CN207211873U - A kind of intelligent underground parking garage - Google Patents

Abstract

The utility model discloses a kind of intelligent underground parking garage, ground is provided with the traversing framework of robot, the traversing framework of robot is provided with can be along the parking robot that horizontal X direction of principal axis moves, the front of underground garage framework is provided with the traversing framework of vehicle to be linked into an integrated entity with each layer of underground garage framework of Vierendeel girder, the traversing framework of vehicle is provided with cross moving track along horizontal X direction of principal axis, cross moving track is provided with the traversing pallet slided along cross moving track, traversing pallet is provided with the vehicle vertical shift dolly moved along horizontal Y direction, the side of underground garage framework is provided with elevator, it is provided with ground and corresponding with elevator transfers mouth.Vehicle can arbitrarily be parked in Transport Vehicle area, have superb stopping technical without driver；Driver and crew do not have to enter underground garage framework with vehicle, and Transport Vehicle can in advance be preengage, save the Transport Vehicle time, improve efficiency.

Description

A kind of intelligent underground parking garage

Technical field

Intelligent parking garage technical field is the utility model is related to, in particular to a kind of intelligent underground parking garage.

Background technology

Need driver that vehicle is reached into underground garage during underground garage Transport Vehicle on the market at present, then be parked in vacant car On position, or vehicle is outputed from the parking stall of underground garage, be the shortcomings that this Transport Vehicle mode：1st, Transport Vehicle enters simultaneously OK, the track that garage is supplied to vehicle to travel is narrow, especially in the larger bustling commercial circle of vehicle flowrate, easily causes underground garage Congestion；2nd, underground garage parking stall narrow space, high to driver driving technical requirements during Transport Vehicle, efficiency is low；3rd, Transport Vehicle When, vehicle frequent start-stop, low engine speed operation, a large amount of tail gas are given off, ventilation systems in underground car parks is not smooth in addition, causes air to mix It is turbid, driver and crew's health is had undesirable effect.

Utility model content

The purpose of this utility model seeks to the deficiency for solving above-mentioned background technology, there is provided one kind is simple in construction, cost is low, Stop the intelligent underground parking garage of pick-up efficiency high.

In order to achieve this, the intelligent underground parking garage designed by the utility model, including the ground of Multilayer parking position are got off Storehouse framework and parking robot, it is characterised in that：Ground is provided with the traversing framework of robot, is set on the traversing framework of robot Having can be provided with and underground garage framework along the parking robot that horizontal X direction of principal axis moves, the front of the underground garage framework The traversing framework of vehicle that each layer of Vierendeel girder links into an integrated entity, the traversing framework of vehicle are provided with along horizontal X direction of principal axis direction Cross moving track, the cross moving track are provided with the traversing pallet slided along cross moving track, and the traversing pallet is provided with along horizontal Y The vehicle vertical shift dolly of direction of principal axis motion, the side of the underground garage framework is provided with elevator, be provided with the ground and Decentralization mouth corresponding to elevator；Every layer of parking stall of the underground garage framework is comb-tooth-type parking stall, the lifting electricity Comb-tooth-type parking stall also is provided with ladder, the comb-tooth-type parking stall includes two faces and the car in gap with parking stall ground be present Position fishback, is provided with vertical shift trolley track between the parking stall fishback.

Specifically, the traversing framework of robot includes more vertical support bars being arranged on ground and is fixed on vertically Support bar top, the two frame girders being parallel to each other, the parking robot are arranged on two frame girders.The traversing frame of robot Frame may be disposed on any ground space, and bottom overhead, not influence vehicle pass-through, and it is convenient to set up, applied widely, especially suitable For urban ground layer.

Specifically, the vehicle vertical shift dolly includes the vertical shift trolley body that bottom is provided with roller, the vertical shift dolly sheet The front and rear sides of body are respectively equipped with a dolly broach panel assembly corresponding with the front wheels and rear wheels of vehicle, the dolly fishback Device includes dolly fishback, front and rear can included with respect to the first support frame and the second support frame that slide, the dolly fishback Broach supporting plate and more broach bars being fixed at left and right sides of broach supporting plate, the rear portion of first support frame is fixed with liter Motor drops, and the lifting motor is connected with the ball screw coaxial with the first support frame, second support frame Front portion is provided with the feed screw nut coordinated with ball screw, and being connected to first at left and right sides of the front end of first support frame cuts Formula link assembly, the rear end left and right sides of second support frame are connected to the second scissors link assembly, and described first cuts Formula link assembly is hinged including one end with vertical shift trolley body, the first be hinged lower link of the front end of the other end and the first support frame It is hinged with one end and the first support frame, the first upper connecting rod that the other end is hinged with broach supporting plate, the fishback is located at vertical shift Above trolley body, the second scissors link assembly is hinged including one end with vertical shift trolley body, the other end and the second support The second be hinged lower link of the rear end of frame and one end are hinged with the second support frame, the other end it is be hinged with broach supporting plate second on Connecting rod.

Specifically, the parking robot includes the guide rail that can be moved along the top horizontal X-direction of the traversing framework of vehicle Big mechanism of car；The big mechanism of car upper end of guide rail is provided with the guide rail trolley body that can be moved along horizontal Y direction；The guide rail The vertical telescopic frame that can be moved along vertical Z-direction is connected with trolley body；The vertical telescopic frame bottom is hinged with pick-up Manipulator；The vertical telescopic frame top is connected with the retractable driving device that its can be driven flexible, consolidates on the pick-up manipulator Surely there is the rotating driving device of its rotation of driving.

