WO2020233657A1 - 一种立体车库的控制方法、装置及智能立体车库 - Google Patents

一种立体车库的控制方法、装置及智能立体车库 Download PDF

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Publication number
WO2020233657A1
WO2020233657A1 PCT/CN2020/091500 CN2020091500W WO2020233657A1 WO 2020233657 A1 WO2020233657 A1 WO 2020233657A1 CN 2020091500 W CN2020091500 W CN 2020091500W WO 2020233657 A1 WO2020233657 A1 WO 2020233657A1
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Prior art keywords
garage
vehicle
parking
reservation request
storage
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PCT/CN2020/091500
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English (en)
French (fr)
Inventor
杨威
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态好停停车设备科技(无锡)有限公司
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Publication of WO2020233657A1 publication Critical patent/WO2020233657A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • E04H6/24—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of dollies for horizontal transport, i.e. cars being permanently parked on wheeled platforms
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41845—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by system universality, reconfigurability, modularity
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces

Definitions

  • the invention relates to the technical field of intelligent garages, in particular to a control method of a stereo garage, a control device of the stereo garage, and an intelligent stereo garage including the control device of the stereo garage.
  • the problem of parking difficulty has always been a major problem that plagues urban planning and construction.
  • the huge and increasing number of cars requires more land for parking.
  • the contradiction with urban planning and construction is more prominent, with high space utilization and land occupation.
  • Various forms of parking garages with small areas came into being.
  • the mechanical three-dimensional garage is a structure with a new parking concept. It refers to the construction of mechanical parking equipment to expand the traditional garage form from the ground to the high altitude, making full use of the three-dimensional space resources, thereby effectively reducing the floor space and increasing the parking lot capacity .
  • the density of parking spaces in mechanical three-dimensional garages is greater, no special slopes and ramps are required, and pallets and brackets are used to access vehicles.
  • the three-dimensional garage is more secure, with the degree of informationization of garage management and the maximum use of land.
  • the characteristics of high space utilization rate have a positive impact on urban planning and construction, and are in line with the country's advocates of saving land and achieving sustainable development. Requirements.
  • the traditional nine types of mechanical three-dimensional parking garages can obtain space from the height direction.
  • multiple parking vehicles can greatly increase the land use rate, but the degree of automation is low, and fully automatic intelligent access to vehicles cannot be realized. Need full-time staff to intervene and operate.
  • the existing parking can largely solve the problem of floor area ratio, the equipment structure is complicated and the failure rate is high. But generally only a single vehicle entrance and exit are set up, and all cars are accessed in serial mode, which takes a long time to retrieve and retrieve cars.
  • the farthest parking space generally takes more than 2 minutes to pick up cars at a time, and the peak time to pick up cars is longer. Wait until the 20th car in turn It takes about 30 minutes or more, poor practicability and low user acceptance.
  • the backlog and queuing are serious, which cannot solve the problem of congestion and efficiency of accessing vehicles, and does not have a good user experience, such as CN201826569U-high-rise high-speed tower stereo garage.
  • the present invention aims to solve at least one of the technical problems existing in the prior art, and provides a stereo garage control method, a stereo garage control device, and an intelligent stereo garage including the stereo garage control device to solve the problems in the prior art problem.
  • a method for controlling a stereo garage includes:
  • the storage reservation request includes the reserved storage time period and the license plate number of the vehicle to be stored
  • the car retrieval reservation request includes the reserved storage time period and the license plate number of the vehicle to be retrieved.
  • the formation of a parking scheduling plan according to the parking reservation request and the distribution of vacant parking spaces in the garage includes:
  • a parking scheduling plan is formed according to the garage level where the target empty parking space is located.
  • the parking scheduling plan includes selecting the target transfer vehicle and the target elevator according to the garage level where the target empty parking space is located and the principle of the shortest distance.
  • the dispatching the transfer vehicle to reach the designated position according to the storage scheduling plan, and at the same time controlling the elevator to run to the designated position includes:
  • control method of the three-dimensional garage further includes performing before the step of forming a storage scheduling plan according to the storage reservation request and the distribution of vacant parking spaces in the garage:
  • said forming a car retrieval scheduling plan according to the car retrieval reservation request and the parking location includes:
  • a vehicle pickup scheduling plan is formed.
  • the vehicle retrieval scheduling plan includes:
  • the dispatching the transfer vehicle to reach the designated location according to the vehicle retrieval scheduling plan, and at the same time controlling the elevator to run to the designated location includes:
  • the target transfer vehicle is controlled to reach the target elevator position corresponding to the garage level of the waiting vehicle within the scheduled time period for the pickup, and the target elevator is controlled to run to the garage level where the waiting vehicle is located within the appointment time period for the pickup.
  • a control device for a three-dimensional garage includes:
  • a request receiving module the receiving module is used to receive a reservation request for a car storage/request a reservation for a car;
  • a dispatching plan forming module is used to form a storage dispatching plan/car retrieval dispatching plan according to the storage reservation request/retrieval reservation request and the vacant parking space distribution/parking position in the garage;
  • control module the control module is used to dispatch the transported vehicle to the designated location according to the storage scheduling plan/car retrieval scheduling plan, and at the same time control the elevator to run to the designated location;
  • the storage reservation request includes the reserved storage time period and the license plate number of the vehicle to be stored
  • the car retrieval reservation request includes the reserved storage time period and the license plate number of the vehicle to be retrieved.
