CN205743142U - Indoor bicycle parking area, underground automatic control system - Google Patents

Abstract

This utility model relates to indoor bicycle parking area, underground automatic control system, it includes ground garage booth and underground indoor bicycle parking area and control system, the top, ground of described warehouse-in side in front of the door is provided with warehouse-in platform and control station, and described set-up of control system is in the control station on top, ground；Indoor bicycle parking area includes support unit and center supply unit, center supply unit is made up of parallel rotary rail, synchronous belt type elevating mechanism, axle brace type rotating mechanism and transport platform, transport platform is driven by Timing Belt elevating mechanism and lifts along rotary rail, rotary rail and transport platform are driven by axle brace type rotating mechanism and horizontally rotate, and transport platform is provided with transport platform and grabs pushing mechanism；Control system includes putting safety detection unit, elevating control unit, rotation control unit, CPU and alarm unit in storage.Indoor bicycle parking area, underground of the present utility model automatic control system, can complete the crawl of bicycle, lift, rotate and push, and safety is good, operate steadily efficient, has warehouse-in safety detection, the most accurately access facility.

Description

Indoor bicycle parking area, underground automatic control system

Technical field

This utility model belongs to bicycle parking storehouse, particularly to a kind of indoor bicycle parking area, underground automatic control system.

Background technology

China is bicycle big country, and bicycle is the highest at the universal of China and utilization rate.Storage for bicycle stops Put, the most mostly use the form of indoor bicycle parking area on the ground.More easy bicycle parking garage on the ground is mostly bicycle shed, and it is voluntarily Negligible amounts parked by car, and single bicycle area occupied is big, parks disorderly and unsystematic, and is easily lost.Also have some three-dimensional certainly Driving storage device, its multilamellar that can realize bicycle is parked, but it still needs to take substantial amounts of ground space, affects the appearance of the city beautiful See.

Chinese patent 201210171767.1 discloses a kind of indoor bicycle parking area, underground, including cylindrical sidewall, is positioned at side Mechanical turntable in wall and bicycle carrier, wherein, machinery turntable includes mechanical arm, rotary apparatus and lowering or hoisting gear.Machine Tool arm, rotary apparatus and lowering or hoisting gear can realize picking and placeing, rotate and lifting of bicycle, thus realize being positioned over bicycle On the bracing frame installed in cylindrical sidewall.This indoor bicycle parking area, underground can realize the stereo multilayer storage of bicycle, significantly Increase bicycle parking quantity, and be not take up ground space.

It is few to there are reserves in indoor bicycle parking area, existing underground, controls for the warehouse-in detection of bicycle, the most accurately access etc. Safety and the convenience of system be not good enough.

Summary of the invention

The purpose of this utility model is to overcome the deficiencies in the prior art, it is provided that one is rational in infrastructure, safety good, operation The most efficiently, there is indoor bicycle parking area, the underground automatic control system of warehouse-in safety detection, the most accurately access facility.

This utility model solves its technical problem and is achieved through the following technical solutions:

A kind of indoor bicycle parking area, underground automatic control system, it is characterised in that: include ground garage booth and underground Indoor bicycle parking area and control system, the top, ground of described warehouse-in side in front of the door is provided with warehouse-in platform and control station, described control system System is arranged in the control station on top, ground；Indoor bicycle parking area includes support unit and center supply unit, center supply unit by Parallel rotary rail, synchronous belt type elevating mechanism, axle brace type rotating mechanism and transport platform are constituted, and arrange on rotary rail Timing Belt elevating mechanism, transport platform is driven by Timing Belt elevating mechanism and lifts along rotary rail, arranges bottom rotary rail Axle brace type rotating mechanism, rotary rail and transport platform are driven by axle brace type rotating mechanism and horizontally rotate, in transport platform It is provided with transport platform and grabs pushing mechanism；Control system include put in storage safety detection unit, elevating control unit, rotation control unit, CPU and alarm unit；Warehouse-in platform is provided with warehouse-in safety detection unit, and Timing Belt elevating mechanism controls with elevating control unit Connecting, axle brace type rotating mechanism controls to be connected with rotation control unit, puts safety detection unit, elevating control unit, rotation in storage Turning control unit to be connected with CPU, CPU is connected with alarm unit.

And, described warehouse-in safety detection unit includes tag recognition unit, weight sensing unit, puts and partially detect list Unit, described tag recognition unit is included on control station the RFID towards the label recognition system put in storage above platform installed and reads Reading device, RFID reader is connected to the CPU of control system；Before described weight sensing unit includes that the bottom surface of warehouse-in platform is provided with Portion's pressure transducer and rear pressure sensor, the signal output part of this front portion pressure transducer and rear pressure sensing is connected to The CPU of control system；Described inclined detector unit of putting includes being positioned at the front-wheel photoelectric sensing of the wheel stopper slot on warehouse-in platform Device group and trailing wheel photoelectric sensor group, the signal output part of described front-wheel and trailing wheel photoelectric sensor group and described control system CPU connects.

