CN117328721A - Stereo garage, vehicle conveying device and method, control device and storage medium - Google Patents

Stereo garage, vehicle conveying device and method, control device and storage medium Download PDF

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Publication number
CN117328721A
CN117328721A CN202211499764.0A CN202211499764A CN117328721A CN 117328721 A CN117328721 A CN 117328721A CN 202211499764 A CN202211499764 A CN 202211499764A CN 117328721 A CN117328721 A CN 117328721A
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CN
China
Prior art keywords
vehicle
carrier
area
parking
carrying plate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211499764.0A
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Chinese (zh)
Inventor
于越
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qingdao Texin Smart Technology Co ltd
Original Assignee
Qingdao Texin Smart Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qingdao Texin Smart Technology Co ltd filed Critical Qingdao Texin Smart Technology Co ltd
Publication of CN117328721A publication Critical patent/CN117328721A/en
Pending legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • E04H6/22—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of movable platforms for horizontal transport, i.e. cars being permanently parked on palettes
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/426—Parking guides
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The stereo garage comprises a vehicle conveying device, a multi-layer parking layer and a control system, wherein at least one layer of the multi-layer parking layer is a conversion layer, the conversion layer comprises a conversion area, a parking area and a roadway, the conversion area is adjacent to a buffer area, the parking area is positioned at one side of the conversion area far away from the buffer area, the roadway is positioned between the parking area and the conversion area or is arranged in the middle of the parking area, and an avoidance area is arranged below the parking layer, in the parking area and/or in the roadway; the vehicle conveying device comprises a carrier and a lifter, wherein the carrier is used for translating the vehicle and can lift and transport the vehicle onto the lifter, and the lifter can translate along a roadway and transport the carrier and/or the vehicle in an upward or downward direction so as to switch between different parking layers; when the motion paths collide, the carrier moves to the avoidance area. The invention also discloses a vehicle conveying device and method of the stereo garage, an electronic control device and a computer readable storage medium.

Description

Stereo garage, vehicle conveying device and method, control device and storage medium
Technical Field
The present invention relates to a stereo garage, and more particularly, to a stereo garage, a vehicle conveying device and method thereof, an electronic control device and a computer readable storage medium.
Background
With the increase of the vehicle storage capacity, in order to solve the problem of parking difficulty caused by insufficient parking space, the prior art provides a stereo garage comprising a vehicle conveying device and a multi-layer parking space, wherein the vehicle conveying device comprises a conveying mechanism and a lifting mechanism, the conveying mechanism is used for bearing and conveying the vehicle conveying device, the lifting mechanism is used for conveying the vehicle conveying device to different parking layers, but how to reasonably plan the parking space and the conveying mechanism in the stereo garage and the movement area of the lifting mechanism so as to prevent the problem of reliability and efficiency reduction when the vehicle is stored and taken due to collision of the movement paths of the vehicle, the conveying mechanism and the lifting mechanism is a problem to be solved in the art.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a stereo garage, a vehicle conveying device and a method thereof, an electronic control device and a computer readable storage medium.
In order to achieve the above purpose, the invention provides a stereo garage, which comprises a vehicle conveying device, a plurality of layers of parking layers and a control system, wherein at least one layer of the plurality of layers of parking layers is a conversion layer, the conversion layer comprises a conversion area, a parking area and a roadway, the conversion area is adjacent to a buffer area of a vehicle, the parking area is positioned at one side of the conversion area far away from the buffer area, the roadway is positioned between the parking area and the conversion area or is arranged in the middle of the parking area, and an avoidance area is arranged below the parking layer, below the parking area and/or in the roadway; the vehicle transporting device comprises a transporter and a lifter, wherein the transporter is used for translating a vehicle and can lift and transport the vehicle onto the lifter, and the lifter can translate along the roadway and is used for transporting the transporter and/or the vehicle in an upward or downward direction so as to switch between different parking levels; when the motion paths collide, the carrier moves to the avoidance area.
The stereo garage is characterized in that the carrier can move onto the lifter or be separated from the lifter, the height of the carrier is smaller than the chassis height of the vehicle, the carrier can move below the chassis of the vehicle to avoid other objects, or the carrier can move below the chassis of the vehicle to move the vehicle and lift and transport the vehicle onto the lifter; the lifter is arranged in the roadway and is used for driving the carrier to translate in the roadway along a set route and conveying the carrier and/or the vehicle in an upward or downward direction so as to switch between different parking layers.
The stereo garage comprises a base, a lifting device and a car carrying plate, wherein the base is movably arranged in the roadway, the lifting device is arranged on the base, the car carrying plate is connected with the lifting device, and the lifting device drives the car carrying plate to move up and down relative to the base.
The stereo garage comprises a base, wherein the base comprises a supporting main body and two supporting legs, the two supporting legs are arranged on the supporting main body at intervals, an avoidance space is formed between the two supporting legs, one side of a vehicle carrying plate is connected with the supporting main body and can move up and down relative to the supporting main body, and when the vehicle carrying plate moves to a falling position, the avoidance space is used for accommodating the vehicle carrying plate; when the vehicle carrying plate moves to the ascending position, the avoidance space is configured to be a part of the avoidance area and is used for accommodating the carrier and/or the vehicle so as to avoid other carriers and/or vehicles.
The stereo garage comprises a lifting mechanism and a driving mechanism, wherein the vehicle carrying plate is connected with the lifting mechanism, the lifting mechanism is arranged on the base and connected with the driving mechanism, and the lifting mechanism drives the vehicle carrying plate to move up and down relative to the base; the driving mechanism drives the base to move along a set route; the carrier is arranged on the car carrying plate and moves back and forth relative to the car carrying plate so as to take or put cars from a parking space of the parking area.
The stereoscopic garage comprises a vehicle body, wherein the vehicle body is provided with a roadway, and the vehicle body is provided with a driving mechanism, a driving mechanism and a driving mechanism, wherein the driving mechanism comprises a first driving mechanism and a second driving mechanism, and the first driving mechanism is connected with the base and drives the base to move along the roadway; the second driving mechanism is connected with the lifting mechanism and drives the lifting mechanism to drive the vehicle carrying plate to move up and down.
The three-dimensional garage further comprises a third driving mechanism, the carrier is movably connected with the vehicle carrying plate, the third driving mechanism is arranged on the vehicle carrying plate and connected with the carrier, the third driving mechanism is used for driving the carrier to move back and forth relative to the vehicle carrying plate, and the avoidance area is arranged below the parking area so as to accommodate the carrier and the lifter.
The stereo garage comprises a lifting mechanism, wherein the lifting mechanism comprises a shearing fork guide part and a vertical telescopic part, the shearing fork guide part and the vertical telescopic part are installed on a bottom plate and are respectively connected with a vehicle carrying plate, the shearing fork guide part is used for guiding the vehicle carrying plate to move up and down stably, and the vertical telescopic part is connected with a second driving mechanism and drives the vehicle carrying plate to lift.
The stereo garage is characterized in that first comb tooth structures are arranged on the left side and the right side of the carrier, and the parking space is provided with second comb tooth structures matched with the first comb tooth structures.
The stereo garage is characterized in that at least one end of the car carrying plate is provided with a guide plate which is used for being overlapped with a passing surface or a frame of the roadway, and the guide plate is hinged with the car carrying plate.
The three-dimensional garage comprises a base, a lifting machine and a vehicle carrying plate, wherein the upper part of the three-dimensional garage is provided with a guide rail extending along the length direction of a roadway, the base is connected with the guide rail and moves along the guide rail, the vehicle carrying plate is connected with the base through the lifting machine and is positioned below the base, the lifting machine drives the vehicle carrying plate to move up and down relative to the base, and when the vehicle carrying plate is positioned at the lowest position, the carrier moves onto the vehicle carrying plate; the avoidance area part is arranged above the carrying area, and when the vehicle carrying plate collides with the carrier or the running path of the vehicle, the vehicle carrying plate is lifted to the upper part of the carrying area to avoid.
The stereo garage comprises a lifting machine, wherein the lifting machine comprises a telescopic column and a driving piece, the driving piece is connected with the telescopic column, and the telescopic column is respectively connected with the vehicle carrying plate and the base.
