CN111779337A

CN111779337A - Intelligent stereo garage management system

Info

Publication number: CN111779337A
Application number: CN202010891012.3A
Authority: CN
Inventors: 陈华伟; 张加武; 王雄; 李方旺; 雷龙宝
Original assignee: Zhejiang Shangmo Industry And Trade Co ltd
Current assignee: Zhejiang Shangmo Industry And Trade Co ltd
Priority date: 2019-08-29
Filing date: 2020-08-29
Publication date: 2020-10-16
Also published as: CN111779338A; CN110469174A; CN111852126A; CN212614003U

Abstract

The invention provides an intelligent stereo garage management system, which is used for managing the parking of vehicles in an intelligent garage and is characterized by comprising the following components: the system comprises a plurality of groups of multilayer vehicle carrying devices, wherein each group of multilayer vehicle carrying devices at least comprises two vehicle carrying robots for carrying vehicles and used as an upper-layer robot and a bottom-layer robot; the operation terminal is arranged in the warehousing area and is used for enabling a user to operate the taking and placing of the vehicle; and the management server is in communication connection with the vehicle-carrying robots and the operation terminal respectively, wherein the control terminal is used for enabling a user to input a parking request and send the parking request to the management server, the management server selects one vehicle-carrying robot from the robot identification numbers of the unloaded vehicle-carrying robots as a robot to be transported and uses the corresponding robot identification number as a robot identification number to be transported, and the in-out control part controls the corresponding robot to be transported to exit according to the identification number to be transported so as to enable the user to park the vehicle.

Description

Intelligent stereo garage management system

Technical Field

The invention belongs to the technical field of automatic garages, and particularly relates to an intelligent stereo garage management system.

Background

The vehicles are common vehicles for people to go at home, along with the deepening of urbanization, the scale of the city is larger and larger, and the automobile keeping quantity in the city is increased year by year. However, the problem of parking difficulty is always troubling city managers, and the car owners are often difficult to find corresponding parking spaces due to too many vehicles in daily trips. Therefore, how to increase the parking spaces in the existing field without influencing the operation of other vehicles becomes important.

At present, the garage in some superstores promotes space utilization through the mode of reforming into stereo garage with self to make and to park more vehicles in the garage of equal scale, alleviate the problem of parking stall disappearance. However, the existing stereo garage has a complex structure, needs to be modified on a large scale, is time-consuming and high in cost, and is difficult for general garage users (such as communities, small-sized shopping malls and the like) to bear the modification cost. Meanwhile, the stereo garages are difficult to be applied in large scale, and the problem of difficult parking in cities cannot be fundamentally solved.

Meanwhile, the management of parking the vehicle in a plurality of garages is very disordered, and the garages all depend on the users to find parking spaces capable of being parked in the garages, so that the users need to spend a large amount of time to park the vehicle when the garages are large, and the parking difficulty of the vehicle is increased.

Disclosure of Invention

In order to solve the problems, the invention provides an intelligent lift garage management system which can improve the parking efficiency of vehicles without transforming a field and can realize the automatic management of a garage, and the invention adopts the following technical scheme:

the invention provides an intelligent stereo garage management system, which is used for managing the parking of vehicles in an intelligent garage and is characterized by comprising the following components: the system comprises a plurality of groups of multilayer vehicle carrying devices, wherein each group of multilayer vehicle carrying devices at least comprises two vehicle carrying robots for carrying vehicles and used as an upper-layer robot and a bottom-layer robot; the operation terminal is arranged in the warehousing area and is used for enabling a user to operate the taking and placing of the vehicle; and the management server is in communication connection with the vehicle-carrying robots and the operation terminal respectively, wherein the intelligent garage is provided with a plurality of parking spaces for parking the vehicle-carrying robots, a warehousing area for loading and unloading vehicles and a transfer area for transferring the vehicles by the vehicle-carrying robots, the management server is provided with a robot information storage part, an idle robot acquisition part, a to-be-transferred robot selection part, an in-and-out control part and a service side communication part, the robot information storage part is used for storing a robot identification number of the vehicle-carrying robots, vehicle bearing information indicating whether the vehicle-carrying robots bear the vehicles and a moving route of each vehicle-carrying robot in the transfer area, the operation terminal is used for enabling a user to input a parking request and send the parking request to the management server, and once the management side communication part obtains the parking request, the idle robot acquisition part acquires all vehicle bearing information from the robot information storage part and indicates robot identification of the unloaded vehicle-carrying robots The system comprises a robot identification number acquisition part, a to-be-transported robot selection part, an in-out warehouse control part, a service side communication part and an in-out warehouse control part, wherein the robot identification number acquisition part acquires a vehicle-carrying robot from the acquired robot identification numbers according to a preset selection rule and takes the corresponding robot identification number as the to-be-transported identification number, the in-out warehouse control part controls the corresponding to-be-transported robot to be moved out of a parking space to a transportation area according to the to-be-transported identification number, and controls the to-be-transported robot to be moved from the transportation area to an in-warehouse area according to a moving route corresponding to the to-be-transported identification number, and further controls the service side communication part to send an in-warehouse prompt to an operation terminal, once the in-warehouse prompt is received, the operation terminal prompts a user to drive a vehicle into the to-be-transported robot and sends an in-warehouse request to, the parking space is filled with the vehicles, the parking of the vehicles is completed when the robot to be transported drives into the parking space, the bottom layer robot is provided with a supporting platform used for bearing the vehicles and used as a bottom layer supporting platform and a moving mechanism arranged at the bottom of the bottom layer supporting platform, the upper layer robot is provided with a supporting platform used for bearing the vehicles and used as an upper layer supporting platform and a lifting moving mechanism arranged at the edge of the upper layer supporting platform and used for lifting and moving the upper layer supporting platform, the lifting moving mechanism is used for lowering the upper layer supporting platform when the upper layer robot drives out of the parking space under the control of the warehouse-in and warehouse-out control portion, and the upper layer supporting platform is lifted when the upper layer robot drives into the parking space, so that the vehicles are borne above the bottom layer.

The intelligent stereo garage management system provided by the invention can also have the technical characteristics that, the robot information storage part also stores the vehicle-carrying robot type of the vehicle-carrying robot, when the in-out control part controls the corresponding robot to be transported according to the identification number to be transported, the control mode of the vehicle-carrying robot to be transferred is judged according to the type of the vehicle-carrying robot corresponding to the identification number to be transferred, when the robot to be transported is the upper robot, the in-out control part controls the robot to be transported to exit from the parking space to the transporting area, and then further controls the lifting and moving mechanism of the upper robot to lower the upper supporting platform, and after the robot to be transported finishes reverse movement, the lifting and moving mechanism of the upper-layer robot is controlled to lift the upper-layer supporting platform, and the driving wheels of the upper-layer robot are further controlled to move so that the upper-layer robot can drive into the parking space.

The intelligent stereo garage management system provided by the invention can also have the technical characteristics that the selection rule is as follows: when the in-out warehouse control part does not control the robot to be transported, the corresponding robot identification number with the shortest moving route is used as the identification number to be transported in the robot identification numbers obtained by the idle robot obtaining part; when the in-out warehouse control part controls the robot to be transported to move in the transportation area, whether a moving route corresponding to the robot identification number acquired by the idle robot acquisition part conflicts with a moving route corresponding to the identification number to be transported or not is sequentially judged, and the robot identification number which is judged to be not and is the shortest in corresponding moving route is used as the identification number to be transported.

The intelligent stereo garage management system provided by the invention can also have the technical characteristics that the management server further comprises a mobile route conflict judgment part and a planned route generation part, once the identification number to be transported is selected by the robot selection part to be transported, the in-out garage control part controls the mobile route conflict judgment part to judge whether the mobile route corresponding to the identification number to be transported conflicts with the mobile route of the robot to be transported moving in the transportation area, and when the mobile route conflict judgment part judges that the mobile route conflicts, the in-out garage control part controls the planned route generation part to generate a planned mobile route according to the mobile route of the robot to be transported moving in the transportation area and controls the robot to be transported by taking the planned mobile route as the corresponding mobile route.

