined detection grating plate 5 is collected by the image sensor 4, the color can be directly returned, the front end is integrated, the judgment and calculation are carried out, the delay is short, and the response speed is high.
Preferably, the horizontal grating plate 51 shows red facing the image sensor 4 and green deviating from the image sensor 4, the vertical grating plate 52 shows white facing the image sensor 4 and blue deviating from the image sensor 4, and the lift-bridge box 2 and the traverse platen 3 are both yellow; the chromatic aberration among red, green, white, blue and yellow is large, so that the controller can easily judge whether the inclined detection grating plate 5 has color change, and the interference of the self colors of the lifting bridge box 2 and the transverse moving bedplate 3 to the controller can be reduced.
Preferably, the parking frame 23 of the lifting bridge box 2 and the parking frame 23 of the traverse bedplate 3 are both provided with an inclined detection light grid plate 5; the parking frame 23 of the lift bridge box 2 is the most concentrated stress place on the lift bridge box 2, and is also the most easily occurring local inclined deformation part on the lift bridge box 2, the parking frame 23 of the traverse bedplate 3 is the most concentrated stress place on the traverse bedplate 3, and is also the most easily occurring local inclined deformation part on the traverse bedplate 3, and some situations are: the whole of the lift bridge box 2 is not inclined, but the parking frame 23 of the lift bridge box 2 is subjected to torsional deformation, or the whole of the transverse bedplate 3 is not inclined, but the parking frame 23 of the lift bridge box 2 is subjected to torsional deformation, so that vehicle exchange cannot be smoothly completed, and accidents are caused, therefore, the inclination detection light grids 5 are arranged on the parking frame 23 of the lift bridge box 2 and the parking frame 23 of the transverse bedplate 3, so that whether the parking frame 23 of the lift bridge box 2 and the parking frame 23 of the transverse bedplate 3 are locally inclined and deformed is necessary to be judged.
Referring to fig. 6 to 7, based on the above embodiments, in the second embodiment, any tilt detection grating plate 5 installed on the lift bridge box 2 is parallel to the upper end surface of the lift bridge box 2, any tilt detection grating plate 5 installed on the traverse table 3 is parallel to the upper end surface of the traverse table 3, an image sensor 4 is correspondingly installed right above each tilt detection grating plate 5, and the shooting directions of the image sensors 4 are in one-to-one vertical correspondence with the tilt detection grating plates 5.
In this embodiment, the height of the image sensor 4 is greater than the maximum travel height of the lift bridge box 2, and there is no need to specially erect a tall lift shaft 1. Under the prerequisite that does not take place the slope at lift axle case 2, image sensor 4's shooting direction detects light grid plate 5 one-to-one vertical correspondence with the slope, and every contained angle between the two can not change all the time, from this embodiment not only can incline to detect it at lift axle case 2's whole operation in-process, can also detect the change of light grid plate 5 colour through the slope, judges the incline direction that each slope detected light grid plate 5 and located, specifically is:
(1) presetting that a transverse grating plate 51 can display R color in the shooting direction right facing the image sensor 4 and G color in the shooting direction deviating from the image sensor 4, and a vertical grating plate 52 can display W color in the shooting direction right facing the image sensor 4 and B color in the shooting direction deviating from the image sensor 4;
(2) the image sensor 4 shoots the tilt detection grating plate 5 and transmits the shot image to the controller;
(3) the controller identifies the obtained image color and compares the identified image color with the color preset in the step (1);
(4) when the controller identifies that the horizontal grating plate 51 and the vertical grating plate 52 of the same oblique detection grating plate 5 show R color and W color, the controller determines that the position of the oblique detection grating plate 5 is not tilted;
when the controller identifies that the transverse grating plate 51 of the same oblique detection grating plate 5 shows R color and the vertical grating plate 52 shows P color, the controller identifies that the position of the oblique detection grating plate 5 is oblique along the width direction of the lifting bridge box 2 where the oblique detection grating plate is located and does not incline along the length direction of the lifting bridge box 2 where the oblique detection grating plate is located;
when the controller identifies that the transverse grating plate 51 shows G color, the vertical grating plate 52 of the same inclined detection grating plate 5 shows W color, the position of the inclined detection grating plate 5 is inclined along the length direction of the lifting bridge box 2 where the inclined detection grating plate is located, and is not inclined along the width direction of the lifting bridge box 2 where the inclined detection grating plate is located;
when the controller recognizes that the horizontal grating plate 51 shows G color and the vertical grating plate 52 of the same tilt detection grating plate 5 shows B color, the controller determines that the position of the tilt detection grating plate 5 is tilted along the length direction and the width direction of the lift bridge box 2 where the tilt detection grating plate is located.