  • an intelligent three-dimensional garage includes a multi-level mechanical three-dimensional parking garage, multiple elevators, multiple transfer vehicles, and the control of the aforementioned three-dimensional garage Device, each level of mechanical three-dimensional parking garage includes multiple parking spaces, each level of mechanical three-dimensional parking garage is equipped with at least one transfer vehicle, and each level of mechanical three-dimensional parking garage includes multiple entrances and exits, each of which corresponds to An elevator, each elevator and each transfer vehicle are in communication connection with the control device of the three-dimensional garage.
  • the three-dimensional garage control method provided by the present invention obtains a storage reservation request or a retrieval reservation request, and forms a storage scheduling plan or a retrieval scheduling plan according to the reservation request and other conditions, and finally realizes the scheduling of the storage or retrieval In this way, the owner does not need to drive the vehicle into the garage, but only needs to drive into the parking platform outside the parking garage, eliminating the need to drive into the garage to find a parking space, which improves the efficiency of vehicle access.
  • Fig. 1 is a flowchart of a method for controlling a three-dimensional garage provided by the present invention.
  • Fig. 2 is a structural block diagram of a control device for a three-dimensional garage provided by the present invention.
  • Figure 3 is a schematic diagram of the structure of the intelligent three-dimensional garage provided by the present invention.
  • Figure 4 is a top view of the intelligent three-dimensional garage provided by the present invention.
  • FIG. 5 is a schematic diagram of the garage module unit structure provided by the present invention.
  • Fig. 6 is a schematic diagram of the structure of the parking module unit provided by the present invention.
  • Fig. 7 is a working schematic diagram of the transfer vehicle provided by the present invention.
  • Fig. 8 is a block diagram of the system working structure of the intelligent three-dimensional garage provided by the present invention.
  • a method for controlling a three-dimensional garage includes:
  • S120 Form a storage scheduling plan/car retrieval scheduling plan according to the storage reservation request/retrieval reservation request and the vacant parking space distribution/parking location in the garage;
  • S130 According to the storage scheduling plan/car retrieval scheduling plan, dispatch the transfer vehicle to reach the designated position, and at the same time control the elevator to run to the designated position;
  • the storage reservation request includes the reserved storage time period and the license plate number of the vehicle to be stored
  • the car retrieval reservation request includes the reserved storage time period and the license plate number of the vehicle to be retrieved.
  • the three-dimensional garage control method provided by the present invention obtains a storage reservation request or a retrieval reservation request, and forms a storage scheduling plan or a retrieval scheduling plan according to the reservation request and other conditions, and finally realizes the scheduling of the storage or retrieval In this way, the owner does not need to drive the vehicle into the garage, but only needs to drive into the parking platform outside the parking garage, eliminating the need to drive into the garage to find a parking space, which improves the efficiency of vehicle access.
  • control method of the three-dimensional garage provided by the present invention is applied to a steel structure three-dimensional garage.
  • the number of parking spaces and the number of layers of the three-dimensional garage in the three-dimensional garage can be customized according to the actual project usage requirements, and according to the size, The shape and local conditions can be combined flexibly. As long as the parts are assembled like building blocks, it becomes a standard three-dimensional garage, which has the advantages of saving time and low cost.
  • the structural parts of the garage are all pre-made, convenient for transportation, good interchangeability, and suitable for mass production. Construction and operation do not need to be equipped with too many auxiliary equipment, and the installation conditions are more flexible.
  • the site uses high-strength bolts to fasten the connection and only needs to be assembled. The construction efficiency is high, the construction period is short, and the project implementation is convenient and efficient.
  • the formation of a storage scheduling plan according to the storage reservation request and the distribution of vacant parking spaces in the garage includes:
  • a parking scheduling plan is formed according to the garage level where the target empty parking space is located.
  • the parking scheduling plan includes selecting the target transfer vehicle and the target elevator based on the garage level where the target empty parking space is located and the principle of the shortest distance.
  • the dispatching the transfer vehicle to reach the designated position according to the storage scheduling plan, and at the same time controlling the elevator to run to the designated position includes:
  • the target empty parking spaces in the parking scheduling plan are located On the 7th floor, the owner parks the vehicle to be stored on the parking platform (on the first floor) and waits for the elevator to arrive. After the vehicle enters the elevator, it is transported to the 7th floor by the elevator, and the transfer vehicle is at the elevator entrance on the 7th floor. Wait, after the elevator arrives, enter the elevator to transfer the waiting vehicle to the target empty parking space on this floor.
  • the storage scheduling plan can include the selected specific elevator number, and the elevator number can be directly obtained when the owner makes a reservation for storage. The owner can directly park the vehicle to be stored in the designated elevator location.