And, described warehouse-in safety detection unit includes that vehicle pins alarm unit, and described transport platform grabs pushing mechanism bag Including crossbearer, underframe, horizontal guide rail, push-and-pull servomotor, handgrip mechanism, horizontal synchronization tape handler, underframe is the length of level Shape support body, underframe bottom cross is fixedly mounted with crossbearer, and the length direction on underframe is fixedly mounted with horizontal guide rail, sliding on this horizontal guide rail Dynamic installation handgrip mechanism, one end of this underframe is provided with push-and-pull servomotor, and this underframe is installed the water being connected with handgrip mechanism Flat synchronous belt drive mechanism, this push-and-pull servomotor drives handgrip mechanism level to slide into car by horizontal synchronization tape handler At the warehouse-in door in pavilion, storehouse, described vehicle pins alarm unit and includes that described transport platform grabs the push-and-pull servomotor of pushing mechanism, pushes away Servomotor is drawn to be connected with the CPU of described control system.

And, described synchronous belt type elevating mechanism includes guide rail supporting frame, lift servo motor, drive shaft, Timing Belt And synchronizing belt gear, guide rail supporting frame is vertically fixedly mounted with described parallel rotary rail, pacifies in the lower end of this two rotary rail Dress active synchronization band gear, is respectively mounted driven synchronizing belt gear in the upper end of two rotary rails, at this active synchronization band gear and Longitudinally detour on driven synchronizing belt gear Timing Belt, and the active synchronization band gear of rotary rail lower end is installed on drive shaft jointly On, this drive shaft is driven by described lift servo motor；Described elevating control unit includes the top lower surface of rotary rail The vertical laser range sensor that arranges and the position of the corresponding above-mentioned vertical laser range sensor of upper surface in transport platform Vertically reflector, the signal output part of vertical laser range sensor is connected to the CPU of control system described in control system, CPU The lift servo motor controlling synchronous belt type elevating mechanism moves to bicycle carrier place height.

And, described rotation control unit include the horizontal laser light distance measuring sensor installed transport platform end and each from The horizontal reverse tabula rasa that driving storage rack end is installed, the signal output part of horizontal laser light distance measuring sensor is connected to control system CPU, CPU control the rotating servo motor of axle brace type rotating mechanism and drive transport platform to rotate to corresponding bicycle carrier Position.

And, described axle brace type rotating mechanism by bottom rotary support tray, support gear ring, top rotary support tray, Rotating support shaft bearing, rotating support shaft are held, described rotating servo motor and rotary drive gear are constituted, and rotate in bottom and support On dish, fixed installation supports gear ring, installs rotating support shaft bearing, the inwall of this support gear ring and rotation in this support gear ring Being provided with rotating support shaft between the outer wall of supporting bearing base to hold, top rotary support tray is fixedly mounted on rotating support shaft bearing On, top rotary support tray is installed rotary drive motor, the motor shaft of this rotary drive motor bottom is installed and rotates master Moving gear, this rotary drive gear and support gear ring engaged transmission；Driven with rotating by guide rail supporting frame bottom rotary rail The top rotary support tray of unit is fixed.

And, described control system includes attitude monitoring unit, and attitude monitoring unit is for being installed on transport platform center Nine axle Attitute detecting devices, the signal output part of nine axle Attitute detecting devices is connected to the CPU of control system.

Advantage of the present utility model and having the beneficial effect that

1, indoor bicycle parking area, underground of the present utility model automatic control system, its indoor bicycle parking area includes that support unit and center are defeated Sending unit to constitute, center supply unit is by parallel rotary rail, synchronous belt type elevating mechanism, axle brace type rotating mechanism and defeated Send platform to constitute, the crawl of bicycle can be completed, lift, rotate and push, it is achieved bicycle carrier is put in bicycle para-position On, the bicycle carrier of underground multilamellar, can storing bicycle quantity big, save ground space；There is warehouse-in safety detection list Unit, elevating control unit, rotation control unit, it is achieved bicycle puts in storage, capture, deposit, take out action smooth and easy, safe, can Lean on.

2, indoor bicycle parking area, underground of the present utility model automatic control system, warehouse-in safety detection unit includes tag recognition list Unit, weight sensing unit, put inclined detector unit, can realize bicycle identification on warehouse-in platform, bicycle parking time record, Weight detecting and put partially detection, it is ensured that the bicycle meeting requirements can be deposited, it is ensured that the safety warehouse-in of bicycle.