More specifically, the big mechanism of car of the guide rail includes the X direction guiding rails and cart for being arranged at the traversing frame roof of vehicle；Institute Cart is stated to be slidably connected with X direction guiding rails；The guide rail trolley body be fixed in the cart upper end and with the X direction guiding rails It is mutually perpendicular to arrange；The guide rail trolley body includes vertically being fixed in the big mechanism of car upper end of guide rail and mutually hung down with X direction guiding rails Straight Y-direction guide rail；Dolly is slidably connected with the Y-direction guide rail；The vertical telescopic frame is vertically consolidated with dolly Fixed connection.

Specifically, the vertical telescopic frame includes multiple coaxially arranged flexible sections；Two of two neighboring section stretch Casing coupling section slip cap load connects.

Specifically, the rotating driving device includes rotationally supporting and rotary driving source；It is described to rotationally support including mutual Coaxially be hinged interior support ring and external support circle；The bottom of the interior support ring and vertical telescopic frame is affixed；The rotation driving Source includes being fixed on the motor on pick-up manipulator top, and the output end of the motor is connected with active worm screw, described Active worm-drive is combined with driven worm gear；Pick-up robot top, top and external support are fixed in the driven worm gear bottom Enclose affixed.

Specifically, the pick-up manipulator includes the clamping device movable stand for being articulated with vertical telescopic frame bottom；The rotation Rotary driving device is fixed at the top of clamping device movable stand；The clamping device movable stand includes horizontal upper frame and vertical bracket； The affixed vertical bracket in the both sides of the horizontal upper frame along its length；The vertical bracket bottom is slidably connected with can edge The clamping device that automobile axial direction slides, the both ends of the clamping device are hingedly connected with clamping bar.

The beneficial effects of the utility model are：Vehicle can arbitrarily be parked in Transport Vehicle area, have superb stop without driver Driving skills art；Driver and crew do not have to enter underground garage framework with vehicle, and Transport Vehicle can be preengage in advance, when saving Transport Vehicle Between, improve efficiency；It is fast to access vehicle speed, and upgrading can be carried out to existing underground garage framework, increases parking space number Amount, cost is low, has good practicality and market application value.

Brief description of the drawings

Fig. 1 is the top view of the traversing framework of robot on ground in the utility model；

Fig. 2 is the top view of underground garage framework in the utility model；

Fig. 3 is the front view of underground garage framework in the utility model；

Fig. 4 is the intelligent integrally-built left view of underground garage framework designed by the utility model；

Fig. 5 is the top view of vehicle vertical shift dolly in the utility model；

Fig. 6 is the front view of vehicle vertical shift dolly in the utility model；

Fig. 7 is that vehicle vertical shift dolly lifts the front view that automobile enters parking stall in the utility model；

Fig. 8 is that vehicle vertical shift dolly lifts the top view that automobile enters parking stall in the utility model；

Fig. 9 is that parking robot is located at the front view on the traversing framework of vehicle in the utility model；

Figure 10 is that parking robot is located at the top view on the traversing framework of vehicle in the utility model；

Figure 11 is the pick-up manipulator front view of parking robot clamping device in the utility model；

Figure 12 is the rotating driving device schematic diagram of parking robot clamping device in the utility model；

Figure 13 is the top view of the vehicle identification system based on fixed radar in the utility model；

Figure 14 is that the parking area of the vehicle identification system of the vehicle identification system based on fixed radar in the utility model shows It is intended to；

Figure 15 is that the parking area of the vehicle identification system of the vehicle identification system based on fixed radar in the utility model is single Line radar scanner position view；

Figure 16 is that the parking area of the vehicle identification system of the vehicle identification system based on fixed radar in the utility model is sat Mark transfer principle；

Figure 17 is the radar scanning of the vehicle identification system of the vehicle identification system based on fixed radar in the utility model Device front view；

Figure 18 is the radar scanning of the vehicle identification system of the vehicle identification system based on fixed radar in the utility model Device top view；

Figure 19 is the single line laser radar of the vehicle identification system based on fixed radar and movable radar in the utility model Schematic view of the mounting position；

Figure 20 is the top view of the vehicle identification system based on optical imagery in the utility model；

Figure 21 is that the single industrial camera working condition of the vehicle identification system based on optical imagery in the utility model is shown It is intended to one；

Figure 22 is that the single industrial camera working condition of the vehicle identification system based on optical imagery in the utility model is shown It is intended to two；