  • control method of the three-dimensional garage further includes the step of forming a storage scheduling plan according to the storage reservation request and the distribution of vacant parking spaces in the garage:
  • the owner makes a reservation for storage, he can know the model of the vehicle to be stored by entering the license plate number of the vehicle to be stored (this process can be learned by accessing the big data of the traffic management department), and judge whether the model meets the garage's Storage size requirements. If the model meets the storage size requirements of the garage, you can proceed to the following steps. If the model does not meet the storage size requirements of the garage, you can feedback the information that the car cannot be parked to the owner. It should be understood that the car pickup reservation request can be realized through an application installed on the owner's mobile phone, or through a car access management device installed on the parking platform of the garage.
  • the formation of a car retrieval scheduling plan according to the car retrieval reservation request and the parking location includes:
  • a vehicle pickup scheduling plan is formed.
  • the car owner can send a car pick-up reservation request through the application on the mobile phone terminal (or the car access management device on the parking management platform), where the car pick-up reservation request can include the pick-up time period and the vehicle to be picked up
  • the pick-up time period selected by the owner is 11:30 ⁇ 12:00
  • the vehicle retrieval scheduling plan includes:
  • the principle of the shortest distance when picking up a car is similar to the principle of shortest distance when storing a car. Both the target transfer vehicle and the target elevator are selected through the shortest distance.
  • the dispatching the transfer vehicle to reach the designated location according to the vehicle retrieval scheduling plan, and at the same time controlling the elevator to run to the designated location includes:
  • the target transfer vehicle is controlled to reach the target elevator position corresponding to the garage level of the waiting vehicle within the scheduled time period for the pickup, and the target elevator is controlled to run to the garage level where the waiting vehicle is located within the appointment time period for the pickup.
  • a control device for a three-dimensional garage As a second aspect of the present invention, a control device for a three-dimensional garage is provided. As shown in FIG. 2, the control device 100 for a three-dimensional garage includes:
  • a request receiving module 110 which is used to receive a reservation request/request reservation request for a car
  • a dispatch plan formation module 120 which is used to form a storage dispatch plan/car retrieval dispatch plan according to the storage reservation request/retrieval reservation request and the vacant parking space distribution/parking position in the garage;
  • a control module 130 which is configured to schedule the transfer vehicle to reach a designated location according to the storage scheduling plan/car retrieval scheduling plan, and at the same time control the elevator to run to the designated location;
  • the storage reservation request includes the reserved storage time period and the license plate number of the vehicle to be stored
  • the car retrieval reservation request includes the reserved storage time period and the license plate number of the vehicle to be retrieved.
  • the three-dimensional garage control device obtained by the present invention obtains the storage reservation request or the retrieval reservation request, and forms the storage scheduling plan or the retrieval scheduling plan according to the reservation request and other conditions, and finally realizes the scheduling of the storage or retrieval In this way, the owner does not need to drive the vehicle into the garage, but only needs to drive into the parking platform outside the parking garage, eliminating the need to drive into the garage to find a parking space, which improves the efficiency of vehicle access.
  • control device of the three-dimensional garage may be a mobile phone terminal of the vehicle owner, or may be a vehicle access management device.
  • the car access management device may include a man-machine interactive interface, and the car owner can implement operations of storing and retrieving the car through the man-machine interactive interface.
  • the user when storing the car, the user can reserve the storage time by himself through the touch screen human-computer interaction interface, so that the control device of the three-dimensional garage can centrally place the car in different areas according to the different storage time, thereby improving the efficiency of car retrieval .
  • the transfer vehicle assists in completing the automatic deposit and withdrawal of the car, which saves the user storage and retrieval time, greatly reduces the user's time cost, obtains an excellent user experience, realizes time-division and hierarchical parking control, and effectively improves the utilization rate of parking spaces .
  • the number of entrances and exits and the number of transfer vehicles can be flexibly set according to the actual time and frequency of car storage and retrieval, so that the in and out throughput capacity of the garage matches the actual demand for car storage and retrieval during peak hours, which solves the existing technical solutions for car owners during peak hours
  • the queuing is a serious phenomenon, with an excellent user experience.
  • an intelligent three-dimensional garage includes a multi-level mechanical three-dimensional parking garage, multiple elevators, multiple transfer vehicles, and the control of the aforementioned three-dimensional garage Device, each level of mechanical three-dimensional parking garage includes multiple parking spaces, each level of mechanical three-dimensional parking garage is equipped with at least one transfer vehicle, and each level of mechanical three-dimensional parking garage includes multiple entrances and exits, each of which corresponds to An elevator, each elevator and each transfer vehicle are in communication connection with the control device of the three-dimensional garage.
  • the intelligent three-dimensional garage provided by the present invention obtains the storage reservation request or the retrieval reservation request by adopting the above-mentioned three-dimensional garage control device, and forms the storage scheduling plan or the retrieval scheduling plan according to the reservation request and other conditions, and finally realizes the The scheduling of storage or retrieval, so that the owner does not need to drive the vehicle into the garage, but only needs to drive into the parking platform outside the parking garage, eliminating the need to drive into the garage to find a parking space, which improves the efficiency of vehicle access.
