CN113882727A

CN113882727A - Lifting type automatic wireless charging three-dimensional parking system and working method

Info

Publication number: CN113882727A
Application number: CN202111240891.4A
Authority: CN
Inventors: 巫威眺; 甄文至; 林晓鹏; 邢益玮; 樊舒颖; 郭子鹏
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2021-10-25
Filing date: 2021-10-25
Publication date: 2022-01-04

Abstract

The invention relates to a lifting type automatic wireless charging three-dimensional parking system, which comprises a three-dimensional parking garage; the three-dimensional parking garage is provided with a plurality of parking layers; each parking layer is provided with a plurality of parking spaces, and each parking space is provided with a power supply interface; one side of each parking layer is provided with a charging track; each charging track is provided with a plurality of mobile devices, and each mobile device is provided with a wireless charging device; the control device is used for controlling the mobile device corresponding to the parking layer to move to one side of the parking space along the charging track according to the parking space information of the parking layer where the vehicle to be charged is located, so that the wireless charging device on the mobile device is in butt joint with the power supply interface of the parking space and wirelessly charges the vehicle to be charged. Need not all to dispose wireless charging stake or divide chargeable area for all parking stalls, can satisfy the wireless demand of charging of vehicle. The invention also relates to a working method of the lifting type automatic wireless charging three-dimensional parking system.

Description

Lifting type automatic wireless charging three-dimensional parking system and working method

Technical Field

The invention relates to the technical field of automobile wireless charging, in particular to a lifting type automatic wireless charging three-dimensional parking system and a working method.

Background

Stereo garage is equipped with a plurality of layers of parkking usually, and every layer of parkking is equipped with a plurality of parking stalls, can alleviate the nervous problem in parking stall to a great extent.

In the occasion of parking in this kind of public concentrated parking in parking area, wireless electric pile that fills can be under the condition of unmanned management, according to the instruction of charging that electric automobile sent, realizes the charging to the vehicle automatically, and it is convenient to give people.

However, the wireless charging system of the existing parking lot still has the following problems:

although the parking spaces are numerous, the utilization rate of the parking spaces is uncertain and random, for example, electric vehicles are not necessarily parked in a centralized manner or are not necessarily required to be charged simultaneously, after charging is completed, the charging device is in a non-working state, and the charging potential is always in an occupied state before the vehicle owner cuts off the power to pick up the vehicle, so that the invalid charging time causes waste of space-time resources, and the utilization rate of the charging device is low. If wireless electric pile that fills is all installed in every parking stall, then not only can cause the increase of construction and investment cost expense, but also can cause its work availability factor to be low, shortcomings such as maintenance cost height, and if only at some parking stalls installation wireless electric pile that fills, can restrict again like this and park the vehicle type, make the parking area can't accomplish maximize rational utilization moreover in rush hour.

Disclosure of Invention

Aiming at the technical problems in the prior art, one of the purposes of the invention is as follows: the utility model provides an automatic wireless three-dimensional parking system that charges of over-and-under type need not all to fill electric pile or divide chargeable area for all parking stalls are all disposed wirelessly, need not restrict and park the vehicle type, can satisfy the wireless demand of charging of vehicle, realizes the preferred configuration of resource.

Aiming at the technical problems in the prior art, the second purpose of the invention is as follows: the working method of the lifting type automatic wireless charging three-dimensional parking system is provided, wireless charging piles or chargeable areas do not need to be configured for all parking spaces, the types of parked vehicles do not need to be limited, wireless charging requirements of the vehicles can be met, and better configuration of resources is achieved.

In order to achieve the purpose, the invention adopts the following technical scheme:

a lifting type automatic wireless charging three-dimensional parking system comprises a three-dimensional parking garage and a control device; the three-dimensional parking garage is provided with a plurality of parking layers; each parking layer is provided with a plurality of parking spaces, and each parking space is provided with a power supply interface; one side of each parking layer is provided with a charging track, and the charging track is close to each parking space of the corresponding parking layer; each charging track is provided with a plurality of mobile devices, and each mobile device is provided with a wireless charging device; the control device is used for controlling the mobile device corresponding to the parking layer to move to one side of the parking space along the charging track according to the parking space information of the parking layer where the vehicle to be charged is located, so that the wireless charging device on the mobile device is in butt joint with the power supply interface of the parking space and wirelessly charges the vehicle to be charged.

And after the control device acquires the parking space information of the parking layer where the vehicle to be charged is located, controlling the mobile device of the parking layer to start to carry out action. The mobile device moves to one side of a parking space where the vehicle to be charged is located along the charging track, the wireless charging device on the mobile device is in butt joint with a power supply interface of the parking space and is communicated with the wireless charging loop, and therefore the vehicle parked on the parking space can be charged wirelessly.

Through setting up the track that charges in every parking layer one side, set up a plurality of mobile device that include wireless charging device on the track that charges, when the vehicle on certain parking stall has the demand of charging, control mobile device removes and can carry out wireless charging to this parking stall one side. Need not all to dispose comparatively expensive wireless charging stake (only need dispose the power supply interface who is connected with external power source) for every parking stall, need not to divide chargeable area earlier, also need not to restrict and park the vehicle type (fuel car or electric motor car), can satisfy the vehicle demand of charging, realized the preferred configuration of resource.