The intelligent stereo garage management system provided by the invention can also have the technical characteristics that a plurality of geomagnetic devices used for marking a traveling route are laid below the transfer area, the lower end of the vehicle-carrying robot is provided with an induction mechanism capable of inducing geomagnetic signals of the geomagnetic devices, and the in-out control part confirms the position of the robot to be transferred according to the geomagnetic signals induced by the induction mechanism and controls the robot to be transferred to finish moving according to the moving route when controlling the robot to be transferred to move in the transfer area.

The intelligent stereo garage management system provided by the invention can also have the technical characteristics that the transfer area comprises a ground induction area and a wall induction area, radar induction devices are respectively paved on the ground induction area and the wall induction area, the vehicle-carrying robot is provided with a radar receiving device matched with the radar induction devices, and when the robot to be transferred is controlled to move in the transfer area by the in-out garage control part, the position of the robot to be transferred is confirmed according to a radar signal received by the radar receiving device and the robot to be transferred is controlled to finish moving according to a moving route.

The intelligent stereo garage management system provided by the invention can also have the technical characteristics that the management server is also provided with a parking information storage part, the garage entering area is also provided with a license plate shooting device, the license plate shooting device is used for shooting a vehicle and identifying license plate information of the vehicle when a user drives the vehicle onto the robot to be transported and confirms the garage entering of the vehicle, the parking information storage part takes the identification number to be transported of the robot to be transported as a parking identification number and correspondingly stores the parking identification number and the license plate information, and the vehicle bearing information setting part sets the corresponding vehicle bearing information in the robot information storage part as yes according to the identification number to be transported.

The intelligent stereo garage management system provided by the invention can also have the technical characteristics that the operation terminal is provided with an operation side picture storage part and an operation side input display part, the operation side picture storage part stores a car taking request picture, the operation side input display part is used for displaying the car taking request picture to enable a user to input a license plate number of a car to be taken as a car taking license plate number and send the car taking license plate number to the management server, once the service side communication part receives the car taking license plate number, the to-be-transferred robot selection part acquires a corresponding parking identification number from the parking information storage part as a to-be-transferred identification number according to the car taking license plate number, and the in-out garage control part controls a corresponding to-be-transferred robot to transfer the car to a garage entering area according to the to-be-transferred identification number to enable the user to take.

The intelligent stereo garage management system provided by the invention can also have the technical characteristics that the operation terminal is provided with an operation side picture storage part and an operation side input display part, the operation side picture storage part stores a full parking prompt picture, once the idle robot acquisition part does not acquire the robot identification number, the service side communication part sends a full parking message to the operation terminal, and the operation side input display part displays the full parking prompt picture and displays the full parking message so as to remind a user that the intelligent garage is full.

Action and Effect of the invention

According to the intelligent stereo garage management system, the operation terminal enables the user to describe the parking request, the management server can select one of the idle vehicle-carrying robots of the intelligent garage as the robot to be transported according to the parking request, the robot to be transported is controlled to go to the garage entering area through the garage entering and exiting control portion, and the robot to be transported is further controlled to return to the parking space when the user drives the vehicle to the vehicle-carrying robot, so that automatic parking of the vehicle in the intelligent garage is achieved, and parking operation of the vehicle by the user is greatly facilitated. In addition, still because year car robot divide into supporting upper robot and bottom robot to upper robot can lift supporting platform through lift mobile device in the parking stall, consequently, can also realize stacking the vehicle in the parking stall through upper robot and bottom robot, improves the space utilization on parking stall. According to the intelligent stereo garage management system, the garage field is not required to be modified, only the movable vehicle-carrying robot is required to be used, and the economical efficiency is ensured while the intelligent control is realized.

Drawings

Fig. 1 is a block diagram of a structure of an intelligent stereo garage management system according to a first embodiment of the present invention;

fig. 2 is a schematic structural diagram of an intelligent garage according to a first embodiment of the invention;

fig. 3 is a schematic structural diagram of a multi-layer vehicle carrying device in the first embodiment of the invention;

FIG. 4 is a schematic structural diagram of an upper robot according to an embodiment of the present invention;

FIG. 5 is a second schematic structural diagram of a middle-upper robot according to a first embodiment of the present invention;

FIG. 6 is an enlarged view of a portion of FIG. 4 at A;

FIG. 7 is a schematic structural diagram of an upper robot in a folded state according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a middle-bottom robot according to an embodiment of the present invention;

fig. 9 is a block diagram of an operation terminal according to a first embodiment of the present invention;

FIG. 10 is a block diagram of a management server according to an embodiment of the present invention;

FIG. 11 is a flow chart of a vehicle warehousing process in accordance with an embodiment of the present invention;

FIG. 12 is a flow chart of a vehicle ex-warehouse process according to an embodiment of the invention;

FIG. 13 is a schematic structural diagram of an upper robot according to a second embodiment of the present invention;

FIG. 14 is a front view of an upper robot in the second embodiment of the present invention;

FIG. 15 is a sectional view taken along line A-A of FIG. 14;

fig. 16 is a second schematic structural diagram of an upper robot according to a second embodiment of the present invention;

fig. 17 is a partial enlarged view at B in fig. 13; and

fig. 18 is a partial enlarged view at C in fig. 13.

Detailed Description

In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the robot for managing the intelligent garage of the invention is specifically described below with reference to the embodiments and the accompanying drawings.

< example one >

As a first implementation form, the embodiment provides a stereo garage robot as an upper robot, which includes a support platform for carrying a vehicle; a plurality of multi-section lifting devices are arranged on the periphery of the supporting platform and used for realizing the lifting operation of the supporting platform; the multi-section lifting device at least comprises an upper supporting rod and a lower supporting rod, and the upper supporting rod and the lower supporting rod are hinged; go up and be connected through first extensible member between bracing piece and the supporting platform, the lower extreme of bottom suspension arm is provided with the drive wheel.

Preferably, the upper end of lower branch vaulting pole is provided with eccentric portion, and it has the one end of second extensible member to articulate on the eccentric portion, and the other end of second extensible member is articulated with last vaulting pole.

Preferably, the eccentric part is a hinged fork arranged outside the upper end part of the support rod, and one end of the second telescopic piece is hinged in the hinged fork.

Preferably, the upper end of the upper supporting rod is provided with a cross rod, and a first telescopic piece is hinged in the cross rod; the supporting platform is provided with a plurality of object placing grooves in the circumferential side, and first telescopic pieces are hinged in the object placing grooves.

Preferably, the inner side of the lower support rod is provided with a third telescopic piece, the upper end of the third telescopic piece is fixedly arranged at the inner side of the lower support rod, and the lower end of the third telescopic piece is connected with a driving wheel.

Preferably, an inclined plane for vehicles to drive in is formed on one side of the supporting platform, two passageways are formed on one side of the inclined plane, and the size of each passageway is matched with that of the vehicle body.

Preferably, a plurality of distance sensors are arranged on the peripheral side of the supporting platform; the driving wheel is a hub motor.

As a second implementation form, the embodiment further provides an automatic garage, which comprises the stereo garage robot as described above, and further comprises a garage, wherein a garage entering area, a transfer area and a parking area are arranged in the garage; and the parking area is internally provided with a parking platform for parking the stereo garage robot and driving in vehicles, and the parking area is internally provided with an automatic transfer trolley for storing bottom vehicles and a stereo garage robot for storing upper vehicles.

Preferably, a plurality of geomagnetic devices used for marking the advancing route are laid below the transfer area, induction mechanisms inducted with the geomagnetic devices are arranged at the lower ends of the automatic transfer vehicle and the stereo garage robot, and the path is determined through induction with the geomagnetic devices.

Preferably, the transfer area comprises a ground induction area and a wall induction area, radar induction devices are respectively paved in the ground induction area and the wall induction area, and a radar receiving device which is induced by the radar induction devices is arranged on the stereo garage robot; the stereo garage robot further comprises a view screen imaging analysis device, and the view screen imaging analysis device comprises a camera.

Hereinafter, the intelligent stereo garage management system according to the embodiment will be specifically described with reference to the accompanying drawings.

Fig. 1 is a block diagram of a structure of an intelligent stereo garage management system according to an embodiment of the present invention.

As shown in fig. 1, an intelligent stereo garage management system 1300 includes a plurality of groups of multi-layer vehicle loading devices 1301, an operation terminal 1302, a management server 1303, and a communication network 1304.