  • the elevator 1 quickly descends to the first floor and opens the elevator door.
  • the owner drives the car onto the elevator parking platform, then gets off, closes the door, locks the car, and walks out elevator.
  • the elevator 1 Under the command and dispatch of the control center, the elevator 1 is elevated to the corresponding floor with free parking spaces.
  • the transfer vehicle 6 (as shown in Figure 7) on this floor enters the elevator 1, lifts the waiting vehicle, and drives out of the elevator Elevator 1, at this time, elevator 1 continues to the next task, and under the command and dispatch of the control device of the three-dimensional garage, it stops to a certain floor with a task.
  • the transfer vehicle 6 automatically navigates to the pre-allocated parking space of the control center, puts the vehicle down, and the transfer vehicle 6 drives out of the parking space, and then drives to the elevator door with a task to wait.
  • the intelligent transfer vehicle 6 and the elevator 1 are always in parallel to achieve the highest efficiency with almost no time overlap. The queuing and backlog of existing three-dimensional garages during peak hours of entry and exit are completely eliminated.
  • the installation position and quantity of the elevators 1 of the intelligent three-dimensional garage provided by the present invention can be arbitrarily set according to specific project requirements.
  • Figures 3 and 4 show a specific implementation scheme.
  • a total of 4 elevators are arranged symmetrically.
  • the location depends on the specific shape of the project site, which is convenient for layout and planning and has good adaptability.
  • the number of elevators depends on the actual frequency of in and out of the warehouse. For scenes where there is a concentrated access to cars and where the efficiency of in and out of the warehouse is high, the number of elevators is small, which is prone to queue backlog, which seriously affects the use and user experience. Through reasonable calculations Matching the corresponding number of elevators can not only meet the requirements of high efficiency, but also prevent the waste of resources caused by redundancy.
  • the elevator 1 is fixed to the garage column 2 with a steel structure with high-strength bolts to support each other, and the overall rigidity is strengthened.
  • the installation location of the elevator 1 is determined when planning the position of the elevator 1.
  • the garage column 2 should be processed.
  • the hole positions required for the elevator connection and fixation are reduced in on-site installation and the workload is reduced, which effectively improves the on-site installation efficiency. At the same time, it is manufactured offline and the accuracy is easy to guarantee.
  • the driving channel width of the transfer vehicle 6 in the intelligent three-dimensional garage provided by the present invention is much smaller than that of the self-propelled garage, and there is no need to adopt a guide rail method, only a sufficiently rigid horizontal road surface (as shown in Figure 5) is provided, and the transfer vehicle 6 You can automatically navigate to the designated parking space.
  • the number of transfer vehicles 6 is also a flexible configuration. It is not only that the driving path does not require the mechanical guide rail solution used in the prior art, but also can reduce the height of the vehicle driving space, thereby reducing the height of the entire garage, improving safety and reducing construction costs.
  • the transfer vehicle 6 can use the elevator 1 to carry out handling operations across floors, and can be optimally equipped with the number of transfer vehicles 6 according to needs, which is completely flexible as the elevator 1.
  • the garage has multiple parking spaces in a symmetrical array from front to back and left to right. 4 adjacent parking spaces form a modular unit (as shown in Figure 5).
  • the number can be increased or decreased arbitrarily according to actual project needs. It is used as a module during design and production. Unit to deal with. In actual construction, only the required modular units need to be assembled together, and the height steel structure is fastened with bolts to realize the horizontal expansion of the garage, and each floor of the garage can be expanded into the required number of parking spaces.
  • the number of floors in the height direction can also be expanded according to actual project requirements, and only the lifting speed of the elevator 1 needs to be matched.
  • the elevator 1, garage column 2, garage beam 3, garage diagonal beam 4, and parking module 5 are all prefabricated in advance by the factory.
  • the dimensions and holes required for the connection are processed in advance according to the drawings and transported to the project construction site. Minimize the workload of on-site construction to ensure high-quality and efficient completion of the project.
  • the main frame of the parking module 5 (as shown in Figure 6) is formed by welding with rectangular tubes, channel steel and other profiles.
  • the parking plane is welded into a comb-like shape with rectangular tubes, which are staggered with the combs of the transfer vehicle 6 and pass through the transfer vehicle 6.
  • the lifting of the comb teeth realizes the connection of the vehicles to be parked.
  • the main frame of the parking module 5 welds reinforcement beams on the wheel trajectory of the transfer vehicle 6 to provide a passage for the transfer vehicle 6.
  • the upper plane of the reinforcement beam welded on the wheel trajectory of the transfer vehicle 6 Weld the laminate to prevent the risk of falling due to the navigation deviation of the transfer vehicle 6.
  • the control system of the intelligent three-dimensional garage may be as shown in Fig. 8, and may specifically include a control device of the three-dimensional garage, a monitoring display screen, a touch screen, a vehicle detection module, a transfer vehicle, and an elevator.
  • the control device of the three-dimensional garage can control For the operation of transfer vehicles and elevators, garage workers can see the conditions of the vehicles in the garage through the monitor display, and the owner can realize the human-computer interaction of the control device of the stereo garage through the touch screen.