The number of the mobile devices can be freely increased and decreased according to data such as the density of the parked electric vehicles. The positions of the plurality of mobile devices can be flexibly configured on the charging track, for example, the mobile devices can be completely arranged at one end of the charging track, when a first vehicle to be charged is parked, the first vehicle to be charged is guided to park to a position close to the other end of the charging track, and then the first mobile device is controlled to be in butt joint charging. When the second vehicle to be charged is parked, the second vehicle to be charged is parked to a parking space close to the first vehicle, and then the second mobile device is controlled to be in butt joint with the first mobile device for charging. By analogy, ordered regulation and control can be obtained, and better configuration of resources is realized.

The plurality of mobile devices can also be arranged on the charging track at equal intervals, the vehicle to be charged is correspondingly guided to be parked in the position interval according to the position of the mobile position in the idle state, and the mobile position in the idle state is used for butt-joint charging, so that the better allocation of resources can be realized.

The three-dimensional parking system in the prior art is generally a simple parking system such as a roadway stacking type parking system, an up-down double-layer parking system, a lifting and traversing parking system and the like, has small scale and low volume ratio, is suitable for parking vehicles under the parking requirements of medium and small scales, and cannot meet the parking requirements of large commercial complexes, large residential quarters and other places.

The three-dimensional parking garage is an annular parking garage, has more parking spaces and is high in space utilization rate. The charging track is an annular track. Compared with an open-loop charging track, the annular track has a closed-loop structure, so that the mobile device has a more flexible moving path on the annular track, and the vehicle to be charged can be charged wirelessly more conveniently. Preferably, the annular parking garage and the annular track are both circular rings.

The annular track is the gear slide rail, and the mobile device is equipped with the walking gear, and the walking gear suits with the gear slide rail, and the walking gear is connected with horizontal drive device, moves on the gear slide rail through horizontal drive device drive walking gear, can move to waiting to charge vehicle place parking stall one side to the realization is with the butt joint of power supply interface.

The parking system in the prior art has low automation degree and generally low intelligent degree, and usually a driver is required to change a disc to search a parking space on a parking floor and automatically back to enter the parking space, so that time is consumed and the driver is hurt; the small automatic three-dimensional parking system has the advantages of low automation level, complex vehicle storing and taking instructions, low system operation efficiency and low vehicle owner experience; the parking system security is low, and small-size sky parking system's access car operation needs the driver to park the vehicle after, is parked the operation by administrator and driver intervention system, lacks effectual safety monitoring and protection mechanism.

In the invention, the parking layer comprises a garage zero layer (a layer which is positioned on the same horizontal reference plane with an external parking area outside the annular parking garage), the middle part of the annular parking garage is provided with the transfer device, and vehicles are transferred between the garage zero layer and the parking spaces through the transfer device, so that the construction cost of a floor ramp between each parking layer can be saved. Compared with manual parking, the invention does not need a manager and a driver to intervene a system for parking, avoids dizzy and uncomfortable caused by continuous spiral driving of the driver among a plurality of parking layers, saves floor space required by the driver to pour into a parking space, and has higher economic benefit; the parking position of the transfer device is more accurate, and the wireless charging device can be conveniently and accurately paired with the transfer device for charging.

The transfer device comprises a lifting device, a horizontal transfer device is arranged on the lifting device, the lifting device is used for lifting the horizontal transfer device, and the horizontal transfer device is used for transferring vehicles between a garage zero layer and the lifting device and between the lifting device and a parking space. When the garage is parked, the horizontal transfer device transfers the vehicle from the zero layer of the garage to the lifting device, and when the lifting device is lifted to the target parking layer, the horizontal transfer device transfers the vehicle to the target parking space. When the vehicle is taken, the vehicle is transferred to the lifting device from the parking space by the horizontal transfer device, and after the lifting device descends to the garage zero-level height, the vehicle is transferred to the garage zero-level by the horizontal transfer device.

The horizontal transfer device comprises a horizontal rotating device and a telescopic device which are arranged on the lifting device, the horizontal rotating device is provided with a U-shaped groove, and a groove plate of the U-shaped groove is used for temporarily parking the vehicle. The U-shaped groove is internally provided with an embedded chassis carrier, the telescopic device is fixedly connected with the embedded chassis carrier and used for horizontally extending out or retracting back the embedded chassis carrier, the parking space is provided with a storage position U-shaped parking plate, and the groove plate of the storage position U-shaped parking plate is used for parking vehicles. The width of the U-shaped inner diameter of the U-shaped parking plate at the storage position is larger than that of the embedded chassis carrier. The embedded chassis carrier is provided with a lifting mechanism for lifting the vehicle so that the vehicle leaves the U-shaped groove or the storage U-shaped parking plate. When the vehicle is stored, the embedded chassis carrier extends out of the chassis area of the vehicle, moves upwards to hold the vehicle and then retracts, moves downwards after coming above the U-shaped groove, and stops the vehicle on the U-shaped groove. The lifting device starts to ascend, when the lifting device is lifted to a target parking layer, the embedded chassis carrier moves upwards to support the vehicle and extends forwards, the horizontal rotating device rotates to the position above a target parking space, then the embedded chassis carrier moves downwards to enter the U-shaped parking plate of the garage, the vehicle is parked on the groove plate of the U-shaped parking plate of the garage, and the embedded chassis carrier retracts to finish the parking process. The vehicle taking process is executed according to the reverse steps of the vehicle parking process.