The multi-layer vehicle loading device 1301 and the operation terminal 1302 are both used in one intelligent garage 1200, and the management server 1303 is in communication connection with each group of multi-layer vehicle loading devices 1301 and the operation terminal 1302 through a communication network 1304. In this embodiment, the communication network 1304 is a local area network disposed in the intelligent garage 1200.

Fig. 2 is a schematic structural diagram of an intelligent garage according to an embodiment of the present invention.

As shown in fig. 1, the multi-deck vehicle carrying apparatus 1100 of the present invention has a plurality of sets, all of which are disposed in an automated garage 1200 (i.e., an intelligent garage 1200). The intelligent garage 1200 comprises a warehousing area 128, a transfer area 129 and a parking area 1210, wherein the warehousing area 128, the transfer area 129 and the parking area 1210 are used for matching with a multi-layer vehicle carrying device 1100 to carry out warehousing and warehousing parking management on vehicles.

Fig. 3 is a schematic structural diagram of a multi-layer vehicle loading device in an embodiment of the invention.

As shown in fig. 3, the multi-deck vehicle loading apparatus 1100 includes two vehicle loading robots respectively serving as an upper-deck robot 1101 and a lower-deck robot 1116. The parking spaces and the parking spaces can be matched to form a multi-layer structure for parking vehicles, so that two vehicles can be stacked in each parking space in the parking area 1210, and the three-dimensional storage of the vehicles is realized in the intelligent garage 1200.

Fig. 4 is a first schematic structural diagram of a middle-upper robot according to a first embodiment of the present invention, and fig. 5 is a second schematic structural diagram of the middle-upper robot according to the first embodiment of the present invention.

As shown in fig. 4 and 5, the stereo garage robot 1101 (i.e., the upper robot 1101) includes a support platform 111 (i.e., the upper support platform 111) for carrying a vehicle, and a lifting and moving mechanism disposed at an edge of the upper support platform 111 for lifting and moving the upper support platform.

The lifting and moving mechanism includes a plurality of multi-section lifting devices 1120 (i.e., lifting rods 1120) disposed on the circumferential side of the supporting platform 111, and a driving wheel 115 (i.e., an upper driving wheel 115) disposed at the lower end of each lifting rod 1120.

Wherein in actual use, the vehicle will be driven onto the support platform 111. Preferably, one side of the supporting platform 1 is formed with an inclined surface 12 for a vehicle to drive in, one side of the inclined surface 12 is formed with two passageways 13, and the dimensions of the passageways 13 are adapted to the dimensions of the vehicle body.

The lifting rod 1120 is used for lifting the upper supporting platform 111, and the lifting rod 1120 is essentially a device for lifting and lowering the upper supporting platform 111 by using the cooperation between the telescopic member and the supporting member. In this embodiment, four lifting rods 1120 are provided, and are respectively disposed on two sides of the upper supporting platform 111 in opposite directions.

Fig. 6 is a partially enlarged view of a portion a in fig. 4.

As shown in fig. 4, 5 and 6, each multi-section lifting device 1120 at least comprises an upper support rod 112, a lower support rod 113, a first telescopic member 114 (i.e. platform telescopic member 114), a second telescopic member 116 (i.e. lifting rod folding and extending member 116) and a third telescopic member 117 (i.e. driving wheel telescopic member 117) for connecting the upper support rod 112, the lower support rod 113, the upper support platform 111 and the driving wheel 115. Specifically, the method comprises the following steps:

one end of the upper supporting rod 112 is hinged to the upper supporting platform 111, and the other end is hinged to the lower supporting rod 113, so that the upper supporting rod 112 and the upper supporting platform 111 can rotate with each other after being connected, and in a similar way, the upper supporting rod 112 and the lower supporting rod 113 can rotate with each other after being connected.

The upper support rod 112 is connected to the upper support platform 111 via a first telescopic member 114. Specifically, a cross rod 1121 (i.e., a first hinge rod 1121) and a second hinge rod 1122 are disposed at the upper end of the upper support rod 112, and a first telescopic member 114 is hinged in the cross rod 1121; a plurality of object placing grooves 1111 are formed on the periphery of the upper layer supporting platform 111, and first telescopic pieces 114 are hinged in the object placing grooves 1111.

In this embodiment, the object placing groove 1111 is used for accommodating the lifting rod 1120 in a folded state, and when the first extensible member 114 is extended, the upper support rod 112 is driven to rotate correspondingly, so as to drive the lower support rod 113 to rotate, thereby realizing folding or lifting. When the first telescopic member 114 is retracted, the upper supporting rod 112 is retracted into the object placing groove 1111, so that the height of the upper supporting platform 111 is lowered; when the first telescopic member 114 is extended, the upper supporting rod 112 is extended outwardly from the receiving slot 1111, and is finally substantially perpendicular to the horizontal plane of the upper supporting platform 111, so that the upper supporting platform 111 is lifted.

The technical scheme specifically discloses a connection relationship among the first telescopic part 114, the upper support rod 112 and the upper support platform 111. The design of placing the thing groove 1111 can let the garage robot can all accomodate upper support rod 112 and lower support rod 113 in placing the thing groove 1111 under fold condition to can further reduce stereo garage robot size, such design is also more pleasing to the eye.

The upper end of the lower support bar 113 is provided with an eccentric portion 1131.

The eccentric portion 1131 is hinged with one end of the second telescopic member 116, and the other end of the second telescopic member 116 is hinged with the second hinge rod 1122 of the upper support rod 112. That is, the upper support rod 112 is connected between the lower support rods 113 through the second telescopic member 116, and since the eccentric portion 1131 is disposed on the lower support rod 113, the length direction of the second telescopic member 116 always forms a certain angle with the length direction of the lower support rod 113. The technical scheme specifically discloses a connection mode between the lower support rod 113 and the upper support rod 112, and the eccentric design can prevent the lower support rod 113 from being clamped in the process of the rotating force of the lower support rod 113 when the second telescopic piece 116 works.

The position of the eccentricity may be in various forms, such as being positioned outside or inside the joint of the upper support bar 112 and the lower support bar 113, i.e., the eccentricity 1131 is provided at the hinge joint of the lower support bar 113 and the upper support bar 112. The other end of the second telescopic member 116 is preferably provided at the inner side of the upper support pole 112 at a position where it is hinged to the upper support pole 112. Therefore, the stress is more uniform and the layout is more reasonable.

In this embodiment, the eccentric portion 1131 is a hinged fork disposed outside the upper end of the lower support rod 113, and one end of the second telescopic member 116 is hinged in the hinged fork.

The technical scheme specifically discloses a shape design of the eccentric part 1131. The design of the hinged fork is essentially composed of two hinged plates, the hinged plates are provided with hole sites, and shaft parts penetrate through the hole sites and the lower end of the second telescopic piece 116 so as to realize the hinging effect. The structure design has the function of hinging and can realize the function of auxiliary support to a certain extent.

In this embodiment, the second telescopic member 116 and the eccentric portion 1131 can control the rotation of the lower support rod 113 and the upper support rod 112. When the second telescopic member 116 is contracted, the lower support rod 113 and the upper support rod 112 relatively rotate along the hinge joint and the included angle between the lower support rod and the upper support rod is reduced to form a folded state, so that the height of the upper support platform 111 is reduced; when the second telescopic member 116 is extended, the angle between the lower support rod 113 and the upper support rod 112 is increased and is in an upright state, so that the height of the upper support platform 111 is increased, and the upper support platform 111 can be lifted to the maximum extent by matching with the first telescopic member 114.

Fig. 7 is a schematic structural diagram of the upper-level garage robot in a folded state according to the first embodiment of the present invention.

As shown in fig. 7, after the first telescopic member 114 and the second telescopic member 116 are both contracted, so that the upper support rod 112 and the lower support rod 113 are both accommodated in the storage slot 1111, at this time, the height of the upper support platform 111 is minimized, so that the vehicle can be conveniently moved to the upper support platform 111 for parking.

The lower end of the lower support bar 113 is provided with a driving wheel 115.

Preferably, a third telescopic member 117 is disposed inside the lower support rod 113, an upper end of the third telescopic member 117 is fixedly disposed inside the lower support rod 113, and a lower end of the third telescopic member 117 is connected to the driving wheel 115.

In this embodiment, the driving wheel extension 117 is used to adjust the height of the driving wheel 115, so that when the road surface is uneven, the driving wheel extension can be correspondingly adjusted to keep the whole upper supporting platform 111 in a horizontal state.