  • the vehicle detection module can specifically be the detection set on the garage. Vehicle-sized modules.
  • the intelligent three-dimensional garage provided by the present invention is a fully enclosed, unattended large-scale intensive parking garage, mainly to solve the problem of large-scale automated parking.
  • the number of floors can be built from 5 to 20 floors, or even higher, as the number of floors increases. With the increase, the floor area ratio of the garage has been further increased accordingly, and the capacity of the garage has also been increased simultaneously.
  • the area and construction cost of each parking space have been greatly reduced, the investment income is more substantial, more parking problems are solved, and the social value created is also Higher, the advantages of the present invention will be more prominent.

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Abstract

一种立体车库的控制方法、立体车库的控制装置及智能立体车库，涉及智能车库技术领域，立体车库的控制方法包括：接收存车预约请求/取车预约请求（S110）；根据存车预约请求/取车预约请求以及车库内的空余车位分布/停车位置形成存车调度计划/取车调度计划（S120）；根据存车调度计划/取车调度计划调度转运车辆（6）到达指定位置，同时控制升降电梯（1）运行至指定位置（S130）；其中，存车预约请求包括预约存车时间段和待存车辆车牌号，取车预约请求包括预约取车时间段和待取车辆车牌号。立体车库的控制方法提高了车辆存取的效率。

Description

一种立体车库的控制方法、装置及智能立体车库 技术领域
本发明涉及智能车库技术领域，尤其涉及一种立体车库的控制方法、立体车库的控制装置及包括立体车库的控制装置的智能立体车库。
背景技术
停车难问题，一直是困扰着城市规划和建设的主要问题，庞大的并且与日俱增的汽车保有量，车辆停放需要更多的土地，与城市规划建设之间矛盾更加突出，空间利用率高和占地面积小的各种形式的停车库便应运而生。机械式立体车库是一种全新停车理念的结构，是指通过搭建机械式停车设备,将传统的车库形式由地面向高空拓展,充分利用立体空间资源,从而有效减少占地面积,提升停车场容量。机械立体车库的车位密度更大，不需要专门的坡度和匝道，利用托盘和支架等手段进行车辆的存取。立体车库相比传统车库更具安全性、车库管理信息化程度和最大限度地利用了土地，空间利用率高的特点对城市规划建设有着积极的影响，符合国家倡导的节约土地、实现可持续发展的要求。
传统9大类机械立体停车库，可以向高度方向获取空间，在有限的场地内，多倍数的停放车辆，很大程度提高土地使用率，但自动化程度低，不能实现全自动智能存取车，需要专职工作人员干预和操作。同时现有的停车虽然可以很大程度解决容积率问题，设备结构复杂，故障率高。但是一般只设置单个车辆出入口，存取车采用的都是串行模式，存取车时间长，最远车位一般一次取车需2分钟以上，高峰取车时间更长，依次等待到第20辆时约需30分钟以上，实用性差，用户接受度低。对于停车需求集中的场合，积压、排队现象严重，不能解决存取车拥堵和效率问题，不具有好的用户体验，如CN201826569U-高层高速塔式立体车库。
发明内容
本发明旨在至少解决现有技术中存在的技术问题之一，提供一种立体车库的控制方法、立体车库的控制装置及包括立体车库的控制装置的智能立体车库，以解决现有技术中的问题。
作为本发明的第一个方面，提供一种立体车库的控制方法，其中，所述立体车库的控制方法包括：
接收存车预约请求/取车预约请求；
根据所述存车预约请求/取车预约请求以及车库内的空余车位分布/停车位置形成存车调度计划/取车调度计划；
根据所述存车调度计划/取车调度计划调度转运车辆到达指定位置，同时控制升降电梯运行至指定位置；