After adopting this kind of structure, can deposit and withdraw the vehicle fast accurately, avoided the driver to continue among a plurality of parking layers to circle dizzy and uncomfortable that the driving caused, saved the driver and poured into the required floor space in parking stall simultaneously, had higher economic benefits.

The annular garage parking outside is equipped with the ground parking stall, carries the vehicle between ground parking stall and garage zero layer in an orderly manner through program control AGV horizontal carrier, and the driver need not to drive and gets into in the annular garage parking, avoids appearing traffic congestion in the annular garage parking.

The ground parking stall is equipped with parking stall broach frame, parking stall broach frame is including the front wheel broach frame that is used for parking the vehicle front wheel and the rear wheel broach frame that is used for parking the vehicle rear wheel, be equipped with hoist mechanism between front wheel broach frame and the rear wheel broach frame, AGV horizontal carrier is equipped with transport broach frame, transport broach frame includes first broach frame and second broach frame, first broach frame and front wheel broach frame dislocation set, second broach frame and rear wheel broach frame dislocation set, can be with the vehicle from the parking stall broach frame on steadily shifting to the transport broach frame of AGV horizontal carrier.

A working method of a lifting type automatic wireless charging three-dimensional parking system comprises the following steps,

controlling a mobile device to move to one side of a parking space along a charging track according to the parking space information of a parking layer where a vehicle to be charged is located, so that a wireless charging device on the mobile device is in butt joint with a power supply interface of the parking space and wirelessly charges the vehicle to be charged; the mobile device and the charging track respectively correspond to a parking layer where the vehicle to be charged is located.

When the vehicle at a certain parking space has a charging demand, the mobile device is controlled to move to one side of the parking space, and then wireless charging can be carried out. The wireless charging pile is not required to be configured for each parking space, a chargeable area is not required to be divided firstly, the type of parked vehicles (fuel vehicles or electric vehicles) is not required to be limited, the charging requirement of the vehicles is met to the maximum extent, and better configuration of resources is realized.

The parking of the vehicle comprises the following steps,

obtaining parking request information of a vehicle positioned in a ground parking space; selecting a parking layer in an annular parking garage and parking spaces in the parking layer according to parking request information of vehicles; according to the selected parking spaces, the AGV horizontal carriers are controlled to carry vehicles from the ground parking spaces to the garage zero layer in the middle of the annular parking garage, and the transfer devices are controlled to transfer the vehicles from the garage zero layer to the parking spaces on the parking layer.

By adopting the vehicle parking method, the vehicles can be rapidly, orderly and accurately stored and taken, the dazzling and discomfort caused by continuous spiral driving of the driver among a plurality of parking layers are avoided, the floor space required by the driver for pouring into the parking space is saved, and the economic benefit is higher; a driver does not need to drive the vehicle to enter the annular parking garage, so that the traffic jam in the annular parking garage is avoided; the parking position is more accurate, and the wireless charging device can be conveniently and accurately paired with the wireless charging device for charging.

Overall, the invention has the following advantages:

the wireless charging pile is not required to be configured for each parking space, a chargeable area is not required to be divided firstly, the type of the parked vehicle (a fuel vehicle or an electric vehicle) is not required to be limited, the charging requirement of the vehicle can be met, and the better configuration of resources is realized.

Drawings

FIG. 1 is a flow chart of the operation of an embodiment of the present invention;

fig. 2 is a schematic top view of the lifting type automatic wireless charging three-dimensional parking system;

FIG. 3 is a schematic three-dimensional structure diagram of the lifting type automatic wireless charging three-dimensional parking system;

FIG. 4 is a schematic structural view of a parking shed and a ground parking space;

FIG. 5 is a schematic diagram of a ground comb structure;

FIG. 6 is a schematic view of an AGV horizontal carrier configuration;

FIG. 7 is a schematic view of an AGV horizontal carrier in cooperation with a floor comb structure;

FIG. 8 is a schematic view of the structure of the garage entrance and garage exit;

fig. 9 is a structural schematic view of an elevator pallet structure;

FIG. 10 is a schematic illustration of the structure of an elevator pallet structure carrier vehicle;

FIG. 11 is a schematic structural view of a garage steel structure;

fig. 12 is a schematic structural view of a U-shaped parking board at a parking location for charging in cooperation with a wireless charging device;

fig. 13 is a schematic structural view of a U-shaped parking board at a storage location when the wireless charging device is not matched for charging;

fig. 14 is a schematic structural diagram of a charging rail.