The stereo garage is characterized in that at least one side of the vehicle carrying plate is provided with an inclined plane which is used for being spliced with the ground or the laminate in a flush manner.
The three-dimensional garage comprises M lifters, N lifters and N lifters, wherein M is greater than or equal to N, and M and N are integers.
The above-mentioned stereo garage, wherein, the conversion layer is the flat layer, parking area, tunnel, conversion district with the buffer is smooth connection in proper order, so that the vehicle with the conveyer can be operated smoothly and switch between each.
Above-mentioned stereo garage, wherein, the holding surface in conversion district is higher than the traffic face in tunnel, dodge the district setting and be in the below in parking area, and empty lift with the carrier all can dodge the district internal passage.
The stereo garage is characterized in that the height of the conversion area is larger than or equal to the lowest height of the carrier.
The stereo garage comprises a transfer area, wherein the transfer area is provided with a transfer lifting mechanism, a supporting surface of the transfer area is flush with a roadway when the transfer lifting mechanism falls down, and the transfer lifting mechanism lifts when the carrier conveys vehicles from the transfer area.
The stereo garage comprises a first avoidance area, wherein the first avoidance area is arranged in the parking area of the conversion layer or the parking layer and is positioned below the vehicle chassis, and the height of the first avoidance area is larger than that of the carrier; and/or, the avoidance area comprises a second avoidance area, the second avoidance area is arranged above the roadway, and the height of the second avoidance area is greater than the height of the vehicle.
The above-mentioned stereo garage, wherein, the conversion layer is located the bottom of multilayer parking layer, stereo garage is still including locating a plurality of laminas that set up along the direction of height interval of conversion layer top, a plurality of form between the laminas parking area, dodge the district including the third dodge the district, the third dodge the district form in the conversion layer with be in between the laminas of bottom, the third dodge the district highly be less than the vehicle highly just be greater than the carrier highly or the height of lift.
The three-dimensional garage comprises a support column, wherein the support column is fixedly arranged on the conversion layer, and the laminate is fixedly connected with the support column and supported by the support column.
In order to better achieve the above object, the present invention also provides a vehicle transporting device of a stereo garage, wherein the vehicle transporting device comprises a carrier for translating a vehicle and capable of lifting and transporting the vehicle onto the lifter, and the lifter is capable of translating in a roadway and for transporting the carrier and/or the vehicle in an upward or downward direction to switch between different parking levels.
The vehicle conveying device is characterized in that the carrier is used for moving the vehicle at the switching layer or the parking layer, and the carrier can automatically move into the avoidance area to avoid other vehicles or other carriers.
In the vehicle conveying device, the avoidance area is arranged in the parking area of the conversion layer or the parking layer and is positioned below the vehicle chassis, and the height of the carrier is smaller than that of the avoidance area; or the avoidance area is arranged below the vehicle chassis or above the roadway, the height of the carrier is smaller than the height of the avoidance area below the vehicle chassis, and the height of the avoidance area above the roadway is larger than the height of the vehicle.
In the vehicle conveying device, the number of the carriers is M, the number of the lifters is N, and M is equal to or greater than N, wherein M and N are integers.
The vehicle conveying device comprises a base and a vehicle carrying plate, wherein the vehicle carrying plate is located on the base and can move up and down relative to the base, at least one side of the vehicle carrying plate is provided with an inclined plane which is used for being spliced with the roadway ground in a flush manner, and the base drives the vehicle carrying plate to move along a set route.
The vehicle conveying device comprises a base and a vehicle carrying plate, wherein the guide rail extending along the length direction of the roadway is arranged on the upper portion of the stereo garage, the base is connected with the guide rail and moves along the guide rail, and the vehicle carrying plate is connected with the base, located below the base and moves up and down relative to the base.
The vehicle conveying device is characterized in that the vehicle carrying plate is connected with the base through a telescopic mechanism, the telescopic mechanism comprises a telescopic column and a driving piece, and the telescopic column is respectively connected with the vehicle carrying plate and the driving piece.
The vehicle conveying device is characterized in that the telescopic column is a multi-stage telescopic sleeve, and a lifting chain is arranged in the multi-stage telescopic sleeve; or, the telescopic column is a spiral lifting column.
The vehicle conveying device comprises a conversion area, a parking area and a roadway, wherein the supporting surface of the conversion area is higher than the roadway, the avoidance area is arranged below the parking area, and the lifter and the carrier can pass through the avoidance area.
In the vehicle conveying device, the height of the transition area is equal to or greater than the lowest height of the carrier.
The vehicle conveying device is characterized in that the transfer area is provided with a conveying lifting mechanism, the transfer area is flush with the roadway when the conveying lifting mechanism falls down, and the conveying lifting mechanism lifts when the carrier conveys the vehicle from the transfer area.
In the vehicle conveying device, the base of the lifter is movably arranged in the roadway, the carrier is movably connected with the top of the lifter, and the carrier can move back and forth relative to the lifter to pick up or put a vehicle from the parking space.
The vehicle conveying device is characterized in that the carrier is provided with a laser radar, a visual identification sensor and/or a navigation device, and the navigation device is an electromagnetic navigator, an inertial navigator, a laser navigator and/or an image navigator.
The vehicle conveying device comprises a base, a lifting device and a vehicle carrying plate, wherein the base is movably arranged in the roadway, the lifting device is mounted on the base, the vehicle carrying plate is connected with the lifting device, and the lifting device drives the vehicle carrying plate to move up and down relative to the base.
The vehicle conveying device comprises a base, a supporting body and two supporting legs, wherein the two supporting legs are arranged on the supporting body at intervals, an avoidance space is formed between the two supporting legs, one side of a vehicle carrying plate is connected with the supporting body and can move up and down relative to the supporting body, and when the vehicle carrying plate moves to a falling position, the avoidance space is used for accommodating the vehicle carrying plate; when the vehicle carrying plate moves to the ascending position, the avoidance space is configured to be a part of the avoidance area and is used for accommodating the carrier and/or the vehicle so as to avoid other carriers and/or vehicles.
The vehicle conveying device comprises a lifting mechanism and a driving mechanism, wherein the vehicle carrying plate is connected with the lifting mechanism, the lifting mechanism is arranged on the base and connected with the driving mechanism, and the lifting mechanism drives the vehicle carrying plate to move up and down relative to the base; the driving mechanism drives the base to move along a set route; the carrier is arranged on the car carrying plate and moves back and forth relative to the car carrying plate so as to take or put cars from a parking space of the parking area.
The vehicle conveying device comprises a vehicle body, a roadway and a vehicle conveying device, wherein the vehicle conveying device comprises a vehicle body, a vehicle body and a vehicle body, the vehicle body is provided with a roadway, and the vehicle body is provided with a vehicle conveying device; the second driving mechanism is connected with the lifting mechanism and drives the lifting mechanism to drive the vehicle carrying plate to move up and down.
The vehicle conveying device further comprises a third driving mechanism, the carrier is movably connected with the vehicle carrying plate, the third driving mechanism is arranged on the vehicle carrying plate and connected with the carrier, the third driving mechanism is used for driving the carrier to move back and forth relative to the vehicle carrying plate, and the avoidance area part is arranged below the parking area so as to accommodate the carrier and the lifter.
The vehicle conveying device comprises a lifting mechanism, wherein the lifting mechanism comprises a shearing fork guide part and a vertical telescopic part, the shearing fork guide part and the vertical telescopic part are arranged on the bottom plate and are respectively connected with the vehicle carrying plate, the shearing fork guide part is used for guiding the vehicle carrying plate to move up and down stably, and the vertical telescopic part is connected with the second driving mechanism and drives the vehicle carrying plate to lift.
The vehicle conveying device is characterized in that first comb tooth structures are arranged on the left side and the right side of the carrier, and the parking space is provided with second comb tooth structures matched with the first comb tooth structures.
The vehicle conveying device is characterized in that at least one end of the vehicle carrying plate is provided with a guide plate which is used for being overlapped with the passing surface or the frame of the roadway, and the guide plate is hinged with the vehicle carrying plate.