The above description is intended to describe in detail the preferred embodiments of the present invention, but the embodiments are not intended to limit the scope of the claims of the present invention, and all equivalent changes and modifications made within the technical spirit of the present invention should fall within the scope of the claims of the present invention.
Claims (7)
1. An intelligent stereo garage inclination detection device comprises a lifting well, a plurality of layers of parking platforms, a lifting bridge box, a plurality of transverse moving table plates and a controller; the lifting shaft is vertically arranged in the height direction, each parking platform is horizontally arranged, the lifting shaft is communicated with each parking platform, the lifting bridge box is a comb-tooth type lifting bridge box, the lifting bridge box is horizontally arranged, the lifting bridge box is connected in the lifting shaft in a sliding manner, and the lifting bridge box can vertically move in the middle of the lifting shaft under the action of a power device of the lifting bridge box; each parking platform is internally and slidably connected with a traverse table plate, each traverse table plate is a comb-tooth-type traverse table plate and is horizontally arranged, and each traverse table plate can horizontally move in the height space of the corresponding parking platform under the action of the power device of the traverse table plate; when any one of the traverse table plates is positioned in the middle of the horizontal section of the lifting well, the length direction of the traverse table plate is parallel to the length direction of the lifting bridge box, the lifting bridge box can freely penetrate through the traverse table plate, and the controller is respectively in control connection with the power device of the lifting bridge box and the power device of the traverse table plate; the controller controls the lifting bridge box to lift vehicles to a preset height, then controls one transverse moving platen to move to the position under the lifting bridge box, the lifting bridge box penetrates through the transverse moving platen downwards, the parking comb teeth on the transverse moving platen replace the parking comb teeth on the lifting bridge box to serve as supporting points of the vehicles, the vehicles fall on the transverse moving platen, and vehicle exchange is completed;
the method is characterized in that: the device also comprises an image sensor, a plurality of inclined detection grating boards and a distance judgment device; the image sensor is arranged on a lifting well above the movement joint of the lifting bridge box and the transverse moving bedplate, and a lens of the image sensor faces downwards vertically; the system comprises a plurality of inclined detection grating plates, a plurality of transverse grating plates and a plurality of transverse grating plates, wherein the inclined detection grating plates are respectively arranged at positions, far away from the center, of the upper end of a parking comb tooth of a lifting bridge box and at positions, far away from the center, of the upper end of a parking comb tooth of a transverse moving platen; the lifting bridge box is provided with the distance judgment device for judging the distance between the lifting bridge box and the transverse moving bedplate; the controller is also respectively connected with the image sensor and the distance judgment device; when any one of the traverse table plates moves to the position right below the lifting bridge box, the distance judgment device starts to monitor the real-time distance between the lifting bridge box and the traverse table plate and transmits data to the controller in real time, when the controller determines from the received data that the distance between the lift bridge box and the traverse platen falls within a range of [0, 10] cm, the controller reads the color displayed by each inclined detection grating plate transmitted by the image sensor in real time, if the color displayed by any one of the tilt detection grating boards does not accord with the set color, the controller judges that the lifting bridge box or the traverse table board is tilted, and controls the motion system of the lifting bridge box and the motion system of the traverse bedplate to stop moving, and if the colors displayed by all the inclination detection grating boards are consistent with the set colors, the controller drives the lifting bridge box and the traverse table board to move until the vehicle exchange is completed.