Description of reference numerals:

1-a parking shed frame, 2-support columns, 3-infrared cameras, 4-a dangerous article detection and emission device, 5-a vehicle weight identification sensing module and 6-a license plate photographing module;

100-external parking area, 101-ground parking structure, 102-ground parking comb structure, 103-front wheel comb rack, 104-rear wheel comb rack, 105-comb plate, 106-lifting motor, 107-limiting point, 108-ground parking space;

110-an external vehicle taking area, 111-a ground vehicle taking structure and 112-a ground vehicle taking comb structure;

130-AGV horizontal carrier, 131-first comb tooth frame, 132-second comb tooth frame, 133-comb tooth lifting motor, 134-comb tooth upper limit point, 137-vehicle weight recognition sensor, 138-jacking hydraulic press, 139-comb tooth lower limit point and 140-loaded navigation;

150-elevator car carrying tray, 151-U-shaped groove, 152-embedded chassis carrier;

160-elevator body, 161-vertical lifting control motor, 162-horizontal rotation control motor, 163-hydraulic rod telescopic arm, 164-telescopic control motor, 165-support structure;

180-steel structure framework, 181-storage U-shaped parking plate, 183-inner upright post and 184-outer upright post;

212-wireless charging device, 213-gear slide, 214-walking gear, 215-connecting arm, 216-slide suspension;

231-vertical electric energy transmission cable, 232-horizontal electric energy transmission cable, 233-charging control switch;

251-radial motor, 252-horizontal rotating motor;

303-garage entrance, 304-garage exit.

Detailed Description

In the process of implementing the invention, the inventor finds that the existing electric automobile charging has the following problems:

(1) the existing wired charging mode has the defects of wire winding, high danger of manual plugging and unplugging, large occupied area and the like, the wired charging mode can not avoid operations such as plugging and unplugging long and thick charging wires dragged by a ground, equipment has certain potential safety hazards of electric shock and electric leakage, and a charging pile needs to occupy a certain parking space area and partially runs off land resources;

(2) the existing charging device can meet the requirement of charging the electric automobiles at two parking spaces at most, after charging is completed, the charging device is in a non-working state, and a charging potential is always in an occupied state before the electric automobiles are powered off and get the electric automobiles, so that the invalid charging time causes the waste of space-time resources, and the utilization rate of the charging device is low.

Therefore, the wireless charging technology of the electric automobile and the automatic stereo garage are combined, the electric automobile is charged when parked, space-time resources are efficiently utilized, the danger of manual operation is reduced, and the system structure is in line with the future development trend. Parking capacity and intelligent level are improved through automatic three-dimensional parking, and space-time utilization rate of charging resources is improved through the movable wireless charging device 212.

The present invention will be described in further detail below.

As shown in fig. 1 to 4, the lifting type automatic wireless charging three-dimensional parking system comprises a storage and taking management module, a vertical lifting three-dimensional garage module and a surrounding mobile ring wireless charging module, which not only provides safety guarantee for an electric vehicle to be parked, but also records corresponding parking information and user instructions, and forms data interconnection with related application programs and applets.

The access management module comprises a life and dangerous goods detection module, a vehicle information identification and input module and an access instruction information platform.

The vertical lifting type stereo garage module comprises a hollow cylindrical stereo garage, an external parking area 100, an external car taking area 110, a zero-layer transverse moving conveying module, a lifting elevator module and a garage integral frame.

The surrounding mobile circular ring wireless charging module comprises an RFID tag and a wireless charging device 212 which are arranged in the radial direction of a circular ring sliding rail, a charging control module and a mobile motor. The vehicle to be charged needs to be equipped with an RFID tag and a powered device first.

The life and dangerous goods detection module is installed in each parking space of the external parking area 100 and comprises an infrared life module and a dangerous goods detection module. The infrared camera 3 on the support column 2 of the parking shed frame 1 scans and detects the internal environment of the parked car in the parking space and uploads the internal environment to the platform, and possible life bodies in the parking space range are identified through a computer algorithm. If the life body is found, the platform sends a prompt to the user and the working personnel through the APP or the applet, and the parking process is suspended. The dangerous goods detection and emission device 4 sends out X-ray to scan the environment in the vehicle, and if dangerous goods are found, all the following procedures are suspended and alarms are sent to inform drivers and managers.

The battery remaining capacity distinguishing module is installed below the ground vehicle parking comb structure 102 and used for obtaining vehicle capacity information and inputting the vehicle capacity information into the system platform.

The vehicle weight recognition sensing module 5 is installed below each parking space in the external parking area 100 and the external vehicle taking area 110, and is used for detecting the vehicle weight and uploading to a platform, and if the vehicle is overweight, giving a prompt, suspending the parking process, and giving an alarm to inform a driver and a manager to handle.

The access instruction information platform manages all user instruction information and controls the operation of the whole garage, wherein the user instruction information comprises an access vehicle instruction, expected charging time and parking fee, a user side access vehicle instruction unit, a user side expected charging time unit and a parking charging platform respectively receive corresponding instructions, coordinate and manage the instructions, and send various feedbacks to users for interaction through an APP or a small program. Through the user side vehicle access instruction unit, a user can send a vehicle parking instruction after parking a vehicle and flameout and locking the vehicle through an application program or an applet, and can send a vehicle taking instruction on the application program or the applet in advance. Through the user end expected charging time unit, a user can input expected charging time on the platform, the system platform records data, the expected charging time is preferentially met, and if the expected charging time conflicts with the charging time needed by the residual electric quantity of the battery, the residual electric quantity charging time is met, so that the charging schedule is arranged. If the vehicle is used for the first time, the platform prompts and guides the user to enter the access management interface to enter the information of the driver and the vehicle. Due to privacy protection, the entered information is only recorded in the background database and is not used for other purposes.