The technical scheme specifically discloses a mode for realizing multi-section lifting. In practical use, the upper support rod 112 and the lower support rod 113 can lift the upper support platform 111. The maximum height that can be achieved by this structure is the sum of the heights of the upper support pole 112 and the lower support pole 113, and when such a sum of the heights is not sufficient, the telescopic operation can be performed again using the third telescopic member 117. Furthermore, if the technical scheme is not enough, a corresponding telescopic part can be added again, so that the height dimension can be further adjusted.

In this embodiment, the first extensible member 114, the second extensible member 116, and the third extensible member 117 are all hydraulic rods, and can be extended or retracted according to a preset program or a control signal.

Preferably, a plurality of distance sensors 1114 are further disposed on the peripheral side of the upper layer supporting platform 111; the drive wheel 115 is a hub motor.

This technical scheme specifically discloses a structural design of supporting platform 111, increases distance sensor and can prevent to bump, adopts in-wheel motor can make things convenient for driving of supporting platform 111. The above options are conventional for those skilled in the art and are not described herein in detail.

Fig. 8 is a schematic structural diagram of a middle-bottom layer robot according to an embodiment of the present invention.

The automatic transfer vehicle 1116 (i.e., the floor robot 1116) of the present embodiment employs the RGB automatic transfer vehicle 1116, and firstly, the RGB automatic transfer vehicle has the support platform 11161 (i.e., the floor support platform 11161) and also has an automatic traveling function, that is, as shown in fig. 8, the RGB automatic transfer vehicle 1116 has the floor support platform 11161 and the driving wheels disposed under the support platform 11161 as the floor driving wheels 11162. This automatic transfer vehicle 1116 is for parking a vehicle placed on the lower floor; the upper level vehicle will be carried by the stereo garage robot 1101 (i.e., the upper level robot 1101).

As shown in fig. 3, since the lifting rods 1120 of the upper robot 1101 are disposed at both sides of the upper support platform 111, the width of the space reserved in the middle of the lifting rods 1120 is larger than that of the lower support platform 11161 of the lower robot 1116, so that the upper robot 1101 can move to the position where the lower robot 1116 is located and achieve the stacking of the vehicles with the upper support platform 111 lifted.

The garage entering area 128 is used for carrying out garage entering and leaving operations of vehicles, and a garage entering platform 1215 for parking and letting vehicles to enter the upper layer robot 1101 and the bottom layer robot 1116 is arranged in the garage entering area.

Specifically, the warehousing platform 1215 is provided with a warehousing slot adapted to the size of the vehicle-carrying robot, and the warehousing slot is used for allowing the upper-layer robot 1101 and the automatic transfer vehicle 1116 (i.e., the bottom-layer robot 1116) to enter the warehousing slot, so that the vehicle can be driven onto the support platform 111 from the warehousing platform conveniently.

The transfer area 129 is used for moving the upper layer robot 1101 and the lower layer robot 1116 between the parking area 1210 and the garage area 128 and transferring vehicles.

A base robot 1116 for storing a base vehicle and an upper robot 1101 for storing an upper vehicle are provided in the parking area 1210. In this embodiment, the parking area 1210 includes a plurality of parking spaces 12101 planned in advance, and the size of each parking space 12101 is adapted to the size of the multi-deck vehicle carrying device 1100, so that the upper-deck robot 1101 and the lower-deck robot 1116 can be parked at the same time.

This technical scheme specifically discloses an automatic garage's structure. The procedure is used such that the vehicle to be parked is first guided to the garage platform 1215, which is raised slightly above the normal ground level so that the upper surface of the support platform 111 remains substantially level with the upper surface of the garage platform 1215. Facilitating the entry of vehicles from the garage platform 1215 into the support platform 111. The support platform 111 may then proceed to the corresponding parking space as directed.

Generally, after the stereo garage robot 1101 drives to the corresponding parking space, the lifting moving mechanism starts to work to drive into the corresponding parking space, that is, before entering the parking space 12101, the lifting rod 1120 lifts the support platform 111 to a certain height and drives into the parking space 12101 while maintaining the state. Since this action of raising does not affect the travel of the vehicle already parked underneath, such a structural design, which is simple and effective, is the preferred structural design. By the design, the original single-layer parking space can be changed into a double-layer parking space at least, and the garage can be realized without carrying out particularly large transformation on the garage, so that the garage is simple and easy to implement.

Preferably, a plurality of geomagnetic devices for marking the traveling route are laid below the transfer area 129, and the automatic transfer vehicle 1116 and the stereo garage robot 1101 are provided at lower ends thereof with sensing mechanisms which are sensed by the geomagnetic devices and determine the traveling route by sensing with the geomagnetic devices.

In this embodiment, the warehousing area 128 is further provided with a license plate shooting device capable of being in communication connection with the management server 1303, and the license plate shooting device is used for shooting license plates of vehicles and identifying corresponding license plate information. In addition, the license plate shooting device can also be used for identifying whether the vehicle is still on the vehicle-carrying robot or not.

In addition, in this embodiment, a communication module and a control module are respectively disposed in the upper layer robot 1101 and the bottom layer robot 1116, the communication module is configured to communicate with the management server 1303 and receive a corresponding control instruction, and the control module is configured to control each power-on component of the vehicle-carrying robot according to the control instruction of the management server 1303.

Fig. 9 is a block diagram of an operation terminal according to a first embodiment of the present invention.

As shown in fig. 9, the operation terminal 1302 includes an operation-side screen storage unit 1321, an operation-side input display unit 1322, an operation-side communication unit 1323, and an operation-side control unit 1324 for controlling the above-described units.

The operation-side screen storage unit 1321 stores an operation selection screen, a parking request screen, a garage entry confirmation screen, and a car pickup screen.

The operation selection screen is displayed as a resident after the operation terminal 1302 is started, and allows the user to select a desired operation. In this embodiment, the user can select the parking operation and the pickup operation.

The parking request screen is used for displaying when the user selects the parking operation, and a parking request button is displayed on the screen to allow the user to click and confirm the sending of the parking request.

In this embodiment, when the user clicks the parking request button, the operation-side communication unit 1323 transmits a parking request to the management server 1303.

The warehousing confirmation screen is displayed when the operation-side communication unit 1323 receives the warehousing prompt, and allows the user to confirm warehousing of the vehicle through the warehousing confirmation screen after driving the vehicle onto the vehicle-carrying robot.

In this embodiment, once the user confirms warehousing through the warehousing confirmation screen, the operation-side communication section 1323 transmits a warehousing request to the management server 1303.

The vehicle taking request picture is used for displaying when the user selects the parking operation, and a vehicle taking request button is displayed in the picture so that the user can input vehicle taking request information.

In this embodiment, the car taking request information is the number of the car taking license plate input by the user

The full parking prompt screen is displayed when the operation-side communication unit 1323 receives the full parking message, and displays the full parking message on the screen to notify the user that the current smart garage 1200 is full and no parking space is available for parking.

The operation-side input display unit 1322 is used to display the screens, so that the user can perform corresponding human-computer interaction through the screens.

The operation-side communication unit 1323 is used to exchange data between the operation terminal 1302 and the management server 1303.

Fig. 10 is a block diagram of a management server according to an embodiment of the present invention.

As shown in fig. 10, the management server 1303 includes a robot information storage unit 1331, an idle robot acquisition unit 1332, a to-be-transferred robot selection unit 1333, an entry/exit library control unit 1334, a movement route conflict determination unit 1335, a planned route generation unit 1336, a parking information storage unit 1337, a vehicle-mounted information setting unit 1338, a service-side communication unit 1339, and a service-side control unit 1340 for controlling the above units.

The robot information storage section 1331 stores a robot identification number, vehicle loading information, a movement route, and a vehicle-mounted robot type for each vehicle-mounted robot.

The robot identification number is a unique identification number for each vehicle-carrying robot, and the management server 1303 can find the corresponding vehicle-carrying robot based on the robot identification number. The vehicle carrying information is used to indicate whether the corresponding vehicle-carrying robot carries a vehicle, for example, when the vehicle-carrying robot carries a vehicle, the vehicle carrying information is recorded as 1, otherwise, the vehicle carrying information is recorded as 0.