In order to better achieve the above purpose, the invention also provides a vehicle conveying method of the stereo garage, which comprises the following steps:
s101, driving a vehicle to a conversion area of a stereo garage conversion layer;
s102, according to the arrangement of the electronic control device, the carrier automatically identifies the vehicle entering the conversion area and clamps the vehicle;
s103, judging whether lifting is needed, and if so, driving the vehicle to move on a vehicle carrying plate of the lifter along a specified route by the carrier;
s104, the lifter lifts the vehicle carrying plate and the vehicle to a parking space of a parking layer appointed by the electronic control device;
s105, the carrier conveys the vehicle to the parking space and returns to the vehicle carrying plate of the lifter; and
S106, the lifter descends the carrier to the ground of a conversion layer of the stereo garage, and the parking process is completed;
alternatively, the method further comprises a vehicle taking step opposite to the vehicle storing step.
In order to better achieve the above purpose, the invention also provides a vehicle conveying method of the stereo garage, which comprises the following steps:
s101, driving a vehicle to a conversion area of a stereo garage conversion layer;
s102, according to the arrangement of an electronic control device, automatically identifying the vehicle entering the conversion area by a carrier, wherein the carrier horizontally extends out of a vehicle carrying plate of a lifter and clamps the vehicle;
s103, the carrier drives the vehicles to retract to a vehicle carrying plate of the lifter together;
s104, judging whether lifting is needed, if so, lifting the vehicle carrying plate and the vehicle to a parking space of a parking layer appointed by the electronic control device by the lifter;
s105, after the carrier horizontally extends out of the vehicle carrying plate and conveys the vehicle to the parking space, returning to the vehicle carrying plate; and
s106, the lifter descends the vehicle carrying plate and the carrier and returns to the initial position, and the vehicle storage process is completed;
alternatively, the method further comprises a vehicle taking step opposite to the vehicle storing step.
The vehicle conveying method of the stereo garage, wherein the vehicle conveying method further comprises the following steps:
s100, judging whether avoidance is needed, if so, controlling the carrier and/or the lifter to be avoided by the control system to move to an avoidance area of the stereo garage.
In order to better achieve the above object, the present invention also provides an electronic control device, wherein the electronic control device is an electronic control device for implementing the above vehicle conveying method.
In order to better achieve the above object, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium has stored thereon a computer program for implementing the steps of the above vehicle transporting method when executed by a processor.
The invention has the technical effects that:
according to the invention, the avoidance area is arranged, so that when the traffic stop and the traffic pick-up are caused by the peak time, the number of the carriers in the stereo garage can be increased to improve the vehicle parking and taking efficiency, and when the movement paths of the carriers collide, the carriers can be operated to the avoidance area, so that the operation of other carriers is not influenced, and the vehicle parking and taking efficiency and reliability of the stereo garage are effectively improved.
The invention will now be described in more detail with reference to the drawings and specific examples, which are not intended to limit the invention thereto.
Drawings
Fig. 1 is a schematic view of a stereo garage according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a layout of a conversion layer according to an embodiment of the invention;
fig. 3A and 3B are schematic views of vehicle access of a stereo garage according to an embodiment of the invention;
FIG. 4 is a schematic diagram illustrating operation of a vehicle transporting apparatus according to an embodiment of the present invention;
FIGS. 5A and 5B are schematic views illustrating a vehicle transporting apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic view of a carrier according to an embodiment of the present invention;
FIG. 7A is a schematic view of a vehicle transporting apparatus according to another embodiment of the present invention;
fig. 7B is a schematic view showing a bottom perspective view of the vehicle conveying device shown in fig. 7A;
FIG. 7C is a schematic top view of the vehicle transport device of FIG. 7A;
fig. 8A is a schematic view of vehicle access of a stereo garage according to an embodiment of the present invention;
fig. 8B is an enlarged view of a portion a of fig. 8A;
fig. 9A and 9B are schematic views of vehicle access in a stereo garage according to another embodiment of the present invention.
Wherein reference numerals are used to refer to
1-a stereo garage; 11-a conversion layer; a 111-transition region; 112-parking area; 113-roadway; 114-buffer; 115-avoidance zone; 116-garage entrance; 117-parking space; 118-car doorway; 12-a first layer; 13-a second layer; 14-a third layer; 15-laminate; 16-parking level; 17-supporting columns;
2-a vehicle transporting device; 21-a carrier; 211-a support plate; 212-a motion wheel; 213-a clamping mechanism; 214-a handling controller; 215-a first comb structure; 22-an elevator; 221-a base; 2211-a bottom plate; 2212-travelling wheel; 222-a lifting mechanism; 2221-scissor guide member; 2222-vertical telescopic member; 223-vehicle carrying plate; 224-guide plate; 225-a first drive mechanism; 226-a second drive mechanism; 227-a third drive mechanism; 228-incline; 23-a guide rail; 24-lifting machine; 241-telescoping column;
3-vehicle;
4-a carrying lifting mechanism;
5-controller.
Detailed Description
The structural and operational principles of the present invention are described in detail below with reference to the accompanying drawings:
referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of a stereo garage 1 according to an embodiment of the present invention, and fig. 2 is a schematic layout diagram of a conversion layer 11 according to an embodiment of the present invention. The multi-layer parking layer 16 of the stereo garage 1 shown in fig. 1 comprises a first layer 12, a second layer 13 and a third layer 14, wherein the layers are separated by a layer plate 15, and parking spaces 117 of the layers are all arranged on the layer plate 15; at least one of the plurality of parking layers 16 is a conversion layer 11, such as the optional first layer 12 as the conversion layer 11, and the second layer 13 and the third layer 14 as the parking layers 16; as shown in fig. 2, the conversion layer 11 includes a conversion area 111, a parking area 112, a buffer area 114 and a roadway 113, where the conversion area 111 is adjacent to the buffer area 114, multiple car entrances and exits 118 can be set in the conversion area 111, the garage entrances and exits 116 can be set corresponding to the buffer area 114, the parking area 112 is located at one side of the conversion area 111 far away from the buffer area 114, the roadway 113 is located between the parking area 112 and the conversion area 111 or in the middle of the parking area 112, and an avoidance area 115 is respectively set under each parking layer 16 of the multi-layer parking layer, in the parking area 112 and/or in the roadway 113; the control system is connected with the vehicle conveying device 2, the vehicle conveying device 2 comprises a carrier 21 and a lifter 22, the control system controls the carrier 21 to translate the vehicle 3 or lift and transport the vehicle 3 onto the lifter 22, and controls the lifter 22 to translate along the roadway 113 and transport the carrier 21 and/or the vehicle 3 in an upward or downward direction to switch between different parking levels 16; when the vehicle transporting device 2 collides with the moving path of another object, the control system controls the carrier 21 and/or the lifter 22 to travel to the avoidance area 115 to avoid congestion by shifting the peak. The vehicles 3 referred to in this specification include, but are not limited to, various automobiles including various electric vehicles driven by both oil and power batteries, as well as virtual vehicles with retired power batteries, e.g., energy storage tanks with whole vehicle retired power battery modules and using simulated vehicle power battery management system modules, etc.
According to the invention, the avoidance area 115 is arranged, so that when parking and taking are blocked due to rush hours and the like, the number of the carriers 21 in the stereo garage 1 can be increased, and when the movement paths of the carriers 21 are about to collide, the carriers 21 can be operated to the avoidance area 115, thereby being beneficial to improving the efficiency and reliability of the stereo garage 1 for taking and storing the vehicles 3. Wherein, the number of the carriers 21 can be M, the number of the lifters 22 can be N, and M is greater than or equal to N, wherein M and N are integers. In an embodiment of the present invention, the avoidance area 115 may include a first avoidance area, where the first avoidance area is disposed in the parking area 112 of the conversion layer 11 or the parking layer 16 and is located below the chassis of the vehicle 3, and the height of the first avoidance area is greater than the height of the carrier 21; and/or, the avoidance zone 115 may include a second avoidance zone disposed above the roadway 113, where the second avoidance zone has a height greater than the height of the vehicle 3.