3, indoor bicycle parking area, underground of the present utility model automatic control system, the top lower surface at rotary rail is provided with perpendicular Straight laser range sensor, the position of the corresponding above-mentioned laser range sensor of upper surface in transport platform is provided with the most reflective Plate, the signal output part of vertical laser range sensor is connected to control system, can realize the detection of transport platform adjustable height, from And its operation is highly realized closed loop control.

4, indoor bicycle parking area, underground of the present utility model automatic control system, the side end in transport platform is fixed with level and swashs Ligh-ranging sensor, installs a horizontal reverse tabula rasa in the end of each bicycle carrier, and the signal of laser range sensor is defeated Go out end and be connected to control system, when laser range sensor output distance signal meets setting value, can determine whether that it is directed at bicycle Storage rack, can deposit, and is controlled the corner of rotary drive motor by rotary encoder, it is achieved accurately determining of the anglec of rotation Position.

5, indoor bicycle parking area, underground of the present utility model automatic control system, including attitude monitoring unit, attitude monitoring unit Using nine axle Attitute detecting devices, its signal output part is connected to CPU, can be to transport platform Y-axis by nine axle Attitute detecting devices And R axle is timed interrupt inquiry, obtains it and run attitude parameter.

6, indoor bicycle parking area, the underground automatic control system of this utility model knot, can complete the crawl of bicycle, lift, rotate And push, safety is good, operate steadily efficient, has warehouse-in safety detection, the most accurately access facility.

Accompanying drawing explanation

Fig. 1 is indoor bicycle parking area of the present utility model structural representation；

Fig. 2 is the A-A direction view of Fig. 1；

Fig. 3 is the front view of cage cylinder of the present utility model；

Fig. 4 is the front view of bicycle carrier of the present utility model；

Fig. 5 is the top view of Fig. 4；

Fig. 6 is the front view of synchronous belt type elevating mechanism of the present utility model；

Fig. 7 is the partial enlarged drawing of Fig. 6；

Fig. 8 is the right view (regulating wheel local) of Fig. 6；

Fig. 9 is the C portion enlarged drawing of Fig. 7；

Figure 10 is that the B-B of Fig. 6 is to sectional view；

Figure 11 is the structural representation of transport platform of the present utility model；

Figure 12 is the D portion enlarged drawing of Figure 11；

Figure 13 is the top view of Figure 12；

Figure 14 is the E portion enlarged drawing of Figure 11；

Figure 15 is the D portion enlarged drawing of Fig. 2；

Figure 16 is the structural representation of pavilion, garage part on ground of the present utility model；

Figure 17 is the left view of Figure 17.

Figure 18 is the functional-block diagram of control system of the present utility model；

Description of reference numerals

1-bicycle, 2-ground upper bracket, 3-rotary rail, 4-cage cylinder, 5-synchronous belt type elevating mechanism, 6-transport platform Grab pushing mechanism, 7-transport platform, 8-axle brace type rotating mechanism, 9-bicycle carrier, 10-column, 11-crossbeam, 12-feeding Section, 13-maintaining segment, 14-are uncovered, the fixing end of 15-, 16-slope, 17-send at the bottom of section side, 18-V type guide groove, 19-feeding section Face, 20-connection post, 21-fix lateral wall, 22-resilient clamp medial wall, another V-type guide groove of 23-, 24-spring stack, guide rail top Bar 25, driven synchronizing belt gear 26, Timing Belt 27, guide rail supporting frame 28, lift servo motor 29, yielding coupling 30, actively Rotate bottom synchronizing belt gear 31, drive shaft 32, regulating wheel mounting seat 33, regulating wheel 34, installation axle 35, elastic support 36,37- Prop up support plate, 38-supports gear ring, 39-rotating support shaft is held, 40-rotating support shaft bearing, 41-top rotary support tray, 42-rotation Turn drive gear, 43-rotating servo motor, 44-push-and-pull servomotor, 45-underframe, 46-horizontal guide rail, 47-wheel guide groove, 48-horizontal synchronization tape handler, 49-crossbearer, 50-pull bar, 51-rubber cushion, 52-clamping plate, 53-drive arm, 54-connecting rod, 55-silk Bar connects seat, 56-screw mandrel, 57-handgrip slide, 58-handgrip motor, 59-stage clip, 60-parallel rod, the encapsulated bearing of 61-, 62- Lift slide, 63-Timing Belt fix seat, 64-laser range sensor, 65-reflector.Horizontal laser light distance measuring sensor 66, water Redress tabula rasa 67, pavilion, 68-garage, 69-warehouse-in door, 70-alarm unit, 71-control station, 72-bicycle warehouse-in platform, 73- Front wheel positions detection sensor group, 74-wheel stopper slot, 75-rear wheel position detection sensor group, 76-reflector, 77-RFID Reader, 78-front portion pressure transducer, 79-rear pressure sensor.