The structure of the garage entrance 303 is obtained by performing Boolean difference operation on a hollow cylindrical stereo garage and a cuboid with the width of 3000mm and the height of 3000mm, and is the only channel for connecting the external parking area 100 and the stereo garage. An external parking area 100 is arranged near each garage entrance 303, each external parking area 100 comprises a parking shed frame 1 and a ground parking structure 101, a plurality of ground parking spaces 108 are arranged in each parking shed frame 1, and each ground parking space 108 is provided with a set of life and dangerous goods detection module, a vehicle information identification and input module and a ground parking comb structure 102. When a user parks the vehicle, the vehicle needs to be parked in the parking space range firstly, the front wheel and the rear wheel of the vehicle are respectively positioned on the front wheel comb-tooth frame 103 and the rear wheel comb-tooth frame 104 of the ground comb-tooth structure 102, and dangerous goods in the vehicle are emptied and then leave the parking space range. The pressure sensor at the ground berth senses pressure change, and sends ready information to the platform after the vehicle weight identification sensing module 5 detects that the vehicle body is not overweight. The ground vehicle storage comb structure 102 receives a platform instruction to move, the comb plate 105 lifts the vehicle by 30cm and locks the vehicle at the limiting point 107 under the action of the lifting motor 106, a space for the AGV to enter the vehicle below the comb plate 105 is provided for the horizontal carrier 130 of the AGV, and a ready signal is transmitted to the platform after the completion. The platform will perform subsequent processing.

As shown in fig. 5-8, the external car taking area 110 includes a parking rack 1 and a ground car taking structure 111, each parking rack 1 is provided with a plurality of ground parking spaces 108, each ground parking space 108 has a set of ground car taking comb structure 112, when a user needs to take a car, a car taking instruction is sent out at a parking space on a platform or in the car taking area, and the system sends the car to the external car taking area 110 through the elevator module and the AGV horizontal carrier 130. Then the ground car-taking comb structure 112 is lifted to the limit point 107 under the action of the lifting motor 106, and the AGV horizontal carrier 130 transports the vehicle to the position above the ground car-taking comb structure 112 and transfers the vehicle to the ground car-taking comb structure 112. After confirming the safe transfer of the vehicle, the AGV horizontal carrier 130 leaves, and the ground pick-up comb structure 112 lowers the vehicle to the ground, transmitting a ready signal to the platform. The user can take the vehicle away and pay the parking fee.

And a zero-layer traversing module is respectively arranged near each garage entrance 303 and each garage exit 304, comprises an AGV horizontal carrier 130 and an AGV channel, forms logical fit with the vehicle information identification and input module, realizes vehicle carrying and moving, and is interconnected with the vertical elevator.

The AGV passageway includes the passageway of parking, gets the car passageway and accesses transfer passage. The parking channel and the car taking channel are radially connected with the garage entrance and exit to form 1/4 circular arc separation connection car parking and taking area, so that the parking and taking space separation is realized, and the AGV horizontal carrier 130 can directionally move. Meanwhile, a zigzag access transfer channel is built in the car access area, the AGV horizontal carrier 130 and the vehicle information identification and input module form network connection, and form physical connection with the vertical elevator, and the AGV horizontal carrier can go to the car storage area to operate according to the operation instructions after the car taking operation is finished, so that efficient scheduling and utilization are realized.

When parking is carried out, when the ground parking spaces 108 in the external parking area 100 are in a ready state, the vehicles are lifted by the comb structure by 30cm, the AGV horizontal carrier 130 integrally goes to the position below the comb plate 105, and the AGV horizontal carrier 130 is provided with a first comb rack 131 and a second comb rack 132. The front wheel comb frames 103 of the floor parking comb structure 102 are aligned in a staggered manner with the first comb frames 131 of the AGV horizontal carrier 130, and the rear wheel comb frames 104 are aligned in a staggered manner with the second comb frames 132. The rack of AGV horizontal carrier 130 is structurally with the rack gomphosis of rack 105, and the broach between them can be crisscross under broach lifting motor 133 pulls and pass through, accomplishes the transfer of vehicle steadily. Next, the vehicle weight recognition sensor 137 of the AGV horizontal carrier 130 detects the vehicle weight, and after confirming that it is not overweight, all the comb racks of the AGV horizontal carrier 130 are lifted by 10cm from the comb lower limit point 139 to the comb upper limit point 134 under the traction of the comb lifting motor 133, and the vehicle is transferred from the comb plate 105 to the first comb rack 131 and the second comb rack 132 of the AVG horizontal carrier in the lifting process, and then the comb teeth are locked. The AGV horizontal carrier 130 then exits the garage with the vehicle, completing the transfer of the vehicle from the external parking area 100 to the AGV horizontal carrier 130. Then, the AGV horizontal carrier 130 carries the vehicle to the elevator, and after the elevator tray returns to the zero-level state and sends a ready command, the AGV horizontal carrier 130 moves forward to the elevator position point, and the elevator car carrying tray 150 completes the operation of placing the vehicle on the tray. The elevator car carrying tray 150 checks the car weight, and after confirming that the car is placed, returns to a ready instruction, the AGV horizontal carrier 130 drives away from the elevator along the passage to carry out the next car parking or car taking.