In an embodiment of the present invention, the supporting surface of the transition area 111 may be higher than the traffic surface of the roadway 113, that is, the height of the transition area 111 may be fixed, and the height of the transition area 111 is greater than or equal to the lowest height of the carrier 21, so that the vehicle 3 can smoothly move from the transition area 111 to the carrier 21. The avoidance area 115 is disposed below the parking area 112, and both the empty elevator 22 and the carrier 21 can pass through the avoidance area 115. That is, the vehicle transporting device 2 of the present embodiment may employ an inseparable AGV, such as a carrier 21 movably connected to the top of the elevator 22, and the carrier 21 may be moved back and forth with respect to the elevator 22 to pick up or put a vehicle from a parking space. The AGV can move integrally to the avoidance area 115 for avoidance. Compared with the detachable structure of the carrier 21 and the lifter 22, the structure is beneficial to improving the conveying efficiency, and avoids the situation that the carrier 21 cannot smoothly climb to or climb from the lifter 22 due to uneven ground and other factors.
Referring to fig. 3A and 3B, fig. 3A and 3B are schematic views of an access vehicle according to an embodiment of the invention. In this embodiment, the transfer area 111 is provided with a carrying lifting mechanism 2224, and when the carrying lifting mechanism 2224 falls, the supporting surface of the transfer area 111 is flush with the roadway 113 (as shown in fig. 3A), and when the carrier 21 needs to carry the vehicle 3 from the transfer area 111, the carrying lifting mechanism 2224 is lifted (as shown in fig. 3B), so that the carrier 21 can carry the vehicle 3 from the transfer area 111. The provision of the carrying lifting mechanism 2224 is advantageous in improving the adaptability of the carrier 21 to the ground height and reducing the cost of the vehicle carrying device 2.
In one embodiment, the avoidance area 115 may be disposed in the parking area 112 of the conversion layer 11 or the parking layer 16 and below the chassis of the vehicle 3, where the height of the avoidance area 115 is greater than the height of the carrier 21; alternatively, the avoidance area 115 may be disposed below the chassis of the vehicle 3 (see fig. 7A) or above the tunnel 113 (see fig. 8A), the height of the carrier 21 being smaller than the height of the avoidance area 115 below the chassis of the vehicle 3, the height of the avoidance area 115 above the tunnel 113 being greater than the height of the vehicle 3.
According to the embodiment of the invention, the conversion layer 11 is positioned at the bottom layer of the multi-layer parking layer 16, the stereo garage 1 further comprises a plurality of laminates 15 which are arranged above the conversion layer 11 and are arranged at intervals along the height direction, a parking area 112 is formed among the laminates 15, the avoidance area 115 can further comprise a third avoidance area which is formed between the conversion layer 11 and the laminates 15 positioned at the bottom layer, and the height of the third avoidance area is smaller than the height of the vehicle 3 and larger than the height of the carrier 21 or the height of the lifter 22. The conversion layer 11 may be a concrete floor, and the stereo garage 1 may further include a support column 17 fixedly disposed on the conversion layer 11, where the laminate 15 is fixedly connected with the support column 17 and supported by the support column 17 (see fig. 1 and 8A-8B).
The conversion layer 11 of the present embodiment is a flat layer, that is, the parking area 112, the roadway 113, the conversion area 111, and the buffer area 114 are connected smoothly in order, so that the vehicle 3 and the carrier 21 can smoothly run and switch between the parking area 112, the conversion area 111, and the buffer area 114. When the roadway 113 is congested, the carrier 21 can move to an avoidance area 115 provided below the chassis of the vehicle 3 to avoid the vehicle 3, other carrier 21, or the lifter 22 of the roadway 113. Compared with the structure in which the recess is provided in the tunnel 113 or the suspension area in the prior art, at least a portion of the carrier 21 or the lifter 22 is provided in the recess when the vehicle 3 passes so that the vehicle 3 can be smoothly carried, the present embodiment can reduce the construction cost of the stereo garage 1 and improve the convenience and the parking efficiency when the vehicle 3 having the automatic parking function is parked. Because the parking area ground is constructed as a flat layer, deep pit digging is not needed. In the initial use period of the parking lot, the number of vehicles is small, and the vehicles can be parked in a manual driving mode; later, according to the number of vehicles, an intelligent garage scheme is distributed and built according to the need; the first layer adopts the concrete floor, and the frame fuses with the column net, utilizes the column net, fixes the steel construction to the column net, has reduced steel construction, the cost is reduced. Preferably, the vehicle transporting device 2 includes M carriers 21 and N lifters 22, and M is equal to or greater than N, and the carriers 21 are configured to be able to run above the lifters 22 or to be separated from the lifters 22. So that the carrier 21 can run at the bottom of the vehicle 3, the empty carrier 21 does not occupy the space of the roadway 113 at the bottom of the vehicle 3 when moving, and the roadway 113 runs for the carrier 21 of the vehicle, thereby being beneficial to improving the vehicle storage and taking efficiency of the stereo garage 1.
Referring to fig. 4, fig. 4 is a schematic operation diagram of a vehicle conveying device 2 according to an embodiment of the present invention. The vehicle conveying device 2 of the present invention comprises a carrier 21 and a lifter 22, wherein the carrier 21 is used for translating the vehicle 3 at the conversion layer 11 or the parking layer 16 of the stereo garage 1 and lifting and transporting the vehicle 3 to the lifter 22, the carrier 21 can autonomously plan a path according to the instruction of a control system and autonomously convey the vehicle 3, the carrier 21 of the present embodiment can run to the lifter 22 or be separated from the lifter 22, the height of the carrier 21 is smaller than the chassis height of the vehicle 3, the carrier 21 can move to the position below the chassis of the vehicle 3 of the conversion layer 11 or the parking layer 16 to avoid other objects, or the carrier 21 can move to the position below the chassis of the vehicle 3 to move the vehicle 3 and lift and transport the vehicle 3 to the lifter 22; which can recognize the parking angle and parking deviation of the vehicle 3, adjust the posture of the carrier 21, clamp the tyre of the vehicle 3, and carry the vehicle 3; the carrier 21 can be transported independently without supporting the lifter 22 when transporting the vehicle 3 at one layer; the thickness of the carrier 21 is small (for example, the thickness is less than or equal to 11 cm), and the carrier can move and rotate at the bottom of the vehicle 3; the lifter 22 is arranged in the roadway 113 of the stereo garage 1 and is used for translating along the roadway 113 of the stereo garage 1 and conveying the carrier 21 and/or the vehicle 3 in an upward or downward direction, and the lifter 22 carries the carrier 21, drives the carrier 21 to translate along a set route in the roadway 113 and conveys the carrier 21 and/or the vehicle 3 in the upward or downward direction so as to switch between different parking layers 16 of the stereo garage 1; when the vehicle transporting device 2 collides with the moving path of other objects, the lifter 22 and/or the carrier 21 automatically moves to the avoidance area 115 of the stereo garage 1 to avoid congestion by shifting peaks. The carrier 21 travels in the transport area when transporting the vehicle 3, and travels from the bottom of the vehicle 3 when the carrier 21 returns to the entrance of the vehicle 3 without load.
Referring to fig. 5A and 5B, fig. 5A and 5B are schematic structural views of a vehicle conveying device 2 according to an embodiment of the present invention. In this embodiment, the lifter 22 is a crane structure, and includes a base 221, a lifter 24 and a vehicle carrying plate 223, a guide rail 23 extending along the length direction of the roadway 113 is arranged on the upper portion of the stereo garage 1, the base 221 is connected with the guide rail 23 and moves along the guide rail 23, the vehicle carrying plate 223 is connected with the base 221 through the lifter 24 and is located below the base 221, and the lifter 24 drives the vehicle carrying plate 223 to move up and down relative to the base 221. When the vehicle carrying plate 223 is at the lowest position, the bottom of the vehicle carrying plate 223 contacts with the buffer area 114 so that the carrier 21 moves onto the vehicle carrying plate 223; when the vehicle loading plate 223 and/or the carrier 21 collides with other carriers 21 or the running path of the vehicle 3, the vehicle loading plate 223 and/or the carrier 21 may be lifted above the carrying area to avoid, that is, in this embodiment, the avoiding area 115 is disposed above the roadway 113. Wherein, at least one side of the vehicle carrying plate 223 is provided with an inclined plane 228 for flush splicing with the ground or the laminate. This structure is advantageous in further reducing the traffic pressure of the roadway 113, and when the vehicle loading plate 223 and/or the carrier 21 ascend, the space at the bottom of the roadway 113 is not occupied, and the carrier 21 which does not need to be lifted can run below the vehicle loading plate 223, thereby facilitating the improvement of the vehicle storing and taking efficiency of the stereo garage 1.