Wherein, 1-underground garage framework, the big mechanism of car of 2-guide rail (2.1-X direction guiding rails, 2.2-cart), 3-guide rail Trolley body (3.1-Y-direction guide rail, 3.2-dolly), 4-vertical telescopic frame (4.1-section of stretching), 5-rotating driving device (5.1-rotationally support, 5.1-1-interior support ring, 5.1-2-external support circle, 5.2-rotary driving source, 5.2-1-driving electricity Machine, 5.2-2-active worm screw, 5.2-3-driven turbine wheel), 6-pick-up manipulator (610-clamping device movable stand, 620-folder Hold device, 621-clamping bar), 7-automobile, the traversing framework of 8-vehicle, 9-cross moving track, 10-traversing pallet, 11-vehicle indulges Shifting dolly (11.1-vertical shift trolley body, 11.2-dolly fishback, the 11.3-the first support frame, the 11.4-the second support frame, 11.5-lifting motor, 11.6-ball screw, 11.7-feed screw nut, the 11.8-the first scissors link assembly, 11.9-the second scissors link assembly), 12-elevator, 13-retractable driving device, the traversing framework of 14-robot, 15- Parking area, 16-number plate machine, 17-radar scanner (17.1-support, 17.2-motor, 17.3-laser thunder Up to), 18-industrial camera, 19-single line laser radar, 20-single line radar scanner, 21-broach supporting plate, 22-comb Ratch, the 23-the first lower link, the 24-the first upper connecting rod, the 25-the second lower link, the 26-the second upper connecting rod, 27-parking stall comb Tooth plate, 28-vertical shift trolley track (28.1-vertical shift carriage walking track, 28.2-vertical shift dolly guide rail), 29-close Switch, 30-sensor block, 31-lifting directive wheel, 32-vertical shift directive wheel, 33-trolley idler wheels, A1- parking stalls angle, B1- backsights Mirror position, C1- front wheel positions, L1- vehicle commander, D1- rear wheel positions, W1- overall width, W- pick-up Robot actions region, (X1, Y1)-vehicle coordinate.

Embodiment

The utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings.

Intelligent underground parking garage as shown in Fig. 1-4, including the underground garage framework 1 of Multilayer parking position and parking machine People, ground are provided with the traversing framework 14 of robot, and the traversing framework 14 of robot is provided with the parking that can be moved along horizontal X direction of principal axis Robot, the front of underground garage framework 1 are provided with the vehicle to be linked into an integrated entity with each layer of underground garage framework 1 of Vierendeel girder Traversing framework 8, along horizontal X direction of principal axis direction, provided with cross moving track 9, (the traversing framework 8 of vehicle has the traversing framework 8 of vehicle for one The general frame of sandwich construction links into an integrated entity with underground garage framework 1), cross moving track 9 is provided with and slided along cross moving track 9 Traversing pallet 10, traversing pallet 10 is provided with the vehicle vertical shift dolly 11 that is moved along horizontal Y direction, underground garage framework 1 Side be provided with elevator 12, be provided with ground it is corresponding with elevator 12 decentralization mouth.The traversing framework 14 of robot includes More vertical support bars being arranged on ground and the two frame girders for being fixed on vertical support bar top, being parallel to each other, it is described Parking robot is arranged on two frame girders.1 each floor of underground garage framework is along the length direction of underground garage framework 1 Parking stall is interval with, horizontal X direction of principal axis is the length direction of underground garage framework 1, horizontal Y direction of principal axis and parking stall axis It is located along the same line, the vertical Z-direction is the short transverse of underground garage framework 1.

As shown in Fig. 5-8, vehicle vertical shift dolly 11 includes the vertical shift trolley body 11.1 that bottom is provided with roller, and vertical shift is small The front and rear sides of car body 11.1 are respectively equipped with a dolly broach panel assembly corresponding with the front wheels and rear wheels of vehicle, dolly comb Toothed plate device include dolly fishback 11.2, can front and rear relative the first support frame 11.3 and the second support frame 11.4 slided, institute The more broach bars 22 that dolly fishback 11.2 includes broach supporting plate 21 and is fixed on the left and right sides of broach supporting plate 21 are stated, the The rear portion of one support frame 11.3 is fixed with lifting motor 11.5, and lifting motor 11.5 is connected with and the first support frame 11.3 coaxial ball screws 11.6, the front portion of the second support frame 11.4 are provided with the feed screw nut coordinated with ball screw 11.6 11.7, the front end left and right sides of the first support frame 11.3 is connected to the first scissors link assembly 11.8, the second support frame The second scissors link assembly 11.9 is connected at left and right sides of 11.4 rear end, the first scissors link assembly 11.8 includes one end It is be hinged with vertical shift trolley body 11.1, the first be hinged lower link 23 of the front end of the other end and the first support frame 11.3 and one end and First support frame 11.3 is be hinged, and the first upper connecting rod 24 that the other end is hinged with broach supporting plate 21, fishback 11.2 is located at vertical shift The top of trolley body 11.1, it is be hinged with vertical shift trolley body 11.1 that the second scissors link assembly 11.9 includes one end, the other end with The second be hinged lower link 25 of the rear end of second support frame 11.4 and one end and the second support frame 11.4 are be hinged, the other end and broach The second be hinged upper connecting rod 26 of supporting plate 21.Every layer of parking stall of underground garage framework 1 is comb-tooth-type parking stall, elevator Comb-tooth-type parking stall also is provided with 12, comb-tooth-type parking stall includes two faces and the parking stall comb in gap with parking stall ground be present Tooth plate 27, more broach bars are interval with parking stall fishback 27, vertical shift trolley track 28 is provided between parking stall fishback 27, indulge Move trolley track 28 and be located at the lower section of parking stall fishback 27.Vertical shift trolley track 28 includes the vertical shift dolly coordinated with trolley idler wheels 33 Walking track 28.1 and the vertical shift dolly guide rail 28.2 coordinated with vertical shift directive wheel 32.The both sides of second support frame 11.4 Groove is provided with, the both sides of the first support frame 11.3 are provided with lifting directive wheel 31, and lifting directive wheel 31 is located in groove, lifts directive wheel 31 Coordinate the motion of the first support frame 11.3 and the second support frame 11.4, stop motion after being contacted with proximity switch 29, while with sense The information that struts for the link assembly that block 30 receives is answered to coordinate the position for determining broach supporting plate 21, so that it is guaranteed that dolly fishback 11.2 with the position relationship of parking stall fishback 27, it is ensured that automobile 7 falls on parking stall fishback 27.