Detailed description of the invention

Below by specific embodiment, the utility model is described in further detail, and following example are illustrative, no It is determinate, it is impossible to limit protection domain of the present utility model with this.

A kind of indoor bicycle parking area, underground automatic control system, including ground garage booth 68 and underground indoor bicycle parking area and Control system, front, pavilion, garage is provided with warehouse-in door 69, and the top, ground of warehouse-in side in front of the door is provided with warehouse-in platform 72 and control Platform 71 processed, set-up of control system is in the control station on top, ground；Indoor bicycle parking area includes support unit and center supply unit.

Wherein, the structure of indoor bicycle parking area is: be made up of pin-connected panel support unit and center supply unit, and pin-connected panel supports single Unit is arranged on cage cylinder inboard wall and constitutes towards the multilamellar bicycle carrier 9 of shaft core position by cage cylinder 4 and circumference；At this The shaft core position of pin-connected panel support unit installs described center supply unit, this center supply unit by parallel rotary rail 3, Synchronous belt type elevating mechanism 5, axle brace type rotating mechanism 8 and transport platform 7 are constituted, and arrange Timing Belt elevator on rotary rail Structure, transport platform is driven by Timing Belt elevating mechanism and lifts along rotary rail, arranges axle brace type and rotate bottom rotary rail Mechanism, rotary rail and transport platform are driven by axle brace type rotating mechanism and horizontally rotate, and transport platform is provided with transport platform Grab pushing mechanism 6.Rotating mechanism top is connected with ground upper bracket 2 bearing.Aerial parts arranges the bicycle blocked by ground upper bracket Booth, bike pavilion is provided with bicycle 1 and imports and exports.

Cage cylinder is made up of the polygon crossbeam unit of many root posts 10 and multilamellar, and polygon crossbeam unit is by many water Flat crossbeam 11 is connected between adjacent upright posts be formed, and a polygon crossbeam unit is adjacent between the polygon crossbeam unit of layer Distance more than the height of bicycle.Polygon crossbeam unit is 10-20 limit shape.The present embodiment is 15 limit shapes.Column uses Cross section is square square steel, and the two ends of crossbeam are shaped with installation inclined-plane, and this bevel angle a can be according to the calculating of polygonal limit number ?.Being welded and fixed installing plate on this installation inclined-plane, the two ends of crossbeam are installed in the both sides of its two heel post by installing plate bolt Wall.

Bicycle carrier includes the pallet body of generally grooved, and this pallet body is made up of the section of feeding 12 and maintaining segment 13, Sending into section to be made up of two feeding section sides 17 and feeding section bottom surface 19, maintaining segment is made up of maintaining segment side and maintaining segment bottom surface.

The feeding section end of pallet body is uncovered 14 entered for cycle wheel, and maintaining segment end is fixed with and garage cylinder The fixing end 15 that body is fixing；The bottom surface sending into section is slightly above the bottom surface of maintaining segment, and sends into system between section and the bottom surface of maintaining segment There is slope 16.Delivering to make on this Support bracket when bicycle is crawled, its wheel portion enters from the open-mouth sending into section, is pushed away Delivering to maintaining segment, be slightly above maintaining segment bottom surface owing to sending into the bottom surface of section, thus realize when grabbing device is regained, bicycle is still So can be limited on Support bracket, prevent its slippage that falls back.

The sidewall of maintaining segment includes that two fix lateral wall 21 and two resilient clamp medial walls 22, fixing lateral wall and feeding section Sidewall by connecting post 20 and be fixedly mounted with and width being more than sending into section, the outer end of two resilient clamp medial walls and one end, fixing lateral wall Connection post fix, the inner of two resilient clamp medial walls and the other end of fixing lateral wall all use the elastic peace of spring stack 24 Dress.The inner of two resilient clamp medial walls can realize resilient clamp.By these two resilient clamp medial walls, can realize further Clamping to different in width wheel bicycle is protected, and the wheel position of bicycle can be rolled into maintaining segment from feeding section smoothly, And clamped by resilient clamp medial wall.

It is fixed with V-type guide groove 18 inside the bottom surface of the feeding section of pallet body.It is fixedly mounted with inside the bottom surface of the maintaining segment of pallet body There is another V-type guide groove 23.The guiding to cycle wheel and position-limiting action can be realized, prevent it from scratching with sidewall, it is ensured that The maintaining segment of its smooth and easy feeding pallet body.