The lifting machine 24 includes a telescopic column 241 and a driving member, and this embodiment may include four telescopic columns 241 located at four corners of the vehicle carrying plate 223 and a driving member for driving the telescopic columns 241 to stretch and retract. The driving member is connected to the telescopic column 241, and both ends of the telescopic column 241 are connected to the vehicle carrier plate 223 and the base 221, respectively. The telescopic column 241 can be a multi-stage telescopic sleeve, and a lifting chain is arranged in the multi-stage telescopic sleeve; alternatively, the telescopic column 241 may be a screw type elevating column. This structure contributes to improvement in the structural compactness of the hoist 24.
Referring to fig. 6, fig. 6 is a schematic view of a carrier according to an embodiment of the invention. The carrier 21 of the present embodiment includes a support plate 211, a plurality of moving wheels 212, and a plurality of carrying and gripping mechanisms 213, the support plate 211 being for carrying a vehicle to be carried; a plurality of moving wheels 212 are symmetrically installed at the bottom of the supporting plate 211, respectively, so as to perform the functions of straight running and steering; the plurality of carrying clamping mechanisms 213 are symmetrically arranged at two sides of the supporting plate 211 and are used for clamping up the vehicle to be carried; the carrier 21 may further be provided with a carrier controller 214, and the carrier controller 214 may be disposed at a front end or a rear end of the support plate 211 and connected to a control system or an electronic control device of the stereo garage. The handling controller 214 may include, for example, a lidar, a visual identification sensor, and/or a navigation device, which may be an electromagnetic navigator, an inertial navigator, a laser navigator, and/or an image navigator. The carrier 21 may be configured or arranged as is well known in the art, so long as it can translate the vehicle, lift and transport the vehicle to the elevator, and automatically move into the avoidance area 115 to avoid other vehicles or other carriers, which is not limited in the present invention.
Referring to fig. 7A-7C, fig. 7A is a schematic structural view of a vehicle conveying device 2 according to another embodiment of the present invention, fig. 7B is a schematic structural view of the vehicle conveying device 2 shown in fig. 7A in a bottom view, and fig. 7C is a schematic structural view of the vehicle conveying device 2 shown in fig. 7A in a top view. In the vehicle conveying device 2 of the present embodiment, the lifter 22 is a lateral lifting structure, and includes a base 221, a lifting device and a vehicle carrying plate 223, the base 221 is movably disposed in the roadway 113, the lifting device is mounted on the base 221, the vehicle carrying plate 223 is connected with the lifting device, and the lifting device drives the vehicle carrying plate 223 to move up and down relative to the base 221. Fig. 7A shows the lifting device in a retracted state, the carrier plate 223 is in a lowered position, and the carrier 21 is retracted onto the carrier plate 223.
As shown in fig. 7B and 7C, the lifting device of the lifter 22 is in an extended state, the carrier plate 223 is in a raised position, and the carrier 21 partially extends out of the carrier plate 223. The lifting device comprises a lifting mechanism 222 and a driving mechanism, wherein the car carrying plate 223 is connected with the lifting mechanism 222, the lifting mechanism 222 is arranged on the base 221 and is connected with the driving mechanism, and the lifting mechanism 222 drives the car carrying plate 223 to move up and down relative to the base 221; the driving mechanism drives the base 221 to move along a set route; the carrier 21 is provided on the vehicle loading plate 223, and moves forward and backward with respect to the vehicle loading plate 223 to pick up or put a vehicle from the parking space 117 of the parking area 112.
The driving mechanism of the present embodiment includes a first driving mechanism 225 and a second driving mechanism 226, the first driving mechanism 225 being connected to the base 221 and driving the base 221 to move along the roadway 113; the second driving mechanism 226 is connected to the lifting mechanism 222, and drives the lifting mechanism 222 to retract or extend to drive the vehicle carrying plate 223 to move up and down. Wherein, the base 221 comprises a bottom plate 2211 and a plurality of travelling wheels 2212, a controller 5 can be arranged on the bottom plate 2211, and the controller 5 can be respectively connected with each driving mechanism, the lifting mechanism 222 and the control system; the lifting mechanism 222 is disposed on the bottom plate 2211, the first driving mechanism 225 includes a plurality of first motors, the plurality of travelling wheels 2212 are respectively connected with the plurality of first motors in a one-to-one correspondence manner, and the plurality of first motors respectively drive the plurality of travelling wheels 2212 in a one-to-one correspondence manner to drive the base 221 to move relative to the roadway 113.
In an embodiment of the present invention, the driving mechanism may further include a third driving mechanism 227, where the carrier 21 is movably connected to the vehicle carrying plate 223, and the third driving mechanism 227 is disposed on the vehicle carrying plate 223 and connected to the carrier 21, for driving the carrier 21 to move back and forth relative to the vehicle carrying plate 223, and extending or retracting the vehicle carrying plate 223 to access the vehicle 3. The third driving mechanism 227 may include a third motor and a driving wheel, the third motor is disposed on the vehicle carrying plate 223 and connected with the driving wheel, and the driving wheel is driven by the third motor to rotate so as to drive the carrier 21 to move back and forth. In this embodiment, the third driving mechanism 227 includes four third motors and four driving wheels, and the four third motors and the four driving wheels are disposed in one-to-one correspondence. This structure is advantageous in improving stability and reliability in connection and movement between the lifting mechanism 222 and the carrier 21, and in improving compactness of the structure.
The lifting mechanism 222 of the present embodiment includes a scissors guiding component 2221 and a vertical telescopic component 2222, the scissors guiding component 2221 and the vertical telescopic component 2222 are mounted on the bottom plate 2211 and are respectively connected with the vehicle loading plate 223, and the scissors guiding component 2221 is used for guiding the vehicle loading plate 223 to move up and down stably; the vertical telescopic member 2222 is connected to the second driving mechanism 226, and the second driving mechanism 226 includes a second motor, and the second motor is mounted on the base 221, and the vertical telescopic member 2222 drives the vehicle loading plate 223 to lift under the drive of the second motor. The vertical telescopic member 2222 includes a lift chain, one end of which is connected to the second motor, and the other end of which is connected to the vehicle loading plate 223. In this embodiment, the second driving mechanism 226 includes four second motors and four lifting chains, and the four lifting chains are respectively disposed adjacent to four corners of the base 221, and the four second motors and the four lifting chains are disposed and connected in a one-to-one correspondence. Wherein, the opening and closing direction of the scissors guiding component 2221 is consistent with the moving direction of the carrier 21, namely the extending and contracting direction of the vehicle carrying plate 223, one end of the bottom of the scissors guiding component 2221 is hinged with the bottom plate 2211, and the other end of the bottom of the scissors guiding component 2221 is connected with the bottom plate 2211 in a sliding way; one end of the top of the scissors guiding part 2221 is hinged with the car carrying plate 223, and the other end of the top of the scissors guiding part 2221 is in sliding connection with the car carrying plate 223.
In this embodiment, the left and right sides of the carrier 21 are further provided with a first comb structure 215, the parking space 117 of the stereo garage 1 is provided with a second comb structure adapted to the first comb structure 215, and the first comb structure 215 and the second comb structure form a comb exchange mechanism to carry the vehicle 3. At least one end of the vehicle carrying plate 223, that is, at least one of the front side and the rear side of the corresponding carrier 21, is provided with a guide plate 224 for overlapping the traffic surface or the frame of the roadway 113, and the guide plate 224 is hinged with the vehicle carrying plate 223, that is, the guide plate 224 is rotatably connected with the vehicle carrying plate 223 so as to overlap the roadway 113 or the frame of the stereo garage 1. When the carrier 21 needs to move from the lifter 22 to the frame or roadway 113 of the stereo garage 1, the guide plate 224 can be turned outwards; when carrier 21 retracts into carrier plate 223, the lower portion of guide plate 224 rotates inward to substantially conform to carrier plate 223.