其中，所述存车预约请求包括预约存车时间段和待存车辆车牌号，所述取车预约请求包括预约取车时间段和待取车辆车牌号。
优选地，所述根据所述存车预约请求以及车库内的空余车位分布形成存车 调度计划包括：
根据所述预约存车时间段查询预约存车时间段内车库内的空余车位分布；
根据距离最短原则选择目标空车位；
根据目标空车位所在的车库层级形成存车调度计划。
优选地，所述存车调度计划包括根据目标空车位所在的车库层级以及距离最短原则选择目标转运车辆以及目标升降电梯。
优选地，所述根据所述存车调度计划调度转运车辆到达指定位置，同时控制升降电梯运行至指定位置包括：
控制目标转运车辆在预约存车时间段内到达目标空余车位所在的车库层级对应的目标升降电梯位置，同时控制目标升降电梯在预约存车时间段内运行至目标空余车位所在的车库层级。
优选地，所述立体车库的控制方法还包括在所述根据所述存车预约请求以及车库内的空余车位分布形成存车调度计划的步骤前进行的：
根据待存车辆车牌号获取待存车辆的车型；
根据所述待存车辆的车型与立体车库的存车尺寸要求比对，判断所述待存车辆的车型是否符合立体车库的存车尺寸要求；
若所述待存车辆的车型符合立体车库的存车尺寸要求，则接收待存车辆的存车预约请求；
否则，发出不能停车的反馈信息。
优选地，所述根据所述取车预约请求以及停车位置形成取车调度计划包括：
根据所述预约取车时间段查询以及待取车辆车牌号查询待取车辆的停车位置；
根据待取车辆的停车位置以及距离最短原则形成取车调度计划。
优选地，所述取车调度计划包括：
根据待取车辆的停车位置确定待取车辆所在的车库层级；
根据待取车辆所在的车库层级以及距离最短原则选择目标转运车辆以及目标升降电梯。
优选地，所述根据取车调度计划调度转运车辆到达指定位置，同时控制升降电梯运行至指定位置包括：
控制目标转运车辆在取车预约时间段内到达待取车辆所在的车库层级对应的目标升降电梯位置，同时控制目标升降电梯在取车预约时间段内运行至待取车辆所在的车库层级。
作为本发明的第二个方面，提供一种立体车库的控制装置，其中，所述立体车库的控制装置包括：
请求接收模块，所述接收模块用于接收存车预约请求/取车预约请求；
调度计划形成模块，所述调度计划形成模块用于根据所述存车预约请求/取车预约请求以及车库内的空余车位分布/停车位置形成存车调度计划/取车调度计划；
控制模块，所述控制模块用于根据所述存车调度计划/取车调度计划调度转 运车辆到达指定位置，同时控制升降电梯运行至指定位置；
其中，所述存车预约请求包括预约存车时间段和待存车辆车牌号，所述取车预约请求包括预约取车时间段和待取车辆车牌号。
作为本发明的第三个方面，提供一种智能立体车库，其中，所述智能立体车库包括多层级的机械立体停车库、多部升降电梯、多台转运车辆和前文所述的立体车库的控制装置，每一层级的机械立体停车库包括多个停车位，每一层级的机械立体停车库至少设置一台转运车辆，且每一层级的机械立体停车库包括多个出入口，每个出入口均对应一部升降电梯，每部所述升降电梯和每台转运车辆均与所述立体车库的控制装置通信连接。
本发明提供的立体车库的控制方法，通过获取存车预约请求或取车预约请求，并根据预约请求等状况来形成存车调度计划或取车调度计划，最终实现对存车的调度或取车的调度，这样车主无需驾驶车辆驶入车库内部，只需驶入停车库外的停车平台，省去开车进入车库寻找车位，提高了车辆存取的效率。
附图说明
附图是用来提供对本发明的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明，但并不构成对本发明的限制。在附图中：
图1为本发明提供的立体车库的控制方法的流程图。
图2为本发明提供的立体车库的控制装置的结构框图。
图3为本发明提供的智能立体车库的结构示意图。
图4为本发明提供的智能立体车库的俯视图。
图5为本发明提供的车库模块单元结构示意图。
图6为本发明提供的车位模块单元结构示意图。
图7为本发明提供的转运车辆的工作示意图。
图8为本发明提供的智能立体车库的系统工作结构框图。
具体实施方式
以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明，并不用于限制本发明。
作为本发明的第一个方面，提供一种立体车库的控制方法，其中，如图1所示，所述立体车库的控制方法包括：
S110、接收存车预约请求/取车预约请求；
S120、根据所述存车预约请求/取车预约请求以及车库内的空余车位分布/停车位置形成存车调度计划/取车调度计划；
S130、根据所述存车调度计划/取车调度计划调度转运车辆到达指定位置，同时控制升降电梯运行至指定位置；
其中，所述存车预约请求包括预约存车时间段和待存车辆车牌号，所述取车预约请求包括预约取车时间段和待取车辆车牌号。
本发明提供的立体车库的控制方法，通过获取存车预约请求或取车预约请求，并根据预约请求等状况来形成存车调度计划或取车调度计划，最终实现对 存车的调度或取车的调度，这样车主无需驾驶车辆驶入车库内部，只需驶入停车库外的停车平台，省去开车进入车库寻找车位，提高了车辆存取的效率。