Synchronous belt type elevating mechanism includes that it includes guide rail supporting frame 28, lift servo motor 29, drive shaft 32, Timing Belt 27 and synchronizing belt gear.Vertically being fixedly mounted with two rotary rails on guide rail supporting frame, these two rotary rail tops use guide rail Push rod 25 is welded and fixed.Active synchronization band gear 31 is installed in the lower end of this two rotary rail, equal in the upper end of two rotary rails Installing driven synchronizing belt gear 26, longitudinally detour on this active synchronization band gear and driven synchronizing belt gear Timing Belt, rotates The active synchronization band gear of guide rail lower end is installed in drive shaft jointly, and this drive shaft is driven by described lift servo motor.Rise Yielding coupling 30 is used to be connected between fall servomotor and described driving.The guide rail supporting frame of this transport platform elevating mechanism is fixedly mounted with On axle brace type rotating mechanism 8.

Rotary rail uses square steel structure, and active synchronization band gear and driven synchronizing belt gear are positioned at the sidewall of rotary rail Position, Timing Belt detour on active synchronization band gear and driven synchronizing belt gear and navigate within a sidewall of rotary rail outer and Internal.

Be mounted on tensioning regulation wheel mechanism in two rotary rail bottoms, this tensioning regulation wheel mechanism is by regulating wheel mounting seat 33, regulating wheel 34 and elastic support 36 are constituted, and mounting seat is fixedly mounted with rotary rail, and installation axle 35 two ends of regulating wheel are slidably installed In mounting seat, the installation axle both ends of regulating wheel carry out tensioning installation by elastic support, and described Timing Belt detours through this Regulating wheel.

This rotary drive unit is supported by bottom rotary support tray 37, support gear ring 38, top rotary support tray 41, rotation Bearing block 40, rotating support shaft are held 39, rotating servo motor 43 and rotary drive gear 42 and are constituted.On the rotary support tray of bottom Fixed installation supports gear ring, installs and be rotatablely equipped with rotating support shaft bearing in this support gear ring, the inwall of this support gear ring And being provided with rotating support shaft between the outer wall of rotating support shaft bearing to hold, top rotary support tray is fixedly mounted on rotation and supports On bearing block, on the rotary support tray of top, level is fixedly mounted with guide rail supporting frame, longitudinally mounted two rotations on guide rail supporting frame Guide rail.Rotary drive motor, the motor of this rotary drive motor bottom are installed in the position being positioned at outside at top rotary support tray Install on axle and rotate driving gear, this rotary drive gear and support gear ring engaged transmission；Propped up by guide rail bottom rotary rail The top rotary support tray of support and rotary drive unit is fixed.Rotating servo motor drives rotary drive gear around supporting gear ring Rotate, rotate so that top rotary support tray is rotated guide rail, complete rotary rail and drive the rotation fortune of transport platform Dynamic.

This transport platform it include crossbearer 49, underframe 45, horizontal guide rail 46, push-and-pull servomotor 44, handgrip mechanism 9, level Synchronous belt drive mechanism 48, underframe is the elongated support body of level, and underframe bottom cross is fixedly mounted with crossbearer, the length side on underframe To being fixedly mounted with horizontal guide rail, be slidably installed on this horizontal guide rail handgrip mechanism, and one end of this underframe is provided with push-and-pull servomotor, Installing the horizontal synchronization tape handler being connected with handgrip mechanism on this underframe, this push-and-pull servomotor is passed by horizontal synchronization band Motivation structure drives handgrip mechanism level to slide.Underframe centre position along its length is provided with wheel guide groove 47, wheel guide groove Lateral symmetry horizontal guide rail is set.

Transverse ends at crossbearer is fixed with lift slide 62, and this lift slide three face is surrounded on the vertical rotation of correspondence On guide rail 3, three faces of this lift slide are mounted on rolling the encapsulated bearing 61 in rotary rail surface, and underframe passes through this lifting Slide guides and runs between rotary rail.

Also be fixed with Timing Belt at the both ends of two lift slides and fix seat 63, the lifting Timing Belt on rotary rail with This Timing Belt is fixed seat and is fixed, and underframe is lifted by lifting Timing Belt drive.The both ends of underframe and described lift slide Being symmetrically connected with pull bar 50 between both sides, the end of this pull bar is mounted on rod end bearing.

Handgrip mechanism is made up of handgrip slide 57, handgrip motor 58, screw mandrel 56, symmetrical handgrip arm.Handgrip slide slides It is installed on horizontal guide rail, handgrip slide fixedly mounts handgrip motor, the motor bar connection wire rod of this handgrip motor, this silk The tail end of the handgrip arm of the end connected symmetrical dendrimer of bar, symmetrical handgrip arm is opened and closed by screw mandrel driving by handgrip motor.