During vehicle taking, taking the ground parking space 108 and the AGV horizontal carrier 130 as an example, the platform allocates one AGV horizontal carrier 130 to reset to the elevator car taking position, after the elevator car carrying tray 150 arrives, the embedded chassis carrier 152 is driven by the telescopic control motor 164 to send the vehicle out to the AGV horizontal carrier 130 through the hydraulic rod telescopic arm 163, the vehicle is sent back to the AGV horizontal carrier 130, the vehicle is carried to the designated ground parking space 108 of the external car taking area 110 through the garage exit 304 along the car taking channel, the jacking hydraulic press 138 is decompressed and released, the first comb tooth frame 131 and the second comb tooth frame 132 move downwards 10cm to the comb tooth lower limit point 139 to place the vehicle in the parking space of the external car taking area 110, and after a command is received, the AGV horizontal carrier 130 can leave and take the car for the next time.

As shown in fig. 9-11, the elevator module is located in the top center of the garage whole frame, and has a plurality of elevator tray structures (transfer devices), each of which includes an elevator car carrying tray 150, an elevator body 160, a vertical lifting control motor 161 (lifting device), a horizontal rotation control motor 162, a hydraulic rod telescopic arm 163, a telescopic control motor 164, and a support structure 165.

The elevator body 160 is connected to a vertical elevation control motor 161, a horizontal rotation control motor 162, and a telescopic control motor 164, and controls the height space of the elevator car-carrying tray 150.

The vertical elevation control motor 161 and the horizontal rotation control motor 162 power the elevator shaft 160 for vertical elevation and horizontal rotation movement of the elevator shaft 160.

The hydraulic rod telescopic arm 163 is disposed between the elevator car carrying tray 150 and the elevator body 160 to limit the telescopic length in the same height in the same direction.

The telescoping control motor 164 powers the hydraulic ram telescoping arm 163.

Taking the AGV horizontal carrier 130 as an example, after receiving a parking instruction, the platform guides the AGV horizontal carrier 130 to carry the vehicle to the elevator position, the embedded chassis carrier 152 is driven by the telescopic control motor 164 to move outward and insert between the AGV horizontal carrier 130 and the vehicle chassis area, and then moves vertically upward for a small displacement to hold the vehicle chassis and check the vehicle weight. After the completion of the vehicle transfer is confirmed, a ready command is returned, the embedded chassis carrier 152 moves back to drive the vehicle to reset on the U-shaped groove 151, and the vehicle is placed on the elevator vehicle carrying tray 150 to complete the vehicle transfer process. Then the vertical lifting control motor 161 and the horizontal rotation control motor 162 drag the elevator car carrying tray 150 to transport the car to a certain designated garage position on a certain layer of the garage frame. After reaching the designated garage location, the elevator car body 160 locks the elevator car pallet 150 at the corresponding location and maintains the stable position. After the ready command is obtained, the embedded chassis carrier 152 supports the chassis of the vehicle, the hydraulic rod telescopic arm 163 is changed into an extended posture to drive the embedded chassis carrier 152 and the vehicle, the embedded chassis carrier is pushed by the horizontal rotation control motor 162, moves along the radial direction to reach a designated storage position, decelerates and stops, and the vehicle is stopped on the U-shaped parking plate 181 at the storage position. Then, the horizontal rotation control motor 162 retracts the embedded chassis carrier 152 to the original position of the elevator car carrying tray 150 to decelerate and stop, after the instruction is completed, the elevator body 160 is unlocked to the elevator car carrying tray 150, and the elevator car carrying tray 150 executes the next instruction action. The process of picking up the vehicle is actually the reverse process of the process of parking the vehicle.

As shown in fig. 11-14, the integral framework of the garage comprises a steel structure framework 180, an inner upright 183, an outer upright 184, a U-shaped parking plate 181 at the garage position, and an electric energy transmission cable. The U-shaped parking plate 181 can be matched with an elevator to transport vehicles in and out, and can also be matched with a surrounding mobile circular ring wireless charging module to realize the positioning of the wireless charging module.

The steel structure frame 180 is constructed by steel to form a cylindrical external outline, and an anchoring support frame structure is constructed by taking a single parking space width limit as a unit interval, so that a similar-circle structure is formed.

The U-shaped parking plate 181 is formed by fixing steel plates arranged according to a standard wheelbase.

The electric energy transmission cable comprises a vertical electric energy transmission cable 231 and a horizontal electric energy transmission cable 232, is arranged between the inside of the outer wall of the three-dimensional parking garage and the U-shaped parking plate 181 of the garage, and provides electric power for the wireless charging module surrounding the mobile ring.

The gear slide rail 213 is made of low-resistance steel, is 500mm above the U-shaped parking plate 181 at the garage position, and is anchored with the whole frame of the garage by insulating materials.

The wireless charging module of the mobile circular ring is positioned on each layer of the integral framework of the garage. The gear slide 213 is attached to the garage frame via a slide hanger 216.

When the platform sends a charging instruction, the moving device (the radial motor 251 and the horizontal rotating motor 252) is controlled to act, the connecting arm 215 and the traveling gear 214 are driven to travel on the gear slide rail 213, the wireless charging device 212 is moved to the position below the parking space to be charged, RFID matching is performed, and charging can be performed after matching is passed. When the platform sends a charging stop command or detects that charging is completed, the wireless charging device 212 stops charging, and if there are vehicles to be charged, the platform continues to control the next charging process.