Referring to fig. 8A and 8B, fig. 8A is a schematic view of vehicle access according to an embodiment of the invention, and fig. 8B is an enlarged view of a portion a of fig. 8A. When the lifter 22 operates in a carrying area, the carrying board 223 can be driven to move up and down and move horizontally in two dimensions, and the carrying area can comprise a conversion area 111, a roadway 113, a buffer area 114 and the like; the carrier 21 may climb onto the carrier plate 223 of the lift 22 or be movably connected to the carrier plate 223 to follow the movement of the lift 22. The vehicle loading plate 223 is mounted on a lifting device of the lifter 22, is fixed to the lifting device, and moves up and down by the lifting device. At least one side of the vehicle carrying plate 223 can be provided with an inclined surface 228, and the slope surface edge of the inclined surface 228 can be spliced with the ground in a flush manner, so that the carrier 21 can conveniently climb onto the lifter 22.
The vehicle conveying method of the stereo garage 1 of the embodiment includes the following steps:
step S101, a driving vehicle 3 stops to a switching area 111 of a switching layer 11 of the stereo garage 1 according to a rule;
step S102, the carrier 21 automatically identifies the vehicle 3 entering the conversion area 111 according to the setting of the control system and clamps the vehicle 3;
step S103, judging whether lifting is needed, if so, the carrier 21 drives the vehicle 3 to move on the vehicle carrying plate 223 of the lifter 22 along a prescribed route;
step S104, the lifter 22 lifts the vehicle carrying plate 223, the carrier 21 and the vehicle 3 to a parking space of the parking layer 16 of the stereo garage 1 designated by the control system;
step S105, the carrier 21 carries the vehicle 3 to the parking space and returns to the vehicle carrying plate 223 of the lifter 22; and
step S106, the lifter 22 descends the carrier 21 to the ground of the conversion layer 11 of the stereo garage 1, and the parking process is completed;
alternatively, the method may further comprise a vehicle taking step opposite to the vehicle storing process, wherein the vehicle taking process is opposite to the vehicle storing step.
Referring to fig. 9A and 9B, fig. 9A and 9B are schematic views illustrating a vehicle access according to another embodiment of the present invention. Fig. 9A shows the carrier 21 in a state where the second floor is completely stored or ready for picking up a vehicle, and fig. 9B shows the carrier 21 in a state where the second floor is storing the vehicle 3 or picking up a vehicle. The vehicle conveying method of the stereo garage 1 of the embodiment includes the following steps:
Step S101, driving the vehicle 3 to the conversion area 111 of the conversion layer 11 of the stereo garage 1;
step S102, according to the setting of the control system, the carrier 21 automatically identifies the vehicles 3 entering the conversion area 111, and the carrier 21 horizontally extends out of the vehicle carrying plate 223 of the lifter 22 and clamps the vehicles 3;
step S103, the carrier 21 drives the vehicle 3 to retract onto the vehicle carrying plate 223 of the lifter 22;
step S104, judging whether lifting is needed, if so, lifting the vehicle carrying plate 223 and the vehicle 3 to a parking space of the parking layer 16 designated by the control system by the lifter 22;
step S105, after the carrier 21 horizontally extends out of the vehicle loading plate 223 and conveys the vehicle 3 to the parking space, returning to the vehicle loading plate 223; and
step S106, the lifter 22 descends the vehicle carrying plate 223 and the carrier 21 and returns to the initial position, and the vehicle storage process is completed;
alternatively, the method further comprises a vehicle taking step opposite to the vehicle storing step.
The step of taking the vehicle may specifically include:
step S201, the carrier 21 moves onto the carrier plate 223 of the lifter 22;
step S202, lifting the vehicle carrying plate 223 and the carrier 21 to a parking space of a corresponding parking layer 16 of the stereo garage by the lifter 22;
step S203, the carrier 21 moves to the bottom of the target vehicle 5, and the carrier 21 drives the vehicle 5 to return to the vehicle carrying plate 223 of the lifter 22;
Step S204, the lifter 22 drops the vehicle carrying plate 223, the carrier 21 and the vehicle 5 to the roadway 113 of the conversion layer 11 of the stereo garage;
in step S205, the carrier 21 carries the vehicle 5 to the transition area 111 of the transition layer 11, and drives the vehicle 5 away.
In both of the above-described vehicle conveying methods, before the vehicle is conveyed, the method may further include:
in step S100, it is determined whether avoidance is required, if so, the control system controls the carrier 21 and/or the lifter 22 to be avoided to move to the avoidance area 115 of the stereo garage 1.
Accordingly, the present invention also provides an electronic control device for the above-described vehicle conveying method, based on the same inventive concept, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the vehicle transportation method described above via execution of the executable instructions. The invention can realize various methods of vehicle movement, transportation, scheduling and the like related by the invention through an electronic control device, a control system of the stereo garage 1 can be arranged in the electronic control device, and the electronic control device can also be used for interacting with a mobile terminal of a user so that the user can access the information of the stereo garage 1, the user can inquire the parking and vehicle taking queue information, the parking fee payment is finished in advance, and the vehicle taking process is simplified.
The present invention also provides a computer-readable storage medium having stored thereon a computer program for implementing the steps of the above-described vehicle transporting method when the computer program is executed by a processor. From the above description of the embodiments, those skilled in the art will readily understand that the present invention may be implemented by software, or may be implemented by combining software with necessary hardware. Thus, the technical solution according to the embodiments of the present invention may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (for example, a CD-ROM, a usb disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause a computing device (for example, a personal computer, a server, a mobile terminal, or a network device, etc.) to perform the method according to the embodiments of the present invention.
In some possible embodiments, the aspects of the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the invention as described in the "exemplary method" section of this specification, when the program product is run on the terminal device. Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing a computer program.
A program product for implementing the above-described method according to an embodiment of the present invention may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the readable storage medium may include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
Those skilled in the art will appreciate that the various aspects of the invention may be implemented as a system, method, or program product. Accordingly, aspects of the invention may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system. The electronic control device of the present embodiment is expressed in the form of a general-purpose computing device. The components of the electronic control device may include, but are not limited to: the at least one processor, the at least one memory, and a bus connecting the various system components, including the memory and the processor. The memory is used for storing executable instructions of the processor; the processor is configured to execute the above-described vehicle 3 movement control method via execution of the executable instructions. Wherein the memory stores program code that is executable by the processor to cause the processor to perform steps according to various exemplary embodiments of the present invention described in the above section of the exemplary method of this specification.
The memory may include readable media in the form of volatile memory units, such as Random Access Memory (RAM) and/or cache memory units, and may further include Read Only Memory (ROM). The memory may also include a program/utility having a set (at least one) of program modules including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
The electronic control apparatus may also communicate with one or more external devices (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic control apparatus, and/or with any device (e.g., router, modem, etc.) that enables the electronic control apparatus to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface. And, the electronic control device may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the internet via a network adapter. The network adapter communicates with other modules of the electronic device via a bus. Other hardware and/or software modules may be used in conjunction with the electronic control device, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The invention can construct the ground of the parking lot into a flat layer without deep pit digging; in the initial use stage of the parking lot, the number of vehicles is small, when the vehicles do not need to be transported to the garage, the vehicles can be parked in a manual driving mode, the parking spaces in the conversion area 111 can also be used as the parking spaces 117 for self-propelled parking of the vehicles 3, the number of the parking spaces in the garage is not reduced, and the garage area is fully utilized; later, according to the number of vehicles 3, a construction garage scheme is distributed according to the need; the first layer adopts the concrete floor, reduces steel construction, reduces construction cost. The carrier 21 has a large number of traveling paths, and can move from the bottom of the vehicle 3 or from above the roadway 113, so that the empty carrier 21 does not occupy the space of the roadway 113 when moving, the roadway 113 is used for carrying the carrier 21 of the vehicle, and the operation efficiency of the carrier 21 can be greatly improved.
Of course, the present invention is capable of other various embodiments and its several details are capable of modification and variation in light of the present invention, as will be apparent to those skilled in the art, without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (47)

1. The stereo garage comprises a vehicle conveying device, a plurality of layers of parking layers and a control system, and is characterized in that at least one layer of the plurality of layers of parking layers is a conversion layer, the conversion layer comprises a conversion area, a parking area and a roadway, the conversion area is adjacent to a buffer area of a vehicle, the parking area is positioned at one side, far away from the buffer area, of the conversion area, the roadway is positioned between the parking area and the conversion area or is arranged in the middle of the parking area, and an avoidance area is arranged below the parking layer, in the parking area and/or in the roadway; the vehicle transporting device comprises a transporter and a lifter, wherein the transporter is used for translating a vehicle and can lift and transport the vehicle onto the lifter, and the lifter can translate along the roadway and is used for transporting the transporter and/or the vehicle in an upward or downward direction so as to switch between different parking levels; when the motion paths collide, the carrier moves to the avoidance area.