Symmetrical handgrip arm all mainly by driving arm 53, clamping plate 52, parallel rod 60, screw mandrel connection seat 55 to constitute, drives The rear end of arm is hinged to be installed on handgrip slide, drives hinge dress parallel rod between front end and the clamping plate of arm, and two drive in wall Portion is connected to screw mandrel by connecting rod 54 and connects seat, and screw mandrel connection seat moves and is installed on handgrip slide, and screw mandrel connects seat engagement Screw mandrel is installed.

On a connecting rod in parallel rod and between clamping plate, stage clip 59 is installed.Clamping plate inner surface is provided with rubber cushion 51。

Control system includes putting safety detection unit, elevating control unit, rotation control unit, CPU and alarm unit in storage； Warehouse-in platform is provided with warehouse-in safety detection unit, and Timing Belt elevating mechanism controls to be connected with elevating control unit, axle brace type Rotating mechanism and rotation control unit control to be connected, warehouse-in safety detection unit, elevating control unit, rotation control unit and CPU connects, and CPU is connected with alarm unit 70.

Warehouse-in safety detection unit includes tag recognition unit, weight sensing unit, puts inclined detector unit, tag recognition list Unit is included on control station the RFID reader 77 towards the label recognition system put in storage above platform installed, RFID reader It is connected to the CPU of control system.RFID reader uses ZTX-G20 ultrahigh frequency RFID integral type fixed reader, reads distance Being 1～6 meter, Card Reader distance is remote；Employing integration-in-one designs, built-in 8DBi gain circle poliarizing antenna；Simple installation, protection etc. Level is high, and water proof and dust proof designs, outdoor and indoor universal；EPCass1Gen2, ISO18000-6C/6B international standard interface is assisted View；Supporting that 902～928MHz, 865～868MHz communication frequencies are optional, frequency hopping mode of operation, environmental suitability is strong.

Weight sensing unit includes that the bottom surface putting platform in storage is provided with anterior pressure transducer 78 and rear pressure sensor 79, the signal output part of this front portion pressure transducer and rear pressure sensing is connected to the CPU of control system.

Put inclined detector unit include being positioned at wheel stopper slot 74 on warehouse-in platform front-wheel photoelectric sensor group 73 and after Wheel photoelectric sensor group 75, the signal output part of front-wheel and trailing wheel photoelectric sensor group is connected with the CPU of control system.Photoelectric transfer Sensor group is installed on the side inwall of wheel stopper slot, in the opposite side inwall correspondence photoelectric sensor group of wheel stopper slot Each photoelectric sensor position is all fixed with reflector 76.

Warehouse-in safety detection unit includes that vehicle pins alarm unit, and vehicle pins alarm unit and includes that described transport platform is grabbed The push-and-pull servomotor of pushing mechanism, push-and-pull servomotor is connected with the CPU of control system.

Elevating control unit includes the vertical laser range sensor 64 that the top lower surface of rotary rail is arranged, and defeated Send the vertical reflector 65 of the position of the corresponding above-mentioned vertical laser range sensor of upper surface of platform, vertical laser range sensor Signal output part be connected to the CPU of control system described in control system.The detection of transport platform adjustable height can be realized, thus right Its operation highly realizes closed loop control.CPU output control signal controls lift servo motor.Reflected by reflector increasing light Effect, improves laser device accuracy of detection.Laser range sensor uses ZLDS100 type.

Spin Control includes the horizontal laser light distance measuring sensor 66 installed transport platform end and each bicycle carrier The horizontal reverse tabula rasa 67 that end is installed, the signal output part of horizontal laser light distance measuring sensor is connected to the CPU of control system, CPU controls the rotating servo motor of axle brace type rotating mechanism and drives transport platform to rotate the position to corresponding bicycle carrier.

Control system also includes that attitude monitoring unit, attitude monitoring unit are the nine axle appearances being installed on transport platform center State detection device, the signal output part of nine axle Attitute detecting devices is connected to the CPU of control system.Nine axle Attitute detecting devices are MPU92509DOF nine axle Attitute detecting device, MPU-9250 module comprises three-axis gyroscope, 3-axis acceleration, three-axle magnetic field；Make With chip: MPU-9250；Power supply: 3-5v (internal low-voltage difference voltage stabilizing)；Communication mode: standard IIC/SPI communication protocol；Core Sheet built-in 16bitAD transducer, 16 bit data outputs；Gyroscope scope: ± 25050010002000 °/s；Acceleration range: ± 2±4±8±16g；Magnetic field range: ± 4800uT, can be to the operation attitude of CPU feedback transport platform.Y-axis deviation range is 10mm, R axle deviation is 0.7 degree.