The specific working process is as follows:

when parking, a vehicle owner drives in the vehicle from one side of the parking shed frame 1 to any ground parking space 108 of the external parking area 100, a parking instruction is sent out on an application program or an applet by scanning a two-dimensional code or using an NFC function, expected charging time is input on a platform, and the system platform records and processes data. Meanwhile, the license plate photographing module 6 senses and identifies license plate number information and inputs the license plate number information into the system platform.

The infrared life detection camera module scans and detects the internal environment of the vehicle, and if a life body is found, all the following programs are suspended and an alarm is sent to inform a driver and a manager of processing. When the infrared life module passes the detection, the dangerous goods detection and emission device 4 sends out X-ray to scan the environment in the vehicle, and if dangerous goods are found, all the following procedures are suspended and alarms are sent to inform drivers and managers. If the situation is normal, the vehicle weight recognition sensing module 5 arranged in the external parking area 100 checks the vehicle weight and sends the vehicle weight to the platform, and if the vehicle is overweight, an alarm is given to inform a driver and a manager to process the vehicle weight. And after the detection process is finished, the parking process can be continued after all hidden dangers are eliminated.

And when all the detection is finished, the user can leave after confirming parking again. The pressure sensor at the ground berth senses pressure change, and after the vehicle weight identification sensing module 5 passes through, the ground vehicle storage comb tooth structure 102 lifts and locks the vehicle by 30cm and transmits signals to the platform. The platform sends an instruction to the AGV horizontal carrier 130, and the AGV horizontal carrier 130 guides the vehicle to the fixed position according to the attached navigation 140, and then transfers the vehicle from the rack comb structure 102. The AGV horizontal carrier 130 then carries the vehicle along the aisle through the garage entrance 303 into the garage level.

When the elevator car carrying tray 150 returns to the zero-layer state and sends a ready command, the embedded chassis carrier 152 moves outwards under the driving of the hydraulic rod telescopic arm 163 to the area between the AGV horizontal carrier 130 and the vehicle chassis, then moves vertically upwards to lift the vehicle chassis and check the weight of the vehicle, and returns to the ready command after confirming that the vehicle is not overweight, and the embedded chassis carrier 152 moves backwards to drive the vehicle, so that the vehicle is transferred to the elevator car carrying tray 150 from the AGV horizontal carrier 130 and is locked. After the vehicle transfer operation is completed, the jacking hydraulic press 138 of the AGV horizontal carrier 130 releases the pressure and then drives off the elevator along the aisle.

At this time, the vertical elevation control motor 161 and the horizontal rotation control motor 162 drag the elevator car carrying tray 150 to a designated parking garage location. Upon reaching the designated garage location, the elevator car body 160 locks the elevator car pallet 150. After the ready command is obtained, the embedded chassis carrier 152 supports the chassis of the vehicle, the hydraulic rod telescopic arm 163 is changed into an extended posture to drive the embedded chassis carrier 152 and the vehicle, the embedded chassis carrier is pushed by the horizontal rotation control motor 162, moves along the radial direction to reach a designated storage position, decelerates and stops, and the vehicle is stopped on the U-shaped parking plate 181 at the storage position. Subsequently, the horizontal rotation control motor 162 is retracted, the embedded chassis carrier 152 is reset to the home position, and after the command is completed, the elevator body 160 is unlocked from the elevator car carrying tray 150, and the elevator car carrying tray 150 executes the next command action.

When the platform receives a car taking command, the vertical lifting control motor 161 and the horizontal rotation control motor 162 drag the elevator car carrying tray 150 to a designated parking garage position and then lock the tray. The hydraulic rod telescopic arm 163 is changed into an extended posture to drive the embedded chassis carrier 152, and the embedded chassis carrier is pushed by the horizontal rotation control motor 162 to move along the radial direction to reach a designated storage position for deceleration and stop, so that the vehicle is transferred to the embedded chassis carrier 152 from the U-shaped parking plate 181 of the storage position. The embedded chassis carrier 152 then carries the vehicle under the drive of the hydraulic ram telescoping arm 163, transferring the vehicle onto the elevator car carrying tray 150. Then the elevator body 160 is unlocked from the elevator car carrying tray 150, and the vertical lifting control motor 161 and the horizontal rotating control motor 162 drag the elevator car carrying tray 150 to the garage zero-level car taking site.

After obtaining the information that the elevator carries the vehicle and arrives the garage zero floor, the platform guides horizontal carrier 130 of AGV to reset in the elevator and gets the car position point of getting of car passageway one side, and embedded chassis carrier 152 of elevator year car tray 150 is under the drive of flexible control motor 164, lifts the outward motion of waiting to get the vehicle to horizontal carrier 130 of AGV from the vehicle chassis, and vertical downward motion puts down the vehicle chassis again until the wheel is settled on first broach frame 131 and second broach frame 132. The AGV horizontal handler 130 checks the vehicle weight, confirms that the vehicle transfer is complete, the embedded chassis carrier 152 returns, the elevator car carrying tray 150 leaves the car pick-up location, and performs the next action. The AGV horizontal carrier 130 carries the vehicle along the aisle and moves through the garage exit 304 to a pick-up location, where the vehicle is positioned in the ground slot 108, and the user can pick up the vehicle and leave the yard. And after the user leaves the field, the parking and charging billing platform calculates the total parking and charging cost and sends the payment order to the user side for parking and charging payment.