应当理解的是，本发明提供的立体车库的控制方法是应用于钢结构立体车库上的，立体车库中的停车位数和立体车库层数可以根据实际项目使用需求定制，根据项目地块大小、形状、因地制宜，可以任意灵活组合，修建时只要像搭积木一样把各个零部件组装起来，就成了一个标准的立体车库，具有节省时间、成本低等优点。
同时车库的结构零部件全部预先制作好，运输方便、互换性好，适合批量生产。建设运行无需配备过多辅助设备，安装条件也较为灵活，现场采用高强度螺栓紧固连接，只需拼装组合，施工效率高，建造周期短，项目实施落地便捷高效。
具体地，所述根据所述存车预约请求以及车库内的空余车位分布形成存车调度计划包括：
根据所述预约存车时间段查询预约存车时间段内车库内的空余车位分布；
根据距离最短原则选择目标空车位；
根据目标空车位所在的车库层级形成存车调度计划。
可以理解的是，在预约存车时，可以自己选择预约存车时间段，例如，选择上午8:30～9:00这一时间段存车，然后查询该时间段内车库的空余车位分布状况，此处应当理解的是，查询车库的所有空余车位分布状况，例如，该车库有15层，则查询每一层的空余车位分布，然后计算每个空余车位与所在层的升降电梯的距离，以及计算每层的每辆转运车辆与空余车位的距离，根据距离最短原则选择车库内的空车位，即选择与升降电梯距离最近且与转运车辆距离最近的空车位作为目标空车位，这样形成调度计划。
进一步具体地，所述存车调度计划包括根据目标空车位所在的车库层级以及距离最短原则选择目标转运车辆以及目标升降电梯。
具体地，所述根据所述存车调度计划调度转运车辆到达指定位置，同时控制升降电梯运行至指定位置包括：
控制目标转运车辆在预约存车时间段内到达目标空余车位所在的车库层级对应的目标升降电梯位置，同时控制目标升降电梯在预约存车时间段内运行至目标空余车位所在的车库层级。
应当理解的是，在获取到存车调度计划后，根据获取到的目标空车位调度转运车辆以及控制升降电梯的运行，例如，对于15层高的车库，存车调度计划中的目标空车位位于7层，车主将待存车辆停在停车平台(在一层)后，等待升降电梯到达，待存车辆进入升降电梯后，被升降电梯运送至7层，此时转运车辆在7层升降电梯口等待，待升降电梯到达后，进入升降电梯内将待存车辆转运至该层的目标空车位处。
还应当理解的是，由于车库可以包括多部升降电梯，因此存车调度计划中可以包括所选择的具体的升降电梯的编号，且该升降电梯的编号能够在车主预约存车时直接得到，这样车主可以直接将待存车辆停放到指定的升降电梯位置。
具体地，所述立体车库的控制方法还包括在所述根据所述存车预约请求以及车库内的空余车位分布形成存车调度计划的步骤前进行的：
根据待存车辆车牌号获取待存车辆的车型；
根据所述待存车辆的车型与立体车库的存车尺寸要求比对，判断所述待存车辆的车型是否符合立体车库的存车尺寸要求；
若所述待存车辆的车型符合立体车库的存尺寸要求，则接收待存车辆的存车预约请求；
否则，发出不能停车的反馈信息。
需要说明的是，在车主预约存车时，通过输入待存车辆的车牌号能够得知待存车辆的车型(该过程可以通过接入交管部门的大数据得知)，判断车型是否符合车库的存车尺寸要求，若车型符合车库的存车尺寸要求，则可以进行后面的步骤，若车型不符合车库的存车尺寸要求，则可以向车主反馈不能停车的信息。应当理解的是，取车预约请等可以通过安装在车主手机上的应用程序来实现，也可以通过在车库的停车平台上设置的存取车管理设备上实现。
具体地，所述根据所述取车预约请求以及停车位置形成取车调度计划包括：
根据所述预约取车时间段查询以及待取车辆车牌号查询待取车辆的停车位置；
根据待取车辆的停车位置以及距离最短原则形成取车调度计划。
在车主取车时，车主可以通过手机终端上的应用程序(或者停车管理平台上的存取车管理设备)发出取车预约请求，其中取车预约请求中可以包括取车时间段和待取车辆的车牌号，例如车主选择的取车时间段为上午11:30～12:00，则可以根据待取车辆的车牌号查询待取车辆的停车位置，并根据取车时间段以及距离最短原则形成取车调度计划，并将最终形成的升降电梯的位置发送至车主的手机终端上，这样车主可以直接在相应的升降电梯的一层等待即可。
进一步具体地，所述取车调度计划包括：
根据待取车辆的停车位置确定待取车辆所在的车库层级；
根据待取车辆所在的车库层级以及距离最短原则选择目标转运车辆以及目标升降电梯。
应当理解的是，取车时的距离最短原则与存车时的距离最短原则相似，都是通过最短距离来选择目标转运车辆及目标升降电梯。
进一步具体地，所述根据取车调度计划调度转运车辆到达指定位置，同时控制升降电梯运行至指定位置包括：
控制目标转运车辆在取车预约时间段内到达待取车辆所在的车库层级对应的目标升降电梯位置，同时控制目标升降电梯在取车预约时间段内运行至待取车辆所在的车库层级。
应当理解的是，无论是取车还是存车过程，转运车辆的运行和升降电梯的运行都是同步进行的，这样能够有效提高存取车效率。
作为本发明的第二个方面，提供一种立体车库的控制装置，其中，如图2所示，所述立体车库的控制装置100包括：