In addition, the moving route is obtained by being established in advance according to the parking position of the vehicle-carrying robot in the intelligent garage 1200 and the structure of the transfer area 129, and based on the moving route, the vehicle-carrying robot can move back and forth between the corresponding parking space 12101 and the warehousing platform 1215.

In this embodiment, the vehicle loading robot types respectively correspond to the upper layer robot 1101 and the bottom layer robot 1116, and the management server 1303 can determine whether the corresponding vehicle loading robot is the upper layer robot 1101 or the bottom layer robot 1116 based on the vehicle loading robot types.

The free robot acquiring unit 1332 is configured to acquire, when the service-side communication unit 1339 receives a parking request, a robot identification number of a vehicle-mounted robot whose all-vehicle-mounted information indicates that the vehicle is not mounted, from the robot information storage unit 1331.

In this embodiment, the idle robot acquiring portion 1332 generally acquires robot identification numbers corresponding to a plurality of idle vehicle-carrying robots, and selects a robot to be transferred from the idle vehicle-carrying robots through the subsequent robot to be transferred selecting portion 1333. However, in some special cases, for example, when the garage is full, the idle robot acquiring section 1332 cannot retrieve the robot identification number that meets the condition, and at this time, the service-side communication section 1339 sends a full parking message to the operation terminal, thereby informing the user that there is no empty space in the intelligent garage 1200.

The to-be-transferred robot selecting section 1333 selects one vehicle-carrying robot from the acquired robot identification numbers as a to-be-transferred robot based on a predetermined selection rule and takes the corresponding robot identification number as the to-be-transferred identification number.

In this embodiment, the rule is selected to use the identification number of the robot with the shortest moving route as the identification number to be transferred.

The entry/exit control unit 1334 is used to control the movement route collision determination unit 1335, the planned route generation unit 1336, and the vehicle-mounted robot. Specifically, the method comprises the following steps:

once the to-be-transferred robot selection portion 1333 selects the to-be-transferred identification number, the in-out garage control portion 1334 controls the movement route conflict determination portion 1335 to determine whether the movement route corresponding to the to-be-transferred identification number conflicts with the movement route of the to-be-transferred robot that is moving in the transfer area.

In this embodiment, the robot to be transported that is moving in the transportation area is the robot to be transported that was previously selected by the robot to be transported selecting unit 1333 and is being controlled by the in-out warehouse control unit 1334. The travel route collision determination unit 1335 is used to determine whether or not the travel routes of the two are in collision with each other, so as to avoid collision between the two when the entry/exit control unit 1334 controls the movement of the two at the same time.

When the travel route collision determination section determines no, the in-out control section 1334 controls the robot to be transported directly according to the travel route corresponding to the identification number to be transported in the robot information storage section 1331.

When the travel route collision determination section determines yes, the entry/exit library control section 1334 controls the planned travel route generation section 1336 to generate a planned travel route from the travel route of the robot to be transported that is moving in the transit area 129, and controls the robot to be transported with the planned travel route as the travel route corresponding to the identification number to be transported.

In the present embodiment, the planned route generating unit 1336 generates a route that does not conflict with the moving route in use, mainly based on the previously stored routes of the diversion area 129, when generating the planned moving route. For example, when there are a plurality of aisles in the transit zone, the planned route generation section 1336 adjusts the movement route into one of the unaffected aisles to form the planned movement route.

When controlling the robot to be transported, the in-out control section 1334 performs the following specific control processes:

the warehousing-out control part 1334 controls the corresponding robot to be transported to be exported from the parking space 12101 to the transportation area 129 according to the identification number to be transported, controls the robot to be transported to be moved from the transportation area 129 to the warehousing area 128 according to the moving route corresponding to the identification number to be transported, and further controls the service side communication part 1339 to send a warehousing prompt to the operation terminal 1302 to allow the user to confirm warehousing.

Once the service-side communication portion 1339 receives the warehousing request sent by the user when the user confirms warehousing, the warehousing-in and warehousing-out control portion 1334 controls the license plate photographing device to photograph the warehoused vehicle and identify the license plate information of the vehicle, the robot to be transported moves reversely along the corresponding moving route, and the robot to be transported drives into the parking space 12101 to complete parking of the vehicle.

In this embodiment, when the robot to be transported is controlled by the in-out control section 1334 to move on the basis of the movement route, the specific position of the robot to be transported is determined according to the geomagnetic information of the geomagnetic device sensed by the sensing mechanism of the robot to be transported, so that the robot to be transported is accurately controlled to move along the movement route.

In addition, in the present embodiment, the in-out control section 1334 performs different controls when controlling entry and exit to and from the parking space 12101 for different types of robots to be transported.

When the robot to be transferred is the upper robot 1101, the in-out control section 1334 controls the lifting and moving device to lower the upper support platform 111 when controlling the upper robot 1101 to exit the parking space 12101; and when the upper robot 1101 is controlled to enter the parking space 12101, the lifting moving device is controlled to lift the upper support platform 111 outside the parking space 12101, and the driving wheels 115 are further controlled to enter the parking space 12101 so that the upper robot 1101 and the lower robot 1116 form a stack.

When the robot to be transferred is the floor robot 1116, the in-out control section 1334 directly controls the floor robot 1116 to move into and out of the parking space 12101.

The parking information storage unit 1337 is configured to, after the license plate photographing device is controlled by the in-out warehouse control unit 1334 to recognize the license plate information, store the to-be-transported identification number corresponding to the to-be-transported robot as the parking identification number and correspond to the license plate information.

In this embodiment, the parking information storage section 1337 stores license plate information of all currently parked vehicles in the intelligent garage and parking identification numbers (i.e., robot identification numbers) corresponding to the vehicles.

Further, when the service-side communication portion 1339 receives the vehicle pickup request information, the to-be-transported robot selection portion 1333 selects a corresponding parking identification number as the to-be-transported identification number in the parking information storage portion 1337 according to the vehicle pickup request information, so that the in-out-of-garage control portion 1334 can control the corresponding vehicle-mounted robot to transport the vehicle to the in-garage area according to the to-be-transported identification number, and the user takes out the vehicle.

In the process of picking up the vehicle, the in-out control part 1334 may also control the license plate photographing device to photograph the vehicle, and at this time, the in-out control part 1334 may determine whether the vehicle is still on the robot to be transported according to the recognition result of the license plate photographing device. When the vehicle is not on the robot to be transported, it is determined that the user has taken out the vehicle, and the in-out control section 1334 controls the robot to be transported to move backward along the movement route to return to the parking space.

In this embodiment, the vehicle pickup request information is a vehicle pickup license plate number input by the user, and the to-be-transferred robot selecting section 1333 selects a corresponding parking identification number according to the vehicle pickup license plate number.

The vehicle-mounted information setting unit 1338 is configured to set the vehicle-mounted information corresponding to the robot information storage unit 1331 to yes according to the to-be-transported identification number after the license plate information is stored in the parking information storage unit 1337.

In the present embodiment, when the entry/exit control unit 1334 controls the robot to be transported to exit from the garage, the vehicle-mounted information setting unit 1338 sets the vehicle-mounted information corresponding to the robot information storage unit 1331 to no based on the identification number to be transported.

The service-side communication unit 1339 is used for exchanging data between the management server 1303, the operation terminal 1302, and each vehicle-mounted robot.

Fig. 11 is a flowchart of a vehicle warehousing process according to an embodiment of the invention.