2. The intelligent stereo garage inclination detection device of claim 1, wherein: the horizontal grating plate shows red in the shooting direction opposite to the image sensor and green in the shooting direction deviating from the image sensor, the vertical grating plate shows white in the shooting direction opposite to the image sensor and blue in the shooting direction deviating from the image sensor, and the lifting bridge box and the horizontal moving platen are both yellow.
3. The intelligent stereo garage inclination detection device of claim 1, wherein: the image sensor is a high-definition CCD sensor or other photoelectric sensing elements with color discrimination capability.
4. The intelligent stereo garage inclination detection device of claim 1, wherein: the distance between the image sensor and the motion joint of the lifting bridge box and the transverse moving bedplate is at least 10m, and the length and the width of any inclined detection grating plate are both less than 0.1 m.
5. The intelligent stereo garage inclination detection device of claim 1, wherein: the parking frames of the lifting bridge box and the parking frames of the transverse moving bedplate are both provided with the inclination detection grating plates.
6. The intelligent stereo garage inclination detection device of claim 1, wherein: any inclined detection grating plate installed on the lifting bridge box is arranged in parallel with the upper end face of the lifting bridge box, any inclined detection grating plate installed on the traverse table is arranged in parallel with the upper end face of the traverse table, an image sensor is correspondingly installed right above each inclined detection grating plate, and the shooting directions of the image sensors are in one-to-one vertical correspondence with the inclined detection grating plates.
7. The inclination judgment method of the intelligent stereo garage inclination detection device according to any one of claims 1-6, characterized by comprising the following steps:
(1) presetting that the transverse grating plate can display R color in the shooting direction opposite to the image sensor and G color in the shooting direction deviating from the image sensor, and the vertical grating plate can display W color in the shooting direction opposite to the image sensor and B color in the shooting direction deviating from the image sensor;
(2) the image sensor shoots the tilt detection grating plate and transmits the shot image to the controller;
(3) the controller identifies the obtained image color and compares the identified image color with the color preset in the step (1);
(4) when the controller identifies that the horizontal grating plate of the same inclined detection grating plate shows R color and the vertical grating plate shows W color, the controller judges that the position of the inclined detection grating plate is not inclined;
when the controller identifies that the transverse grating plate of the same inclined detection grating plate shows R color and the vertical grating plate shows P color, the controller judges that the position of the inclined detection grating plate is inclined along the width direction of the lifting bridge box where the inclined detection grating plate is located and does not incline along the length direction of the lifting bridge box where the inclined detection grating plate is located;
when the controller identifies that the transverse grating plate shows G color, the vertical grating plate of the same inclined detection grating plate shows W color, the position of the inclined detection grating plate is inclined along the length direction of the lifting bridge box where the inclined detection grating plate is located, and the inclined detection grating plate is not inclined along the width direction of the lifting bridge box where the inclined detection grating plate is located;
when the controller identifies that the transverse grating plate shows G color and the vertical grating plate of the same inclined detection grating plate shows B color, the controller judges that the position of the inclined detection grating plate is inclined along the length direction and the width direction of the lifting bridge box where the inclined detection grating plate is located at the same time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010607133.0A CN111750833A (en) | 2020-06-30 | 2020-06-30 | Intelligence stereo garage slope detection device |
Applications Claiming Priority (1)
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| CN202010607133.0A CN111750833A (en) | 2020-06-30 | 2020-06-30 | Intelligence stereo garage slope detection device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112325806A (en) * | 2020-11-05 | 2021-02-05 | 湖南天桥利亨停车装备有限公司 | Comb tooth exchange mechanical stereo garage parking space parallel detection device and deviation correction method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112325806A (en) * | 2020-11-05 | 2021-02-05 | 湖南天桥利亨停车装备有限公司 | Comb tooth exchange mechanical stereo garage parking space parallel detection device and deviation correction method thereof |
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