During charging, after the vehicle is locked at the storage position, the platform allocates the wireless charging device 212 to the vehicle, and the wireless charging module drives the traveling gear 214 to travel by using the horizontal rotating motor 252, so as to drive the wireless charging device 212 to rotate horizontally and lock at one side of the designated storage position.

After the RFID tag installed at the bottom of the vehicle body and the RFID tag installed in the radial direction of the circular sliding rail are successfully identified and the protocol is mutually recognized, the charging control module is connected with the charging loop in the vertical electric energy transmission cable 231 and the horizontal electric energy transmission cable 232, the charging control switch 233 is turned on, and the vehicle starts to be wirelessly charged. When the preset charging time length is reached, the charging control module is powered off, the total charging time length is recorded and fed back to the system platform, meanwhile, the radial motor 251 is started, the charging device and the horizontal electric energy transmission cable 232 are unhooked, the gear slide rail 213 position locking is released, the horizontal rotating motor 252 is started, the device is driven to rotate to the position below the next charging warehouse according to instructions, and the efficient space-time resource utilization is achieved.

The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims

1. The utility model provides an automatic wireless sky parking system that charges of over-and-under type which characterized in that: comprises a stereo garage and a control device;

the three-dimensional parking garage is provided with a plurality of parking layers;

each parking layer is provided with a plurality of parking spaces, and each parking space is provided with a power supply interface;

one side of each parking layer is provided with a charging track, and the charging track is close to each parking space of the corresponding parking layer;

each charging track is provided with a plurality of mobile devices, and each mobile device is provided with a wireless charging device;

the control device is used for controlling the mobile device corresponding to the parking layer to move to one side of the parking space along the charging track according to the parking space information of the parking layer where the vehicle to be charged is located, so that the wireless charging device on the mobile device is in butt joint with the power supply interface of the parking space and wirelessly charges the vehicle to be charged.

2. The lift type automatic wireless charging three-dimensional parking system according to claim 1, wherein: the stereo garage is an annular garage, and the charging track is an annular track.

3. The lift type automatic wireless charging three-dimensional parking system according to claim 2, wherein: the annular track is a gear slide rail, the moving device is provided with a walking gear, the walking gear is matched with the gear slide rail, the walking gear is connected with a horizontal driving device, and the horizontal driving device is used for driving the walking gear to move on the gear slide rail.

4. The lift type automatic wireless charging three-dimensional parking system according to claim 2, wherein: the parking layer includes garage zero layer, and annular garage parking middle part is equipped with the transfer device, and the transfer device is used for transfering the vehicle between garage zero layer and parking stall.

5. The lift type automatic wireless charging three-dimensional parking system according to claim 4, wherein: the transfer device comprises a lifting device, a horizontal transfer device is arranged on the lifting device, the lifting device is used for lifting the horizontal transfer device, and the horizontal transfer device is used for transferring vehicles between a garage zero layer and the lifting device and between the lifting device and a parking space.

6. The lift type automatic wireless charging three-dimensional parking system according to claim 5, wherein: the horizontal transfer device comprises a horizontal rotation device and a telescopic device which are arranged on the lifting device, the horizontal rotation device is provided with a U-shaped groove, an embedded chassis carrier is arranged in the U-shaped groove, the telescopic device is fixedly connected with the embedded chassis carrier and used for horizontally extending out or retracting back the embedded chassis carrier, a storage U-shaped parking plate is arranged on a parking space, and the width of the storage U-shaped parking plate is larger than that of the embedded chassis carrier.

7. The lift type automatic wireless charging three-dimensional parking system according to claim 2, wherein: still include the horizontal carrier of AGV, the annular garage parking outside is equipped with the ground parking stall, and the horizontal carrier of AGV is used for transporting the vehicle between ground parking stall and garage zero layer.

8. The lift type automatic wireless charging three-dimensional parking system according to claim 7, wherein: the ground parking stall is equipped with parking stall broach frame, and AGV horizontal carrier is equipped with transport broach frame, parking stall broach frame and transport broach frame dislocation set.

9. A working method of a lifting type automatic wireless charging three-dimensional parking system is characterized by comprising the following steps: the elevation type automatic wireless charging three-dimensional parking system according to any one of claims 1 to 8 is adopted, comprising the following steps,

controlling a mobile device to move to one side of a parking space along a charging track according to the parking space information of a parking layer where a vehicle to be charged is located, so that a wireless charging device on the mobile device is in butt joint with a power supply interface of the parking space and wirelessly charges the vehicle to be charged;

the mobile device and the charging track respectively correspond to a parking layer where the vehicle to be charged is located.

10. The operating method of the lifting type automatic wireless charging three-dimensional parking system according to claim 9, characterized in that: the parking of the vehicle comprises the following steps,

obtaining parking request information of a vehicle positioned in a ground parking space;

selecting a parking layer in an annular parking garage and parking spaces in the parking layer according to parking request information of vehicles;

according to the selected parking spaces, the AGV horizontal carriers are controlled to carry vehicles from the ground parking spaces to the garage zero layer in the middle of the annular parking garage, and the transfer devices are controlled to transfer the vehicles from the garage zero layer to the parking spaces on the parking layer.