2. The stereo garage of claim 1, wherein the carrier is operable to either travel onto or off of the lift, the carrier having a height less than a chassis height of the vehicle, the carrier being movable under the chassis of the vehicle to avoid other objects, or the carrier being movable under the chassis of the vehicle to move the vehicle and lift the vehicle for transport onto the lift; the lifter is arranged in the roadway and is used for driving the carrier to translate in the roadway along a set route and conveying the carrier and/or the vehicle in an upward or downward direction so as to switch between different parking layers.
3. The stereo garage of claim 1, wherein the elevator comprises a base, a lifting device and a vehicle carrying plate, the base is movably arranged in the roadway, the lifting device is mounted on the base, the vehicle carrying plate is connected with the lifting device, and the lifting device drives the vehicle carrying plate to move up and down relative to the base.
4. A stereo garage as defined in claim 3 wherein said base includes a support body and two legs spaced apart from each other on said support body and defining a space for receiving said vehicle carrier plate when said vehicle carrier plate is moved to a lowered position, one side of said vehicle carrier plate being connected to said support body and being movable up and down relative to said support body; when the vehicle carrying plate moves to the ascending position, the avoidance space is configured to be a part of the avoidance area and is used for accommodating the carrier and/or the vehicle so as to avoid other carriers and/or vehicles.
5. A stereo garage as defined in claim 3, wherein the lifting device comprises a lifting mechanism and a driving mechanism, the vehicle carrying plate is connected with the lifting mechanism, the lifting mechanism is mounted on the base and connected with the driving mechanism, and the lifting mechanism drives the vehicle carrying plate to move up and down relative to the base; the driving mechanism drives the base to move along a set route; the carrier is arranged on the car carrying plate and moves back and forth relative to the car carrying plate so as to take or put cars from a parking space of the parking area.
6. The stereo garage of claim 5, wherein the drive mechanism comprises a first drive mechanism and a second drive mechanism, the first drive mechanism being coupled to the base and driving the base to move along the roadway; the second driving mechanism is connected with the lifting mechanism and drives the lifting mechanism to drive the vehicle carrying plate to move up and down.
7. The stereo garage of claim 6, wherein the drive mechanism further comprises a third drive mechanism, the carrier is movably connected with the vehicle carrying plate, the third drive mechanism is disposed on the vehicle carrying plate and connected with the carrier, the third drive mechanism is used for driving the carrier to move back and forth relative to the vehicle carrying plate, and the avoidance zone portion is disposed below the parking zone to accommodate the carrier and the lifter.
8. The stereo garage of claim 6, wherein the lifting mechanism comprises a scissor guide component and a vertical telescopic component, the scissor guide component and the vertical telescopic component are mounted on the bottom plate and are respectively connected with the vehicle carrying plate, the scissor guide component is used for guiding the vehicle carrying plate to move stably up and down, and the vertical telescopic component is connected with the second driving mechanism and drives the vehicle carrying plate to lift.
9. The stereo garage of claim 6, wherein the carrier is provided with a first comb structure on the left and right sides, and the parking space is provided with a second comb structure adapted to the first comb structure.
10. A stereo garage as defined in claim 3, wherein at least one end of the vehicle carrying plate is provided with a guide plate for overlapping the traffic surface or frame of the roadway, the guide plate being hinged to the vehicle carrying plate.
11. The stereo garage according to claim 2, wherein the lifter comprises a base, a lifter and a vehicle carrying plate, a guide rail extending along the length direction of the roadway is arranged at the upper part of the stereo garage, the base is connected with the guide rail and moves along the guide rail, the vehicle carrying plate is connected with the base through the lifter and is positioned below the base, the lifter drives the vehicle carrying plate to move up and down relative to the base, and the carrier moves onto the vehicle carrying plate when the vehicle carrying plate is positioned at the lowest position; the avoidance area part is arranged above the carrying area, and when the vehicle carrying plate collides with the carrier or the running path of the vehicle, the vehicle carrying plate is lifted to the upper part of the carrying area to avoid.
12. The stereo garage of claim 11, wherein the elevator includes a telescoping post and a drive member, the drive member coupled to the telescoping post, the telescoping post coupled to the vehicle carrier plate and the base, respectively.
13. A stereo garage as claimed in any one of claims 3 to 12 wherein at least one side of the vehicle carrying panel is provided with a bevel for flush splice with the ground or laminate.
14. The stereo garage of any one of claims 1 to 12, wherein the number of carriers is M, the number of lifters is N, and M is equal to or greater than N, wherein M and N are integers.
15. The stereo garage according to any one of claims 1 to 12 wherein the transition layer is a flat layer, and the parking area, the roadway, the transition area and the buffer area are connected smoothly in sequence so that the vehicle and the carrier can smoothly run and switch between the above.
16. The stereo garage according to any one of claims 1-12, wherein the support surface of the transition zone is higher than the traffic surface of the roadway, the avoidance zone is disposed below the parking zone, and the empty elevator and carrier are both able to pass within the avoidance zone.
17. The stereo garage of claim 16, wherein the height of the transition zone is greater than or equal to the lowest height of the carrier.
18. A stereo garage as claimed in any one of claims 1 to 12 wherein the transfer area is provided with a handling elevator mechanism, the support surface of the transfer area being flush with the roadway when the handling elevator mechanism is lowered, the handling elevator mechanism being raised when the carrier is carrying a vehicle from the transfer area.
19. The stereo garage of any one of claims 1-12, wherein the avoidance zone comprises a first avoidance zone disposed within the parking zone of the conversion or parking layer and below the vehicle chassis, the first avoidance zone having a height greater than a height of the carrier; and/or, the avoidance area comprises a second avoidance area, the second avoidance area is arranged above the roadway, and the height of the second avoidance area is greater than the height of the vehicle.
20. The stereo garage of any one of claims 1-12, wherein the conversion layer is located at a bottom layer of the multi-layer parking layer, the stereo garage further comprises a plurality of laminates arranged above the conversion layer at intervals along a height direction, the parking area is formed between the plurality of laminates, the avoidance area comprises a third avoidance area, the third avoidance area is formed between the conversion layer and the laminates located at the bottom layer, and the height of the third avoidance area is smaller than the height of the vehicle and larger than the height of the carrier or the height of the lifter.
21. The stereo garage of claim 20 wherein the conversion layer is a concrete floor, the stereo garage further comprising a support column fixedly disposed on the conversion layer, the laminate being fixedly connected to and supported by the support column.
22. A vehicle transporting device of a stereo garage, characterized by comprising a carrier for translating a vehicle and being able to lift and transport the vehicle onto the elevator, and an elevator being able to translate in a tunnel and for transporting the carrier and/or the vehicle in an upward or downward direction for switching between different parking levels.
23. The vehicle handling apparatus of claim 22, wherein the carrier is configured to move vehicles at a transition or stop level and the carrier is automatically movable into an evasion zone to evade other vehicles or other carriers.
24. The vehicle handling apparatus of claim 23, wherein the avoidance zone is disposed within a parking zone of the transition or parking layer and below a vehicle chassis, the carrier having a height less than a height of the avoidance zone; or the avoidance area is arranged below the vehicle chassis or above the roadway, the height of the carrier is smaller than the height of the avoidance area below the vehicle chassis, and the height of the avoidance area above the roadway is larger than the height of the vehicle.
25. The vehicle transporting apparatus according to claim 22 or 23, wherein the number of the carriers is M, the number of the lifters is N, and M is equal to or greater than N, wherein M and N are integers.
26. The vehicle handling apparatus of claim 22, wherein the elevator includes a base and a carriage plate positioned on the base and movable up and down relative to the base, at least one side of the carriage plate being provided with a ramp for flush splice with roadway floor, the base driving the carriage plate along a set path.