The control process of indoor bicycle parking area, the underground automatic control system of the present invention comprises the steps:

1). warehouse-in safety detection:

A. weight detecting: weight sensing unit detects weight above bicycle warehouse-in platform automatically, discerns whether that someone stands Vertical, put door when sense weight need to be in security interval in storage and can open；Pressure transducer sets a higher limit and a lower limit Value, when the higher limit of weight overpressure sensor of bicycle being detected, sensor one overweight signal of output, system will This overweight signal, then system alarm, system ceased operations can be detected, then return to original state；When bicycle When weight is without departing from the scope of weighing of pressure transducer, system will carry out next step operation.

B. partially detection is put: put inclined detector unit and automatically detect the front wheel above bicycle warehouse-in platform and trailing wheel is No all it is placed in wheel stopper slot；Judge whether bicycle is put partially with position sensor, when position sensor does not sense During to wheel, then showing that bicycle is put partially, system alarm, system cannot be properly functioning, then proceedes to detection；Work as position sensor When sensing wheel, now bicycle position is correct, and system carries out next step operation.

C. detection is pinned: pin detector unit and automatically detect whether bicycle locks；Pin detection and automatically detect bicycle The method whether locked is: sets a position command by CPU to the rotary encoder of servomotor, then gives servomotor Send position command, rotary encoder feedback position, when feedback position is more than the value set, illustrate that cycle wheel rotates, Frictional force is little, and now bicycle does not pin, then system carries out next step；When the value of feedback position is less than the value set, say The frictional force of bright now bicycle is big, illustrates that now bicycle is in locking-in state, and system returns, and reports to the police.

Above step does not detects to be passed through, then report to the police；Above step all detects to be passed through, then carry out next step；

2) individual person bicycle is stored in:

People leaves after bicycle is put into accessing operation platform region, uses city one-card to swipe the card in man machine interface Confirmation, interface will display bicycle parking person's all-purpose card information, the current bicycle parking time, confirm errorless after press bicycle parking key, man-machine boundary Face obtains bicycle parking signal, carries out bicycle parking；

For public bicycle: carry out tag recognition: by installed on the control station of warehouse-in platform side on ground Bicycle to be deposited is read out by tag recognition unit, and when being not detected by label, system continues checking for；When having detected During label, then system starts the data identity reading in label, then differentiates that label data identity is the most legal, when the label of detection When identity is illegal, now system starts to point out error label to report to the police, and system does not do other operations；When the label of detection is legal Time, system carries out next step action.

3). bicycle captures:

Warehouse-in safety detection completes, and transport platform grabs the handgrip motor action of the handgrip mechanism of pushing mechanism, before capturing bicycle Wheel, and it is moved to transport platform；

4). warehouse compartment selects:

The elevating control unit of control system and rotation control unit control transport platform vertical lifting and rotate as one Bicycle carrier is directed at, and grabs pushing mechanism propelling movement bicycle and is passed to bicycle carrier, records this warehouse compartment coordinate；

5). bicycle takes out:

People stands in human-body safety region, uses city one-card to carry out swiping the card in man machine interface confirmation, controls The elevating control unit of system and rotation control unit control transport platform vertical lifting and rotate to this bicycle parking warehouse compartment coordinate, voluntarily Car captures and takes out, and stably puts as in warehouse-in land regions.

Although disclosing embodiment of the present utility model and accompanying drawing for the purpose of illustration, but those skilled in the art being permissible Understanding: without departing from this utility model and spirit and scope of the appended claims, various replacements, to change and modifications be all can Can, therefore, scope of the present utility model is not limited to embodiment and accompanying drawing disclosure of that.

Claims (7)

1. indoor bicycle parking area, underground automatic control system, it is characterised in that: include ground garage booth and underground from Driving storehouse and control system, the top, ground of warehouse-in side in front of the door is provided with warehouse-in platform and control station, described set-up of control system In the control station on top, ground；Indoor bicycle parking area includes support unit and center supply unit, and center supply unit is by parallel Rotary rail, synchronous belt type elevating mechanism, axle brace type rotating mechanism and transport platform are constituted, and arrange Timing Belt on rotary rail Elevating mechanism, transport platform is driven by Timing Belt elevating mechanism and lifts along rotary rail, arranges axle and support bottom rotary rail Formula rotating mechanism, rotary rail and transport platform are driven by axle brace type rotating mechanism and horizontally rotate, and transport platform is provided with Transport platform grabs pushing mechanism；Control system includes putting safety detection unit, elevating control unit, rotation control unit, CPU and report in storage Alert unit；Warehouse-in platform is provided with warehouse-in safety detection unit, and Timing Belt elevating mechanism controls to be connected with elevating control unit, axle Brace type rotating mechanism controls to be connected with rotation control unit, puts safety detection unit, elevating control unit, Spin Control list in storage Unit is connected with CPU, and CPU is connected with alarm unit.