As shown in fig. 11, when the user arrives at the parking area and selects a parking operation through the operation selection screen in the operation terminal, the following steps are started:

in step S1-1, the operation-side input display unit 1322 displays a parking request screen for the user to confirm the transmission of the parking request, and the operation-side communication unit 1323 transmits the parking request to the management server 1303 once the user confirms it, and then the process proceeds to step S1-2;

in step S1-2, when the service-side communication unit 1339 receives the parking request, the idle-robot acquiring unit 1332 acquires the robot identification numbers of the vehicle-mounted robots whose all vehicle-mounted information indicates that the vehicle is not mounted from the robot information storage unit 1331, and proceeds to step S1-3;

step S1-3, the to-be-transferred robot selecting section 1333 selects one robot identification number from the robot identification numbers acquired in step S1-2 based on a predetermined selection rule as the to-be-transferred identification number, and then proceeds to step S1-4;

step S1-4, the in-out warehouse control part 1334 controls the corresponding to-be-transported robot to exit from the parking space 12101 to the transportation area 129 according to the to-be-transported identification number selected in step S1-3, and then the process goes to step S1-5;

step S1-5, the in-out warehouse control section 1334 controls the robot to be transported to move from the transfer area 129 to the warehousing area 128 according to the movement route corresponding to the identification number to be transported, and controls the service-side communication section 1339 to send a warehousing prompt to the operation terminal 1302 to allow the user to confirm warehousing, and then the process goes to step S1-6;

step S1-6, the operation side input display part 1322 displays a warehousing confirmation picture to make the user confirm warehousing of the vehicle through the warehousing confirmation picture after driving the vehicle to the vehicle-carrying robot, and then the step S1-7 is proceeded;

step S1-7, the in-out control section 1334 controls the license plate photographing device to photograph the license plate of the vehicle and identify the corresponding license plate information, and then the step S1-8 is entered;

step S1-8, the in-out warehouse control part 1334 controls the robot to be transferred to move reversely along the corresponding moving route, and then, the process goes to step S1-9;

step S1-9, the in-out control part 1334 controls the robot to be transferred to drive into the parking space 12101 to finish the parking of the vehicle, and then the step S1-10 is carried out;

and step S1-10, the parking information storage part 1337 takes the to-be-transported identification number of the to-be-transported robot as the parking identification number, correspondingly stores the to-be-transported identification number and the license plate information identified in the step S1-6, and then enters an end state.

In addition, in step S1-2, if the idle robot acquiring section 1332 does not acquire the robot identification number, the service-side communication section 1339 transmits a full parking message to the operation terminal so that the operation terminal displays a full parking screen to notify the user that the intelligent garage is full and cannot be parked.

Fig. 12 is a flow chart of a vehicle ex-warehouse process according to an embodiment of the invention.

As shown in fig. 12, when the user arrives at the garage and selects the pickup operation through the operation selection screen in the operation terminal 1302, the following steps are started:

in step S2-1, the operation-side input display unit 1322 displays a pickup request screen for allowing the user to input pickup request information, and the operation-side communication unit 1323 transmits the pickup request information to the management server 1303 upon confirmation of the user, and then proceeds to step S2-2;

step S2-2, the to-be-transferred robot selecting section 1333 selects a corresponding parking identification number as the to-be-transferred identification number in the parking information storage section 1337 according to the pick-up request information, and then proceeds to step S2-3;

step S2-3, the in-out warehouse control part 1334 controls the corresponding to-be-transported robot to exit from the parking space 12101 to the transportation area 129 according to the to-be-transported identification number selected in step S2-2, and then the process goes to step S2-4;

step S2-4, the in-out control section 1334 controls the robot to be transported to move from the transportation area 129 to the in-out area 128 according to the movement route corresponding to the identification number to be transported, lets the user take out the vehicle parked on the robot to be transported, and then proceeds to step S2-5;

step S2-5, the warehousing control section 1334 controls the license plate photographing device to photograph the warehousing area 128 to determine whether the vehicle is taken away, and then proceeds to step S2-6;

step S2-6, the in-out control section 1334 controls the to-be-transferred robot to move reversely along the corresponding moving route after judging that the vehicle is taken away, and then, the process goes to step S2-7;

step S2-7, the in-out garage control section 1334 controls the robot to be transferred to drive into the parking space 12101, and then the process proceeds to step S2-8;

in step S2-8, the vehicle-mounted information setting unit 1338 sets the corresponding vehicle-mounted information in the robot information storage unit 1331 to no based on the waiting transport identification number, and then enters the end state.

Examples effects and effects

According to the intelligent stereo garage management system provided by the embodiment, due to the fact that the operation terminal is arranged, a user inputs a parking request, the management server can select one of the idle vehicle-carrying robots of the intelligent garage according to the parking request to serve as the robot to be transported, the robot to be transported is controlled to move to the garage entering area through the garage entering and exiting control portion, the vehicle is further driven to the vehicle-carrying robot by the user, the robot to be transported is controlled to return to the parking space, automatic parking of vehicles in the intelligent garage is achieved, and parking operation of the vehicles by the user is greatly facilitated. In addition, still because year car robot divide into supporting upper robot and bottom robot to upper robot can lift supporting platform through lift mobile device in the parking stall, consequently, can also realize stacking the vehicle in the parking stall through upper robot and bottom robot, improves the space utilization on parking stall. According to the intelligent stereo garage management system, the garage field is not required to be modified, only the movable vehicle-carrying robot is required to be used, and the economical efficiency is ensured while the intelligent control is realized.

In addition, in the embodiment, the vehicle loading robot system comprises a moving route conflict judging part and a planned route generating part, so when the warehouse-in and warehouse-out control part simultaneously controls a plurality of vehicle loading robots to transfer, the moving route conflict of each vehicle loading robot can be avoided, and unnecessary loss is prevented.

< example two >

Compared with the first embodiment, the second embodiment is different in that the upper robot adopts a different design.

For convenience of description, the same reference numerals are given to the same structures as those of the first embodiment, and the description thereof is made with the same spirit.

Fig. 13 is one of the schematic structural diagrams of the upper robot in the second embodiment of the present invention, and fig. 14 is a front view of the upper robot in the second embodiment of the present invention.

As shown in fig. 13 and 14, the upper robot 2201 also has a support platform 221 for carrying the vehicle, a plurality of multi-stage lifting mechanisms 2220 provided on the periphery side of the support platform 221, and a drive wheel 225 provided at the lower end of each multi-stage lifting mechanism 2220.

Compared with the first embodiment, the second embodiment has the same inclined plane 2212 formed on one side of the supporting platform 221 for the vehicle to enter, and two passageways 2213 formed on one side of the inclined plane 2212. However, the form of the inclined surface 2212 is slightly different from that of the first embodiment, specifically:

fig. 15 is a sectional view taken along line a-a of fig. 14.

As shown in fig. 13 and 15, the support platform 221 includes a platform frame 2214, a carrier plate 2215, and a cylinder portion 2216.

The platform 2214 is a main frame for supporting the platform 221, and a plurality of storage slots 2211 are formed around the platform. In the second embodiment, two storage slots 2211 are formed on two sides of the platform holder 2214, and two multi-section lifting mechanisms 2220 are hinged to two ends of each storage slot 2211.

Carrier plate 2215 is used to carry a vehicle. The carrier plate 2215 is hinged to the platform 2214 via two carrier plate hinges 22151 at two sides, and each carrier plate hinge 22151 is disposed at a position away from the driving entrance at the midpoint of one side of the supporting platform 221.

In addition, each carrier plate hinge 22151 realizes the hinge between the carrier plate 2215 and the platform 2214 through a carrier plate hinge shaft, so that the carrier plate 2215 can rotate relative to the platform 2214 and can tilt towards the entrance.

The cylinder portion 2216 has one end disposed on the platform 2214 at an end away from the entrance and the other end connected to the carrier plate 2215. In this embodiment, the cylinder portion 2216 is used for lifting the carrier plate 2215 to make the carrier plate 2215 rotate along the carrier plate hinge 22151 to incline towards the entrance of the vehicle to form the inclined surface 2212, and is used for being flattened by the weight of the vehicle when the vehicle enters to make the carrier plate 2215 return to the horizontal state.

Fig. 16 is a second schematic structural diagram of an upper robot in the second embodiment of the present invention.

As shown in fig. 13, when there is no vehicle parked, i.e. the supporting platform 221 is empty, the cylinder 2216 will push up the carrier plate 2215 to make the carrier plate 2215 rotate along the carrier plate hinge 22151 and tilt towards the entrance, thereby forming a tilted surface 2212 for the vehicle to enter.

As the vehicle is driven in, the weight of the vehicle is gradually pressed toward the end opposite to the driving inlet, so that the cylinder 2216 is gradually pressed flat to maintain the carrier plate 2215 horizontal, i.e., to restore to the state of the carrier plate 2215 shown in fig. 16, and in this way, the vehicle can be conveniently driven into the support platform 221 more smoothly.

Meanwhile, the carrier plate 2215 is also provided with two aisles 2213 for planning vehicle driving. The function of the passageway 2213 is the same as that of the passageway 1113 in the first embodiment, and the description thereof is omitted.