27. The vehicle transfer apparatus of claim 22, wherein the elevator includes a base and a vehicle carrier, the upper portion of the stereo garage is provided with a rail extending along a length direction of the roadway, the base is connected to and moves along the rail, and the vehicle carrier is connected to and located below the base and moves up and down with respect to the base.
28. The vehicle transfer apparatus of claim 27, wherein the vehicle carrier plate is coupled to the base by a telescoping mechanism, the telescoping mechanism comprising a telescoping post and a drive member, the telescoping post being coupled to the vehicle carrier plate and the drive member, respectively.
29. The vehicle transfer apparatus of claim 28, wherein the telescoping mast is a multi-stage telescoping mast having a lift chain disposed therein; or, the telescopic column is a spiral lifting column.
30. The vehicle transfer arrangement of claim 23, wherein the transition layer includes a transition zone, a parking zone, and a roadway, wherein the transition zone has a support surface that is higher than the roadway, wherein the avoidance zone is disposed below the parking zone, and wherein both the elevator and the carrier are capable of passing within the avoidance zone.
31. The vehicle transfer apparatus of claim 30, wherein the height of the transition zone is equal to or greater than the lowest height of the carrier.
32. The vehicle transfer apparatus of claim 30, wherein the transition area is provided with a transfer lift mechanism that is flush with the roadway when the transfer lift mechanism is dropped, and wherein the transfer lift mechanism lifts when the carrier transfers the vehicle from the transition area.
33. The vehicle transfer apparatus of claim 30, wherein the base of the lift is movably disposed in the tunnel, the carrier is movably coupled to the top of the lift, and the carrier is movable back and forth relative to the lift to pick up or place a vehicle from the parking space.
34. The vehicle handling device of claim 22, wherein the carrier has a lidar, a visual recognition sensor and/or a navigation device, the navigation device being an electromagnetic navigator, an inertial navigator, a laser navigator and/or an image navigator.
35. The vehicle handling apparatus of claim 22, wherein the elevator includes a base movably disposed in the roadway, a lifting device mounted on the base, and a carriage plate coupled to the lifting device, the lifting device moving the carriage plate up and down relative to the base.
36. The vehicle handling apparatus of claim 35, wherein the base includes a support body and two legs, the two legs being spaced apart from the support body and defining a relief space therebetween, one side of the vehicle carrier plate being coupled to the support body and being movable up and down relative to the support body, the relief space being adapted to receive the vehicle carrier plate when the vehicle carrier plate is moved to the lowered position; when the vehicle carrying plate moves to the ascending position, the avoidance space is configured to be a part of the avoidance area and is used for accommodating the carrier and/or the vehicle so as to avoid other carriers and/or vehicles.
37. The vehicle handling apparatus of claim 35, wherein the lift assembly includes a lift mechanism and a drive mechanism, the vehicle carrier plate being coupled to the lift mechanism, the lift mechanism being mounted to the base and coupled to the drive mechanism, the lift mechanism driving the vehicle carrier plate to move up and down relative to the base; the driving mechanism drives the base to move along a set route; the carrier is arranged on the car carrying plate and moves back and forth relative to the car carrying plate so as to take or put cars from a parking space of the parking area.
38. The vehicle conveyance device according to claim 37, wherein the drive mechanism comprises a first drive mechanism and a second drive mechanism, the first drive mechanism being connected to the base and driving the base to move along the lane; the second driving mechanism is connected with the lifting mechanism and drives the lifting mechanism to drive the vehicle carrying plate to move up and down.
39. The vehicle handling apparatus of claim 38, wherein the drive mechanism further comprises a third drive mechanism, the carrier being movably coupled to the carrier plate, the third drive mechanism being disposed on the carrier plate and coupled to the carrier, the third drive mechanism being configured to drive the carrier back and forth relative to the carrier plate, the avoidance section being disposed below the parking section to accommodate the carrier and the elevator.
40. The vehicle transporting apparatus of claim 38, wherein the lifting mechanism comprises a scissors guiding member and a vertical telescopic member, the scissors guiding member and the vertical telescopic member are mounted on the bottom plate and respectively connected to the vehicle carrying plate, the scissors guiding member is used for guiding the vehicle carrying plate to move stably up and down, and the vertical telescopic member is connected to the second driving mechanism and drives the vehicle carrying plate to lift.
41. The vehicle transporting apparatus of claim 38, wherein the left and right sides of the carrier are provided with first comb structures, and the parking space is provided with second comb structures adapted to the first comb structures.
42. The vehicle transfer apparatus of claim 35, wherein at least one end of the vehicle carrier plate is provided with a guide plate for overlapping a traffic surface or a frame of the roadway, the guide plate being hinged to the vehicle carrier plate.
43. The vehicle conveying method of the stereo garage is characterized by comprising the following steps of:
s101, driving a vehicle to a conversion area of a stereo garage conversion layer;
s102, according to the arrangement of the electronic control device, the carrier automatically identifies the vehicle entering the conversion area and clamps the vehicle;
S103, judging whether lifting is needed, and if so, driving the vehicle to move on a vehicle carrying plate of the lifter along a specified route by the carrier;
s104, the lifter lifts the vehicle carrying plate and the vehicle to a parking space of a parking layer appointed by the electronic control device;
s105, the carrier conveys the vehicle to the parking space and returns to the vehicle carrying plate of the lifter; and
s106, the lifter descends the carrier to the ground of a conversion layer of the stereo garage, and the parking process is completed;
alternatively, the method further comprises a vehicle taking step opposite to the vehicle storing step.
44. The vehicle conveying method of the stereo garage is characterized by comprising the following steps of:
s101, driving a vehicle to a conversion area of a stereo garage conversion layer;
s102, according to the arrangement of an electronic control device, automatically identifying the vehicle entering the conversion area by a carrier, wherein the carrier horizontally extends out of a vehicle carrying plate of a lifter and clamps the vehicle;
s103, the carrier drives the vehicles to retract to a vehicle carrying plate of the lifter together;
s104, judging whether lifting is needed, if so, lifting the vehicle carrying plate and the vehicle to a parking space of a parking layer appointed by the electronic control device by the lifter;
S105, after the carrier horizontally extends out of the vehicle carrying plate and conveys the vehicle to the parking space, returning to the vehicle carrying plate; and
s106, the lifter descends the vehicle carrying plate and the carrier and returns to the initial position, and the vehicle storage process is completed;
alternatively, the method further comprises a vehicle taking step opposite to the vehicle storing step.
45. The method for transporting a vehicle in a stereo garage of claim 43 or 44, further comprising, before transporting the vehicle:
s100, judging whether avoidance is needed, if so, controlling the carrier and/or the lifter to be avoided by the control system to move to an avoidance area of the stereo garage.
46. An electronic control device for implementing the vehicle conveying method according to any one of claims 43 to 45.
47. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program for implementing the steps of the vehicle handling method according to any of claims 43-45 when executed by a processor.
CN202211499764.0A 2022-06-30 2022-11-28 Stereo garage, vehicle conveying device and method, control device and storage medium Pending CN117328721A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202210782980 2022-06-30
CN202210782980X 2022-06-30

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Application Number Title Priority Date Filing Date
CN202211499764.0A Pending CN117328721A (en) 2022-06-30 2022-11-28 Stereo garage, vehicle conveying device and method, control device and storage medium
CN202211636129.2A Pending CN117325680A (en) 2022-06-30 2022-12-19 Vehicle power receiving device, charging connecting device and vehicle charging system
CN202310312260.1A Pending CN117328722A (en) 2022-06-30 2023-03-28 Stereo garage, electric vehicle fire extinguishing method and device thereof and lifter
CN202310400359.7A Pending CN117328726A (en) 2022-06-30 2023-04-14 Stereo garage, vehicle storage method and vehicle picking method

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Application Number Title Priority Date Filing Date
CN202211636129.2A Pending CN117325680A (en) 2022-06-30 2022-12-19 Vehicle power receiving device, charging connecting device and vehicle charging system
CN202310312260.1A Pending CN117328722A (en) 2022-06-30 2023-03-28 Stereo garage, electric vehicle fire extinguishing method and device thereof and lifter
CN202310400359.7A Pending CN117328726A (en) 2022-06-30 2023-04-14 Stereo garage, vehicle storage method and vehicle picking method

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CN117325680A (en) 2024-01-02
CN117328722A (en) 2024-01-02

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