A kind of indoor bicycle parking area, underground the most according to claim 1 automatic control system, it is characterised in that: described warehouse-in peace Full detector unit includes tag recognition unit, weight sensing unit, puts inclined detector unit, and described tag recognition unit is included in control The RFID reader towards the label recognition system put in storage above platform installed on platform processed, RFID reader is connected to control system The CPU of system；Described weight sensing unit includes that the bottom surface putting platform in storage is provided with anterior pressure transducer and rear pressure sensing Device, the signal output part of this front portion pressure transducer and rear pressure sensing is connected to the CPU of control system；Described puts inspection partially Survey unit and include being positioned at front-wheel photoelectric sensor group and the trailing wheel photoelectric sensor group of the wheel stopper slot on warehouse-in platform, described The signal output part of front-wheel and trailing wheel photoelectric sensor group is connected with the CPU of described control system.

A kind of indoor bicycle parking area, underground the most according to claim 2 automatic control system, it is characterised in that: described warehouse-in peace Full detector unit includes that vehicle pins alarm unit, and described transport platform is grabbed pushing mechanism and included crossbearer, underframe, horizontal guide rail, push-and-pull Servomotor, handgrip mechanism, horizontal synchronization tape handler, underframe is the elongated support body of level, and underframe bottom cross is fixedly mounted with Crossbearer, the length direction on underframe is fixedly mounted with horizontal guide rail, and be slidably installed on this horizontal guide rail handgrip mechanism, the one of this underframe End is provided with push-and-pull servomotor, and this underframe is installed the horizontal synchronization tape handler being connected with handgrip mechanism, and this push-and-pull is watched Taking motor drives handgrip mechanism level to slide at the warehouse-in door in pavilion, garage by horizontal synchronization tape handler, described vehicle Pin alarm unit and include that described transport platform grabs the push-and-pull servomotor of pushing mechanism, push-and-pull servomotor and described control system CPU connect.

A kind of indoor bicycle parking area, underground the most according to claim 1 automatic control system, it is characterised in that: described Timing Belt Formula elevating mechanism includes guide rail supporting frame, lift servo motor, drive shaft, Timing Belt and synchronizing belt gear, at guide rail supporting frame On be vertically fixedly mounted with described parallel rotary rail, the lower end of this rotary rail install active synchronization band gear, at rotary rail Upper end be respectively mounted driven synchronizing belt gear, synchronization of longitudinally detouring on this active synchronization band gear and driven synchronizing belt gear Band, the active synchronization band gear of rotary rail lower end is installed in drive shaft jointly, and this drive shaft is by described lift servo motor Drive；Described elevating control unit includes the vertical laser range sensor of the top lower surface setting of rotary rail and defeated Send the vertical reflector of the position of the corresponding above-mentioned vertical laser range sensor of upper surface of platform, vertical laser range sensor Signal output part is connected to the CPU of control system described in control system, CPU and controls the lift servo electricity of synchronous belt type elevating mechanism Machine moves to bicycle carrier place height.

A kind of indoor bicycle parking area, underground the most according to claim 1 automatic control system, it is characterised in that: described Spin Control Unit includes the water that the horizontal laser light distance measuring sensor installed transport platform end and each bicycle carrier end are installed Redressing tabula rasa, the signal output part of horizontal laser light distance measuring sensor is connected to the CPU of control system, CPU and controls the rotation of axle brace type The rotating servo motor of rotation mechanism drives transport platform to rotate the position to corresponding bicycle carrier.

A kind of indoor bicycle parking area, underground the most according to claim 5 automatic control system, it is characterised in that: described axle supports Formula rotating mechanism is by bottom rotary support tray, support gear ring, top rotary support tray, rotating support shaft bearing, rotating support shaft Hold, described rotating servo motor and rotary drive gear are constituted, and on the rotary support tray of bottom, fixed installation supports gear ring, at this In supporting gear ring, rotating support shaft bearing is installed, is provided with between inwall and the outer wall of rotating support shaft bearing of this support gear ring Rotating support shaft is held, and top rotary support tray is fixedly mounted in rotating support shaft bearing, installs on the rotary support tray of top Rotary drive motor, on the motor shaft of this rotary drive motor bottom install rotate driving gear, this rotary drive gear with Support gear ring engaged transmission；Fixed by the top rotary support tray of guide rail supporting frame with rotary drive unit bottom rotary rail.

A kind of indoor bicycle parking area, underground the most according to claim 5 automatic control system, it is characterised in that: described control system Including attitude monitoring unit, attitude monitoring unit is the nine axle Attitute detecting devices being installed on transport platform center, nine axle appearances The signal output part of state detection device is connected to the CPU of control system.