As shown in Fig. 9-12, parking robot includes to lead along what the top horizontal X-direction of the traversing framework of vehicle was moved The big mechanism of car 2 of rail；The big upper end of mechanism of car 2 of guide rail is provided with the guide rail trolley body 3 that can be moved along horizontal Y direction；Guide rail is small The vertical telescopic frame 4 that can be moved along vertical Z-direction is connected with mechanism of car 3；The bottom of vertical telescopic frame 4 is hinged with pick-up machinery Hand 6；The top of vertical telescopic frame 4 is connected with the retractable driving device 13 that its can be driven flexible, and driving is fixed with pick-up manipulator 6 Its rotating driving device 5 rotated.The big mechanism of car 2 of guide rail includes being arranged at the He of X direction guiding rails 2.1 of the traversing frame roof of vehicle Cart 2.2；Cart 2.2 and X direction guiding rails 2.1 are slidably connected；Guide rail trolley body 3 be fixed in the upper end of cart 2.2 and with X to Guide rail 2.1 is mutually perpendicular to arrange；Guide rail trolley body 3 include it is vertical be fixed in the big upper end of mechanism of car 2 of guide rail and with X direction guiding rails 2.1 orthogonal Y-direction guide rails 3.1；Dolly 3.2 is slidably connected with Y-direction guide rail 3.1；Vertical telescopic frame 4 is along vertical side It is fixedly connected to dolly 3.2.Vertical telescopic frame 4 includes multiple coaxially arranged flexible sections 4.1；The two of two neighboring section The individual slip cap load of flexible section 4.1 connects.Rotating driving device 5 includes rotationally supporting 5.1 and rotary driving source 5.2；Rotation branch Hold 5.1 interior support ring 5.1-1 and external support the circle 5.1-2 for including mutually coaxially being hinged；Interior support ring 5.1-1 and vertical telescopic The bottom of frame 4 is affixed；Rotary driving source 5.2 includes the motor 5.2-1 for being fixed on the top of pick-up manipulator 6, motor 5.2-1 output end is connected with active worm screw 5.2-2, and active worm screw 5.2-2 transmissions are combined with driven worm gear 5.2-3；Driven snail Wheel 5.2-3 is fixed on pick-up robot top in bottom, and top and external support circle 5.1-2 are affixed.Pick-up manipulator 6 includes being articulated with The clamping device movable stand 610 of the bottom of vertical telescopic frame 4；Rotating driving device 5 is fixed on the top of clamping device movable stand 610； Clamping device movable stand 610 includes horizontal upper frame and vertical bracket；The affixed vertical support in the both sides of horizontal upper frame along its length Frame；Vertical bracket bottom is slidably connected with the clamping device 620 that can be slided along automobile axial direction, clamping device 620 Both ends are hingedly connected with clamping bar 621.

Parking method based on a kind of above-mentioned intelligent underground parking garage, it is characterised in that：Comprise the following steps：

Step 1：Driver drives automobile 7 into Transport Vehicle area, arbitrarily parks, and gets off and is left after shutting car door；

Step 2：Parking robot adjusts automobile 7 by being captured from the information of vehicles that identifying system is obtained by automobile 7 Automobile 7 is placed in elevator 12 behind direction；

Step 3：If the B1 of underground garage framework 1 has a vacant parking stall, elevator 12 carries automobile 7 along perpendicular Automobile 7 is transferred to one layer of underground garage framework by straight Z-direction motion, and the traversing pallet 10 of B1 is along horizontal X direction of principal axis Before being moved to specified vacant parking stall, then moved along horizontal Y direction by vehicle vertical shift dolly 11, automobile 7 be placed on parking stall, Then on the counter motion of vehicle vertical shift dolly 11 to traversing pallet 10；

If the B1 of underground garage framework 1 does not have vacant parking stall, elevator 12 carries automobile 7 along vertical Z axis Direction moves to the underground garage ccf layer with vacant parking stall, the equipped vehicle vertical shift of traversing pallet 10 of corresponding parking stall layer Dolly 11 moves to elevator position along horizontal X direction of principal axis, traversing pallet 10 with after the flat bed of elevator 12, vehicle vertical shift is small Car 11 moves to elevator 12 along horizontal Y direction, carries automobile 7 along horizontal Y direction counter motion to traversing pallet 10, Traversing the equipped vehicle vertical shift dolly 11 of pallet 10 and automobile 7 move to vacant parking stall, vehicle vertical shift dolly along horizontal X direction of principal axis 11 carrying automobiles 7 move to parking stall along horizontal Y direction, automobile 7 are placed on parking stall, last vehicle vertical shift dolly 11 is anti- Parking is completed on traversing pallet 10 to moving to.

After robot is stopped in step 2 by capturing automobile 7 from the information of vehicles that identifying system is obtained, parking machine After device people can adjust the direction of automobile 7 and crawl height, directly there is the parking tier of vacant parking stall in decentralization to underground garage framework 1 Vehicle vertical shift dolly 11 on, vacant parking stall is moved to along horizontal X direction of principal axis by the traversing pallet 10 of this layer, by vehicle vertical shift Dolly 11 carries automobile 7 and moved along horizontal Y direction of principal axis, and after automobile 7 is positioned over into parking stall, then counter motion is to traversing pallet 10 On.