In addition, in the second embodiment, a parking slot 22153 is additionally disposed on the carrier plate 2215, so that when the vehicle is parked, the wheels of the vehicle can slightly sink into the parking slot 22153, and the user can feel that the vehicle is parked in place and simultaneously protect the vehicle from sliding.

In contrast to the first embodiment, the multi-stage lifting mechanism 2220 of the second embodiment also has an upper support rod 222, a lower support rod 223, an eccentric section 2231 provided at the hinge joint of the upper support rod 222 and the lower support rod 223, and a second telescopic member 226 (i.e., a lifting rod folding extension member 226) and a third telescopic member 227 (i.e., a driving wheel telescopic member 227). In the second embodiment, the first telescopic member 114 is omitted.

In the second embodiment, the eccentric portion 2231 is disposed at the hinge of the upper support bar 222 and the lower support bar 223, and the second hinge bar 2222 is disposed at the lower end of the lower support bar 223. The lifter folding extension member 226 is hinged to the eccentric portion 2231 at one end and to the second hinge bar 2222 at the other end. In this manner, the folding and extending member 226 of the lift lever is also operated without being caught by the force for rotating the upper support rod 222.

Fig. 17 is a partial enlarged view at B in fig. 13.

As shown in fig. 17, the eccentric portion 2231 includes an upper joint 22311 and a lower joint 22312 hinged to each other, and the joints of the upper joint 22311 and the lower joint 22312 are simultaneously hinged to one end of the lifter folding-extending member 226. The other end of the upper joint 22311 is hinged to the upper support bar 222 and the other end of the lower joint is hinged to the lower support bar 223. By this eccentric 2231, the angle between the upper support bar 222 and the lower support bar 223 can be fixed, thereby facilitating better control of the angle of the upper support bar 222 and the lower support bar 223 by the lifter folding extension member 226.

Further, in the second embodiment, the upper support rod 222 and the lower support rod 223 also have a certain curvature, and the curvature is curved away from the lifting rod folding and extending member 226. In this way, the lifter folding extension member 226 can be more easily transferred to the upper support pole 222 and the lower support pole 223. Further, when two multi-stage lifting mechanisms 2220 provided to face each other are provided on both sides of the intelligent garage management robot 2200, the folding and extension of the upper support bar 222, the lower support bar 223, and the support platform 221 can be achieved without the first extensible member 114.

In addition, as shown in fig. 7, the multi-section lifting mechanism 2220 is in a contracted state, the upper support bar 222 and the lower support bar 223 are folded under the contraction of the lifting bar folding and extending member 226, so that the support platform 221 is lowered, and at this time, the vehicle can be parked by opening the upper carrier plate 2215 along the inclined plane 2212.

Fig. 18 is a partial enlarged view at C in fig. 13.

In the second embodiment, the driving wheel extension 227 is also disposed inside the lower support bar 223, and one end of the driving wheel extension is hinged to the lower support bar 223, and the other end of the driving wheel extension is hinged to a fixing seat 2251 for fixing the driving wheel 225. Each holder 2251 has a holder hinge 22511 and a holder hinge lever 22512.

Wherein, a fixing seat hinge 22511 is provided at an end of the fixing seat 2251 remote from the driving wheel extension 227 for hinging with the lower end of the lower support bar 223. The fixed base hinge lever 22512 is hinged to the drive wheel extension 227.

In this way, the drive wheel extension 227 also enables adjustment of the height of the drive wheel 115, maintaining the entire support platform 111 in a level condition. Meanwhile, the angle between the fixing seat 2251 and the lower support bar 223 may also be adjusted.

Through the upper layer robot of this embodiment two, also can cooperate the system in embodiment one to accomplish the automatic management in garage.

Effects and effects of example two

According to the second multi-layer vehicle carrying device provided by the embodiment, because the upper layer robot has an arc curved in the direction away from the lifting rod folding and extending member, and the upper support rod also has a corresponding arc, when the lifting rod folding and extending member extends and retracts, the force can be more easily applied to the upper support rod and the lower support rod, so that the lifting operation of the upper layer support platform can be more efficiently realized.

In addition, the eccentric part of the second embodiment is arranged on the upper support rod, and the second cross rod hinged with the lifting rod folding and extending component is arranged on the lower support rod, so that the same effect as that of the first embodiment can be realized, namely, the length direction of the lifting rod folding and extending component is always kept at a certain angle with the length direction of the upper support rod, and the locking is avoided.

In addition, in the second embodiment, because the upper layer supporting platform is provided with the supporting frame and the supporting plate hinged to the supporting frame, and the cylinder part jacks up one end of the supporting plate to enable the supporting plate to incline towards the entrance of the vehicle to form an inclined surface, the cylinder part is further flattened by the weight of the vehicle after the vehicle enters, so that the supporting plate is restored to be horizontal, and therefore the vehicle can enter the upper layer supporting platform more stably, and the parking experience of a user is improved.

< example three >

The third embodiment is basically the same as the first embodiment, and the difference is that the vehicle-carrying robot determines the traveling route in a different manner.

For convenience of description, in the third embodiment, the same reference numerals are given to the same structures as those in the first embodiment, and the description thereof is made with the same spirit.

In the third embodiment, the transit zone 339 eliminates the geomagnetic device. This transfer district 339 is including ground induction zone and wall body induction zone, and radar induction system has all been laid in ground induction zone and wall body induction zone, is provided with the radar receiving arrangement and looks screen image analysis device with the radar induction system response on stereo garage robot 3301 (be upper robot 3301 promptly) and the bottom robot 3316, looks screen image analysis device including the camera.

Through radar induction and video screen imaging analysis, the vehicle-carrying robot can also realize the confirmation of the advancing route.

In the third embodiment, when the in-out control portion 1334 controls the vehicle-carrying robot, the specific position of the vehicle-carrying robot can be obtained through the radar sensing and the video imaging analysis device of the vehicle-carrying robot, and further, the movement control is completed according to the movement route.

< modification example >

Compared with the first embodiment, the difference of the present modification is that the to-be-transferred robot selection unit adopts a different selection rule.

In this modification, the selection rule of the to-be-transferred robot selecting section 3333 is:

first, it is determined whether the entry/exit control section 1334 controls the transfer robot to move in the transfer area.

When the in-out warehouse control part 1334 does not control the robot to be transported, the robot identification number with the shortest corresponding moving route is taken as the identification number to be transported in the robot identification numbers acquired by the idle robot acquisition part 1332;

when the in-out warehouse control section 1334 controls the robot to be transported to move in the transportation area 129, it is sequentially determined whether the movement route corresponding to the robot identification number acquired by the idle robot acquisition section 1332 conflicts with the movement route corresponding to the identification number to be transported, and the robot identification number determined as being negative and having the shortest corresponding movement route is taken as the identification number to be transported.

By means of the method of the modified example, the problem that the moving routes of the robot to be transferred conflict can be avoided in advance. Further, in this case, the management server may not be provided with the travel route collision determination unit and the planned route generation unit.

The above-described embodiments are merely illustrative of specific embodiments of the present invention, and the present invention is not limited to the description of the above-described embodiments.

In addition, in the above embodiment, the operation terminal displays a plurality of screens for the user to select the corresponding operation. In other schemes of the invention, the operation terminal can be also provided with a plurality of buttons and prompting lamps, so that the user can judge corresponding information by pressing the buttons and according to the prompting lamps.

Further, the parking request may be automatically generated, for example, by installing a camera capable of recognizing the vehicle in a garage, and generating the parking request when the vehicle is recognized.

In addition, in the above embodiment, the vehicle is extracted by inputting the number plate of the vehicle, in another aspect of the present invention, a vehicle-taking code may be provided to the user through the operation terminal when the user confirms to enter the garage, and the vehicle-taking code is correspondingly stored. At this time, when the user gets the car, the corresponding car-getting code can be input through the car-getting request picture, so that the own car of the user is extracted.

In the above embodiment, the selection rule is selected according to the shortest path, and in other aspects of the present invention, the selection rule may also be a random rule, that is, a garage identification number is randomly acquired from each acquired garage identification number, and in this way, each vehicle carrying robot in the intelligent garage can be used more evenly, so that damage caused by an excessively high use frequency of the vehicle carrying robot close to the garage entering platform in the garage is avoided.