Pick-up process is with parking on the contrary, after driver's vehicle collection reservation, and automobile 7 is in traversing pallet 10, the and of vehicle vertical shift dolly 11 Under the cooperation of elevator 12, by the vehicles drive on specified parking stall to upper strata road surface, then by pick-up manipulator 6 vehicle is captured It is placed on Transport Vehicle area.

From the structural representation of the vehicle identification system based on fixed radar shown in Figure 13 to Figure 18, including vehicle Traversing framework 8 and pick-up manipulator 6；Also car in parking area 15 is obtained including the parking area 15 for parking cars, for scanning The radar scanner 17 of position coordinates and the host computer for controlling pick-up manipulator 6 to work；Parking area 15 is along its length Direction is provided at both ends with radar scanner 17；It is disposed with the long side of parking area 15 multiple for obtaining vehicle tire center The single line radar scanner 20 of point；Height of the laser emission point of single line radar scanner 20 apart from ground is less than 100 millis Rice；The Laser emission line of single line radar scanner 20 is parallel to level ground；Radar scanner 17 includes support 17.1, driven Dynamic motor 17.2 and laser radar 17.3；Motor 17.2 is vertically fixed in the upper end of support 17.1；Motor 17.2 it is defeated Go out end to be connected with laser radar 17.3；Number for obtaining automotive license plate in parking area 15 is also connected with the traversing framework 8 of vehicle Board machine 16.The vehicle storage method of vehicle identification system based on fixed radar is：Utilize the point Yun Hewei of whole parking area 15 Relatively show that vehicle is located at the position coordinates of parking area 15 in the altitude data of the point cloud of vehicle in parking area 15；Pick-up manipulator 6 capture vehicle according to above-mentioned vehicle location coordinate is put in elevator 12.Vehicle location coordinate positioned at parking area 15 obtains Take method as follows：Two radar scanners 17 collaboration scanning on the traversing framework 8 of vehicle obtains the foreign steamer of whole parking area 15 Wide cloud data and in parking area 15 vehicle the outline cloud data (elevation of the outline cloud data of parking area 15 Height value of the value not equal to the outline cloud data of vehicle), and send data processing equipment to；Data processing equipment according to than The high level of the outline cloud data of vehicle is by above-mentioned institute compared with the outline cloud data of parking area 15 and in parking area 15 There are data to be divided into ground data and non-ground data, and non-ground data is projected into ground using Shadow marks (because working as When parking area 15, the ground for just necessarily having a panel region can not be arrived vehicle by laser scanning, and be crossed in laser When vehicle is scanned to ground again, it is equivalent to vehicle and forms a shadow region on the ground)；Data processing equipment Whether the shadow shapes that ground is projected to by more non-ground data meet vehicle outline so that it is determined that vehicle is positioned at parking The position coordinates in area 15 (while using effective cloud data in vehicle region, is repaiied to data such as the length and width height of vehicle Just)；Data processing equipment includes host computer and industrial computer；Host computer receives the whole parking area 15 that industrial computer transmits Outline cloud data and outline cloud data positioned at vehicle in parking area 15 and after judging, first by non-ground number A rectangle in horizontal plane is obtained according to ground data (shade) is projected as；Pass through the cornerwise intersection point of rectangle Determine the position coordinates of vehicle；The parking stall of vehicle is determined by the angle of rectangular central axis and the internal coordinate system of parking area 15 Angle；The position that vehicle is located in parking area 15 is determined by the position coordinates and parking stall angle of vehicle；Industrial computer will handle what is obtained The vehicle location coordinate, parking stall angle are sent to host computer；PC control pick-up manipulator 6 captures vehicle.Specific steps bag Include：Step 1, driver will treat that parking is put and drive into parking area 15 and arbitrarily park, when parking area 15 is driven into parking, number Board machine 16 obtains number plate of vehicle；Step 2, vehicle come to a complete stop after driver leaves, the band of motor 17.2 of radar scanner 17 The dynamic scanning of laser radar 17.3 obtains the outline data to park cars and sends the data to host computer by industrial computer；Step Rapid three, host computer obtains parking cars position coordinates and car in parking area 15 after handling the outline data Parallactic angle；Step 4, host computer driving pick-up manipulator 6 are moved to park cars position and the corresponding parking stall angle of rotation, clamping Park cars and make it into elevator 12；When park cars there is no number plate when, host computer assign this park cars one it is unique Vehicle code name.Parking area 15, which is one, in the technical solution of the utility model can accommodate several the even area of tens automobiles Domain, for such a region, when driver drives car into the region, can arbitrarily it park.The both ends in the region have two admittedly Determine laser radar the region is not stopped to scan under the cooperation of motor, to obtain the length into vehicle, parking stall angle, car Take turns position, position of rear view mirror etc..In accompanying drawing 14, J points are laser radar, drive the Plane of rotation for the motor that it rotates back and forth parallel In WJV planes, the scanning plane of laser radar is perpendicular to WJV planes.Rotation forms scanning plane, motor driven to laser radar at a high speed The scanning of the paired solid space of radar rotary.In figure, Data Point are arrived in laser radar J scannings, according to time flight theory Obtain laser radar J to Data Point distance R.Data Point to plane UJV intersection point is point A.Changed according to triangle Calculate, JA length is：JA=R × COS (ω)；Coordinate values of the DataPoint in UVW coordinate systems be respectively：U1=R × COS (ω) ×SIN(α)；V1=R × COS (ω) × COS (α)；W1=R × SIN (ω).XYZ coordinate system is parking area coordinate System, it is to grab the coordinate system used during car device crawl vehicle.And coordinate system UVW be coordinate system XYZ by vectorial OJ translate and Come, pass through conversion, you can try to achieve coordinates of the Data Point in coordinate system XYZ.All pip data acquisition systems must can stop The 3-D view in region.Industrial computer calculates the length of vehicle, parking stall angle, wheel position, position of rear view mirror etc., then sends out Give host computer, host computer grabs car instruction to grabbing car device and send；During work, first, radar J itself has a coordinate system UVW, the radar can be 0 to 360 degree rotations, have single line radar, also have multi-thread radar, the motor of single line radar does not drive it to revolve When turning, when one limited solid space of its scanning, single line radar scanning is exactly a face.Motor rotation is formed one Solid space.The scanning theory of radar is exactly the time to reach principle, launches laser, runs into object and reflect, this transmission connects It is very accurately by the time, then the pip to radar precisely calculates apart from can.And motor be it is with encoder, Motor have rotated how many degree, and pinpoint.Radar scanning point distance, R and angle ω is just obtained in figure.Radar is not It is a scanning vehicle, it all obtains the pip scanned in scanning range, is extracted further according to the feature of car by algorithm Go out vehicle, the two radars are like the eyes of people, and its data can be sent to an industrial computer, and industrial computer was sent out to handle it The data come.The two radars are synchronous workings.In order to strengthen the positioning to automobile tire, divide in the long side of parking area 15 Fixed single line laser radar 19 is furnished with, its laser emission point terrain clearance is less than 100 millimeters, and Laser emission line is parallel to level Ground.There is vehicle entrance in the front of single line radar scanner 20, and the other parts that we simulate car are only left tire.It is single The scanning of line radar scanner 20, according to time flight theory, can calculate each pip and arrive to a tire of automobile The distance of single line radar scanner 20.We can be nearly a rectangle, i.e. tire the overhead view image of automobile tire It is vertically projected to the projection of level ground.The laser of LASER Light Source transmitting can only at most touch rectangular two sides, root It is in different size according to the distance of every measured, the length on this two sides can be obtained.Then the center of the tire is calculated Point.After obtaining the central point of four tires of automobile, the parking stall angle of automobile can be calculated, is grabbing the process of car device decline In, ultrasonic sensor, laser sensor etc., which send alarm, the car that when colliding possible, system obtains according to ground laser radar Position angle adjustment grabs the anglec of rotation of car device.When radar scanner 17 scans automobile 7, radar scanner 17 can only obtain Get a line of tire, but the radar scanner 17 and the energy of single line radar scanner 20 on the side of radar scanner 17 Collaboration radar scanner 17 completes the scanning to the automobile tire, so as to obtain the central point of tire.

As shown in figure 19, the vehicle identification system based on fixed radar and movable radar is then to be based on fixed radar above-mentioned Vehicle identification system on the basis of, add single line laser radar 19, the single line laser radar 19 on pick-up manipulator 6 works Principle is as follows：Pick-up manipulator 6 declines, and single line laser radar 19 starts to scan, and each single line laser radar 19 itself is at a high speed Rotation, so as to form a scanning plane, scanning to after vehicle, the scanning plane and vehicle is intersecting obtains a line, according to TOF, and triangle conversion, the position of the intersecting lens at per a moment is calculated, then pick-up manipulator 6 is finely tuned, it is ensured that handgrip is under Vehicle will not be touched during drop.With the continuous undercarriage of handgrip, vehicle tyre is arrived in four scannings of single line laser radar 19, calculates Single line laser radar 19 and the relative position of corresponding tire, the position of tire grasping device is adjusted, so as to accurately capture tire.

From the structural representation of the vehicle identification system based on optical imagery shown in Figure 19 to Figure 22, including vehicle Traversing framework 8 and pick-up manipulator 6；Also including the parking area 15 for parking cars, for obtaining vehicle position in parking area 15 Put the industrial camera 18 of coordinate and for controlling the host computer of the work of pick-up manipulator 6 and for checking vehicle position in parking area 15 Put the single line laser radar 19 of coordinate；The code pattern for strengthening contrast is provided with ground in the region of parking area 15； The top of the traversing framework 8 of vehicle is provided with multiple cantilevers, and the end set of each cantilever has industrial camera 18；Industrial camera 18 Above parking area 15；The bottom of pick-up manipulator 6 has been arranged symmetrically four single line laser radars 19, and single line laser radar 19 is swept Retouch and an angle theta between face and ground be present, 15 °<θ<90°.Codeization pattern includes Quick Response Code or bar code or gridiron pattern, when this reality When using bar code or gridiron pattern with new code pattern, its main function is in order to strengthen contrast, so as to improve work Industry camera 18 catches the accuracy of vehicle outline coordinate points, when code pattern of the present utility model during Quick Response Code, exists first Quick Response Code is paved with parking area 15, and assigns each Quick Response Code to necessarily given coordinate value and corresponds to the coordinate system of parking area 15 Coordinate, when the work shooting of industrial camera 18 in the parking area 15 when parking cars, the two of the circle of vehicle periphery one can be obtained Code is tieed up, by being scaled single coordinate value to Quick Response Code and plan turns to the outline of vehicle so as to obtain the actual coordinate of vehicle And the data such as vehicle commander, overall width, parking stall angle, the use of Quick Response Code can effectively improve industrial camera 18 and obtain car in parking area 15 The accuracy of positional information, consequently facilitating pick-up manipulator 6 captures storage of cars；Each industrial camera 18 can at least photograph One section of region and all industrial cameras 18 in parking area 15 can photograph whole parking area 15.It is equipped with when in parking area 15 When bar code or gridiron pattern, coordinate system mark is provided with parking area 15, the industrial camera 18 passes through positioned at parking area 15 Interior vehicle outline and coordinate system mark directly obtain vehicle position information, and coordinate system, which is identified as to be located at, is identified in parking area The reference axis of 15 long sides and broadside, coordinate identification system is provided with each industrial camera 18；Garage seat is provided with parking area 15 Mark system；Each point coordinate value in coordinate identification system is converted into each point coordinates in garage coordinate system after being handled by host computer conversion Value.During using the utility model, first, every camera can do a demarcation after installing.According to it to code ground Imaging and distance between the two, the imaging scale of ground in the camera can be drawn by image-forming principle.According to ratio, image Size can is converted into the size of material object.We establish a coordinate to image, then every bit can all have one in image Coordinate value, also according to image-forming principle and ratio, you can converse the coordinate of every bit in parking area coordinate system.Again, it is right The vehicle photographic of entrance, split by feature extraction, edge, the automobile is selected in computer software center, then according to overall height, We take this value of 0.75m to correct the distance between camera and made thing.If the imaging of car in the camera by ground with The distance between camera converts, and obtained size can be relatively larger than automobile actual size.We take in computer software This value of 0.75m carrys out corrected range, finally obtains such as the rectangle frame in accompanying drawing 20.The length and width of the rectangle