In the above embodiment, the vehicle pickup request information is a license plate number, and the to-be-transferred robot selection part selects a corresponding parking identification number according to the license plate number. In practical use, the vehicle taking request information can also be a parking number which is generated randomly or according to a preset rule, and is displayed to a user when the user confirms to put in storage, so that the user can also take the vehicle by means of the parking number.

In the above embodiment, the in-out control unit determines whether the user takes the vehicle away based on the recognition result of the license plate photographing device. In another aspect of the present invention, the user may input vehicle removal information through the operation terminal, and the in-out control unit controls the robot to be transported to return to the parking space only after the user confirms that the vehicle is removed.

Claims

1. The utility model provides an intelligence stereo garage management system for park to vehicle in the intelligent garage manages, its characterized in that includes:

the system comprises a plurality of groups of multilayer vehicle carrying devices, wherein each group of multilayer vehicle carrying devices at least comprises two vehicle carrying robots used for carrying vehicles and used as an upper layer robot and a bottom layer robot;

the operation terminal is arranged in the warehousing area and is used for enabling a user to operate the taking and placing of the vehicle; and

a management server which is respectively in communication connection with the vehicle-carrying robot and the operation terminal,

wherein the intelligent garage is provided with a plurality of parking spaces for parking the vehicle-carrying robots, a warehousing area for warehousing and warehousing the vehicles and a transfer area for transferring the vehicles by the vehicle-carrying robots,

the management server is provided with a robot information storage part, an idle robot acquisition part, a to-be-transferred robot selection part, an in-out warehouse control part and a service side communication part,

the robot information storage part stores a robot identification number of the vehicle-carrying robot, vehicle carrying information indicating whether the vehicle-carrying robot carries a vehicle or not and a moving route of each vehicle-carrying robot in the transfer area,

the control terminal is used for the user to input a parking request and send the parking request to the management server,

the idle robot acquisition unit acquires, from the robot information storage unit, a robot identification number of the vehicle-mounted robot whose all the vehicle-mounted information indicates that the vehicle is not mounted, upon acquisition of the parking request by the management-side communication unit,

the to-be-transferred robot selection part selects a vehicle-carrying robot from the acquired robot identification numbers as a to-be-transferred robot based on a preset selection rule and takes the corresponding robot identification number as the to-be-transferred identification number,

the in-out warehouse control part controls the corresponding robot to be transported to exit from the parking space to the transportation area according to the identification number to be transported, controls the robot to be transported to move from the transportation area to the in-out warehouse area according to the moving route corresponding to the identification number to be transported, and further controls the service side communication part to send a warehouse entering prompt to the operation terminal,

the operation terminal prompts the user to drive the vehicle into the robot to be transported once receiving the warehousing prompt and sends a warehousing request to the management server when the user confirms the warehousing of the vehicle,

the service-side communication part controls the robot to be transported to move reversely along the moving route once receiving the warehousing request, and finishes parking of the vehicle when the robot to be transported enters the parking space,

the bottom layer robot is provided with a supporting platform used for bearing the vehicle and used as a bottom layer supporting platform and a moving mechanism arranged at the bottom of the bottom layer supporting platform,

the upper layer robot is provided with a supporting platform used for bearing the vehicle and used as an upper layer supporting platform and a lifting and moving mechanism which is arranged at the edge of the upper layer supporting platform and used for lifting and moving the upper layer supporting platform,

the lifting moving mechanism is used for lowering the upper layer supporting platform when the upper layer robot exits the parking space under the control of the warehouse entry and exit control part, and lifting the upper layer supporting platform when the upper layer robot enters the parking space so as to bear the vehicle above the bottom layer robot.

2. The intelligent stereo garage management system of claim 1, wherein:

wherein the robot information storage part also stores the vehicle-carrying robot type of the vehicle-carrying robot,

when the in-out warehouse control part controls the corresponding robot to be transported according to the identification number to be transported, the control mode of the robot to be transported is judged according to the type of the vehicle carrying robot corresponding to the identification number to be transported,

when waiting to transport the robot for upper robot, the warehouse entry control portion is in control wait to transport the robot follow the parking stall is rolled out to transport the district after, just further control upper robot the lift moving mechanism descends upper support platform, and wait to transport the robot and accomplish after the reverse movement, just control upper robot's lift moving mechanism uplift upper support platform, further control upper robot's drive wheel removes and makes upper robot roll into the parking stall.

3. The intelligent stereo garage management system of claim 1, wherein:

wherein the selected rule is:

when the warehousing and ex-warehousing control part does not control the robot to be transported, taking the corresponding robot identification number with the shortest moving route as the identification number to be transported in the robot identification numbers obtained by the idle robot obtaining part;

when the robot to be transported is controlled by the warehousing and ex-warehouse control part to move in the transportation area, whether a moving route corresponding to the robot identification number acquired by the idle robot acquisition part conflicts with a moving route corresponding to the identification number to be transported or not is sequentially judged, and the robot identification number which is judged to be not and corresponding and is the shortest in moving route is taken as the identification number to be transported.

4. The intelligent stereo garage management system of claim 1, wherein:

wherein the management server further comprises a movement route conflict judgment part and a planned route generation part,

once the identification number to be transferred is selected by the robot-to-be-transferred selecting section, the entry-exit/entry control section controls the movement route collision determination section to determine whether or not the movement route corresponding to the identification number to be transferred collides with the movement route of the robot to be transferred that is moving in the transfer area,

and when the moving route conflict judgment part judges that the robot to be transported moves in the transportation area, the warehousing-out control part controls the planned route generation part to generate a planned moving route according to the moving route of the robot to be transported moving in the transportation area, and controls the robot to be transported by taking the planned moving route as the corresponding moving route.

5. The intelligent stereo garage management system of claim 1, wherein:

wherein, a plurality of geomagnetic devices used for marking the travelling route are laid below the transfer area,

the lower end of the vehicle-carrying robot is provided with an induction mechanism which can induce a geomagnetic signal of the geomagnetic device,

the warehouse entry and exit control part controls the robot to be transported to move in the transporting area, confirms the position of the robot to be transported according to the geomagnetic signals sensed by the sensing mechanism and controls the robot to be transported to complete the movement according to the moving route.

6. The intelligent stereo garage management system of claim 1, wherein:

wherein the transfer area comprises a ground induction area and a wall induction area,

radar sensing devices are laid in the ground sensing area and the wall sensing area,

the vehicle-carrying robot is provided with a radar receiving device matched with the radar sensing device,

and the in-out warehouse control part controls the robot to be transported to move in the transportation area, confirms the position of the robot to be transported according to the radar signal received by the radar receiving device and controls the robot to be transported to complete the movement according to the movement route.

7. The intelligent stereo garage management system of claim 1, wherein:

wherein the management server further has a parking information storage unit,

the warehousing area is also provided with a license plate shooting device,

the license plate shooting device is used for shooting the vehicle and identifying license plate information of the vehicle when the user drives the vehicle into the robot to be transported and the user confirms the warehousing of the vehicle,

the parking information storage part takes the identification number to be transported of the robot to be transported as a parking identification number and correspondingly stores the identification number and the license plate information,

the vehicle carrying information setting part sets the corresponding vehicle carrying information in the robot information storage part to be yes according to the identification number to be transferred.

8. The intelligent stereo garage management system of claim 7, wherein:

wherein the operation terminal has an operation-side screen storage section and an operation-side input display section,

the operation side picture storage part stores a car taking request picture,

the operation side input display part is used for displaying the vehicle taking request picture to allow the user to input the license plate number of the vehicle to be taken as the vehicle taking license plate number and send the vehicle taking license plate number to the management server,

once the service side communication part receives the license plate number, the to-be-transferred robot selection part acquires the corresponding parking identification number from the parking information storage part as the to-be-transferred identification number according to the license plate number,

the warehousing and ex-warehousing control part controls the corresponding to-be-transported robot to transport the vehicle to the warehousing area according to the to-be-transported identification number so that the user takes out the vehicle.

9. The intelligent stereo garage management system of claim 1, wherein:

the operation side picture storage part stores a full parking prompt picture,

the service-side communication section transmits a full park message to the operation terminal as soon as the idle robot acquiring section does not acquire the robot identification number,

and the operation side input display part displays the full parking prompt picture and displays the full parking message so as to remind the user that the intelligent garage is full.