frame can be similar to vapour The actual length of car and width；Coordinate of the midpoint as automobile of rectangle frame is chosen again.The vehicle of optical imagery based on intelligent garage The vehicle storage method of identifying system, it is to be obtained by the industrial camera 18 of the top of parking area 15 positioned at vehicle in parking area 15 Outline data；Above-mentioned outline data are transferred into host computer by industrial computer to handle to obtain the position coordinates of vehicle；Pass through PC control pick-up manipulator 6 captures vehicle；According to imaging area of the industrial camera 18 in the code pattern of ground with The industrial camera 18 obtains the imaging scale of the industrial camera 18 to the air line distance on ground；According to imaging scale by institute The vehicle image dimension conversion in parking area 15 that each industrial camera 18 photographs is stated as vehicle full size so as to To vehicle location coordinate；Vehicle location coordinate includes vehicle commander, overall width, parking stall angle and the autocentre coordinate of vehicle；Vehicle is in kind Size=vehicle image size × imaging scale × 0.8.Specific implementation step includes：Step 1, driver will treat that parking is put Drive into the parking area 15 with code pattern and arbitrarily park, when parking area 15 is driven into parking, number plate machine 16 obtains vehicle Number plate；When park cars there is no number plate when, host computer assigns the unique vehicle code name that parks cars；Step 2, vehicle After the driver that comes to a complete stop leaves, industrial camera 18 shoots parking cars in parking area 15 and obtains vehicle image size and be uploaded to Host computer；Step 3, host computer obtain vehicle material object chi according to imaging scale × 0.8 of vehicle image size × industrial camera 18 It is very little and obtain the coordinate value for each point that vehicle is located in parking area coordinate system, put to above-mentioned vehicle full size and each Obtain parking cars position coordinates and parking stall angle in parking area 15 after coordinate value processing；Step 4, host computer driving Pick-up manipulator 6 is moved to park cars position and the corresponding parking stall angle of rotation, and pick-up manipulator 6, which declines, realizes that vehicle is grabbed Take；Step 5, during pick-up manipulator declines, single line laser radar 19 is scanned to full car, checks pick-up machinery simultaneously The centre coordinate of hand 6 and vehicle center coordinate overlap, the angle of pick-up manipulator 6 and parking stall angle is consistent and overall width is without departing from pick-up The opereating specification of manipulator 6, clamping, which parks cars, makes it be put in storage safely.Parking area 15 is one in the technical solution of the utility model Several the even region of tens automobiles can be accommodated,, can be with when driver drives car into the region for such a region Arbitrarily park.The top in the region have industrial camera 18 coordinate parking area 15 in code pattern obtain into vehicle length, Width, height, parking stall angle, wheel position, position of rear view mirror etc..And when car enters the region, number plate chance is entered to number plate of vehicle Row obtains, if without number plate, host computer can be that it assigns a code name, and code name is unique in the entire system.

It is described above, only it is preferred embodiment of the present utility model, not structure of the present utility model is done any Formal limitation.Every any simple modification made according to the technical essence of the utility model to above example, it is equal Change and modification, in the range of still falling within the technical solution of the utility model.

Claims (6)

1. a kind of intelligent underground parking garage, including the underground garage framework (1) of Multilayer parking position and parking robot, its feature exist In：Ground is provided with the traversing framework of robot (14), and the traversing framework of robot (14) is provided with and can moved along horizontal X direction of principal axis Dynamic parking robot, the front of the underground garage framework (1) are provided with the Vierendeel girder with each layer of underground garage framework (1) The traversing framework of vehicle (8) to link into an integrated entity, the traversing framework of vehicle (8) are provided with cross moving track along horizontal X direction of principal axis direction (9), the cross moving track (9) is provided with the traversing pallet (10) slided along cross moving track (9), is set on the traversing pallet (10) There is the vehicle vertical shift dolly (11) moved along horizontal Y direction, the side of the underground garage framework (1) is provided with elevator (12) decentralization mouth corresponding with elevator (12), is provided with the ground；Every layer of parking stall of the underground garage framework (1) It is comb-tooth-type parking stall, comb-tooth-type parking stall also is provided with the elevator (12), the comb-tooth-type parking stall includes two Individual face and the parking stall fishback (27) that gap with parking stall ground be present, it is small that vertical shift is provided between the parking stall fishback (27) Track road (28).

A kind of 2. intelligent underground parking garage as claimed in claim 1, it is characterised in that：The traversing framework of robot (14) bag Include the vertical support bar of more be arranged on ground and the two frame girders for being fixed on vertical support bar top, being parallel to each other, institute Parking robot is stated to be arranged on two frame girders.

A kind of 3. intelligent underground parking garage as claimed in claim 1, it is characterised in that：The vehicle vertical shift dolly (11) includes Bottom is provided with the vertical shift trolley body (11.1) of roller, and the front and rear sides of the vertical shift trolley body (11.1) are respectively equipped with one Dolly broach panel assembly corresponding with the front wheels and rear wheels of vehicle, the dolly broach panel assembly include dolly fishback (11.2), can be front and rear with respect to the first support frame (11.3) and the second support frame (11.4) that slide, the dolly fishback (11.2) broach supporting plate (21) and more broach bars (22) being fixed at left and right sides of broach supporting plate (21) are included, described the The rear portion of one support frame (11.3) is fixed with lifting motor (11.5), and the lifting motor (11.5) is connected with and the The coaxial ball screw (11.6) of one support frame (11.3), the front portion of second support frame (11.4) is provided with and ball screw (11.6) feed screw nut (11.7) coordinated, the front end left and right sides of first support frame (11.3) are connected to first and cut Formula link assembly (11.8), the rear end left and right sides of second support frame (11.4) are connected to the second scissors link assembly (11.9), it is be hinged to include one end and vertical shift trolley body (11.1) for the first scissors link assembly (11.8), the other end and the Be hinged the first lower link (23) in the front end of one support frame (11.3) and one end and the first support frame (11.3) are be hinged, the other end The first upper connecting rod (24) being hinged with broach supporting plate (21), the fishback (11.2) are located in vertical shift trolley body (11.1) Side, it is be hinged that the second scissors link assembly (11.9) includes one end and vertical shift trolley body (11.1), the other end and second Be hinged the second lower link (25) in the rear end of support (11.4) and one end and the second support frame (11.4) are be hinged, the other end and broach Be hinged the second upper connecting rod (26) of supporting plate (21).

A kind of 4. intelligent underground parking garage as claimed in claim 1, it is characterised in that：The parking robot includes can be along car The big mechanism of car of guide rail (2) of the top horizontal X-direction motion of traversing framework；The big mechanism of car of guide rail (2) upper end is set Having can be along the guide rail trolley body (3) that horizontal Y direction is moved；Being connected with the guide rail trolley body (3) can be along vertical Z axis The vertical telescopic frame (4) of direction motion；Vertical telescopic frame (4) bottom is hinged with pick-up manipulator (6)；The vertical telescopic Frame (4) top is connected with the retractable driving device (13) that its can be driven flexible, is fixed with the pick-up manipulator (6) and drives it The rotating driving device (5) of rotation.

A kind of 5. intelligent underground parking garage as claimed in claim 4, it is characterised in that：The big mechanism of car of guide rail (2) includes It is arranged at the X direction guiding rails (2.1) and cart (2.2) of the traversing frame roof of vehicle；The cart (2.2) is sliding with X direction guiding rails (2.1) It is dynamic to be connected；The guide rail trolley body (3) is fixed in the cart (2.2) upper end and mutual with the X direction guiding rails (2.1) It is arranged vertically；The guide rail trolley body (3) include it is vertical be fixed in the big mechanism of car of guide rail (2) upper end and with X direction guiding rails (2.1) Orthogonal Y-direction guide rail (3.1)；Dolly (3.2) is slidably connected with the Y-direction guide rail (3.1)；The vertical telescopic Frame (4) is vertically fixedly connected with dolly (3.2)；

The vertical telescopic frame (4) includes multiple coaxially arranged flexible sections (4.1)；Two telescopic joints of two neighboring section Section (4.1) slip cap load connects；

The rotating driving device (5) includes rotationally supporting (5.1) and rotary driving source (5.2)；It is described to rotationally support (5.1) bag Include the interior support ring (5.1-1) and external support circle (5.1-2) being mutually coaxially hinged；The interior support ring (5.1-1) is stretched with vertical The bottom of contracting frame (4) is affixed；The rotary driving source (5.2) includes being fixed on the motor on pick-up manipulator (6) top (5.2-1), the output end of the motor (5.2-1) are connected with active worm screw (5.2-2), the active worm screw (5.2-2) Transmission is combined with driven worm gear (5.2-3)；Pick-up robot top is fixed in driven worm gear (5.2-3) bottom, top with External support circle (5.1-2) is affixed.

A kind of 6. intelligent underground parking garage as described in claim 4 or 5, it is characterised in that：The pick-up manipulator (6) includes It is articulated with the clamping device movable stand (610) of vertical telescopic frame (4) bottom；The rotating driving device (5) is fixed on clamping dress Put at the top of movable stand (610)；The clamping device movable stand (610) includes horizontal upper frame and vertical bracket；The horizontal upper frame The affixed vertical bracket in both sides along its length；The vertical bracket bottom is slidably connected with can be along automobile axial direction The clamping device (620) of slip, the both ends of the clamping device (620) are hingedly connected with clamping bar (621).