请求接收模块110，所述接收模块110用于接收存车预约请求/取车预约请求；
调度计划形成模块120，所述调度计划形成模块120用于根据所述存车预约请求/取车预约请求以及车库内的空余车位分布/停车位置形成存车调度计划/取车调度计划；
控制模块130，所述控制模块130用于根据所述存车调度计划/取车调度计划调度转运车辆到达指定位置，同时控制升降电梯运行至指定位置；
其中，所述存车预约请求包括预约存车时间段和待存车辆车牌号，所述取车预约请求包括预约取车时间段和待取车辆车牌号。
本发明提供的立体车库的控制装置，通过获取存车预约请求或取车预约请求，并根据预约请求等状况来形成存车调度计划或取车调度计划，最终实现对存车的调度或取车的调度，这样车主无需驾驶车辆驶入车库内部，只需驶入停车库外的停车平台，省去开车进入车库寻找车位，提高了车辆存取的效率。
应当理解的是，所述立体车库的控制装置可以为车主的手机终端，也可以为存取车管理设备。具体地，所述存取车管理设备可以包括人机交互界面，车主可以通过人机交互界面实现存车和取车操作。
优选地，存车时，用户通过触摸屏人机交互界面，自行预约存车时间，这样立体车库的控制装置能够根据不同的存车时间，分别将车集中放置到不同区域，提高取车时的效率。存取车时，转运车辆协助完成自动存取车，节约用户存车、取车时间，大大降低用户时间成本，获得极好的用户体验，实现分时段、分层停车控制，有效提高车位利用率。
根据实际存取车时间节拍和频率需求灵活设置出入口和转运车辆数量，使得车库的出入库吞吐能力与高峰时段存取车实际需求相匹配，很好的解决了现有技术方案存在的高峰时段车主的排队等待严重的现象，具有极好的用户体验。
作为本发明的第三个方面，提供一种智能立体车库，其中，所述智能立体车库包括多层级的机械立体停车库、多部升降电梯、多台转运车辆和前文所述的立体车库的控制装置，每一层级的机械立体停车库包括多个停车位，每一层级的机械立体停车库至少设置一台转运车辆，且每一层级的机械立体停车库包括多个出入口，每个出入口均对应一部升降电梯，每部所述升降电梯和每台转运车辆均与所述立体车库的控制装置通信连接。
本发明提供的智能立体车库，通过采用前文的立体车库的控制装置，获取存车预约请求或取车预约请求，并根据预约请求等状况来形成存车调度计划或取车调度计划，最终实现对存车的调度或取车的调度，这样车主无需驾驶车辆驶入车库内部，只需驶入停车库外的停车平台，省去开车进入车库寻找车位，提高了车辆存取的效率。
具体地，下面结合图3至图8所示，对本发明提供的智能立体车库的工作过程进行详细说明。
立体车库的控制装置在接收到车主的存车请求信息后，升降电梯1迅速下降到1楼，并打开电梯门，车主将车驶入电梯停车平台上，随即下车关闭车门 锁好车，走出电梯。升降电梯1在控制中心指挥调度下，提升到有空余车位的相应层，此时，该层的转运车辆6(如图7所示)进入升降电梯1，将待存车辆托起，驶出升降电梯1，此时升降电梯1继续下一个任务，在立体车库的控制装置的指挥调度下，停到有任务的某层。与此同时转运车辆6自动导航行驶到控制中心预先分配好的车位，将车放下，转运车辆6驶出车位，行驶到有任务的电梯门口等待。智转运车辆6与升降电梯1始终是并行，实现最高效率，几乎没有时间上的重叠。完全杜绝了现有立体车库出入库高峰时段的排队和积压。
本发明提供的智能立体车库的升降电梯1的安装位置和数量可以根据具体项目需求任意设置，如图3和图4显示的是一种具体地实施方案，共计4部升降电梯成对称布置，安装位置取决于项目实施地块的具体形状，方便布局和规划，适应性好。升降电梯数量取决于实际出入库频率要求，对于存取车比较集中的场景，出入库效率要求高的场合，升降电梯数量设置少，容易产生排队积压现象，严重影响使用和用户体验，通过合理计算匹配相应数量电梯，既可以实现高效率的要求，同时能防止冗余导致资源的浪费。
升降电梯1用钢结构用高强螺栓固定到车库立柱2上，互相支撑，整体刚度都得到加强，升降电梯1的位置规划时确定好安装位置，零件加工制作时，对应该处的车库立柱2加工出电梯连接固定所需要的孔位，现场安装时，工作量减小，有效提高现场的安装效率，同时线下制作，精度容易保证。
本发明提供的智能立体车库中的转运车辆6的行驶通道宽度远远小于自行走式车库，也无需采用导轨的方式，只需提供足够刚性的水平路面(如图5所示)，转运车辆6即可自动导航到达调度指定的车位。转运车辆6的数量也是柔性配置，不只是行驶路径不需要现有技术应用的机械导轨方案，既可以降低车辆行驶的高度空间，从而降低整个车库的高度，提高了安全性同时降低了建造成本，转运车辆6可以利用升降电梯1还可以跨楼层进行搬运作业，可以根据需要最优配备转运车辆6的数量，与升降电梯1同样具有完全柔性。
如图4所示，车库前后左右对称阵列了多个车位，相邻4个车位组成一个模块单元(如图5所示)，数量可以根据实际项目需要任意增减，设计和生产时作为一个模块单元来处理。实际建造施工时，只需将所需要的模块单元拼装在一起，用高度钢结构用螺栓紧固，即可实现车库横向的扩展，车库的每层可以扩展成所需数量的车位。高度方向的层数也可以同样按照实际项目需求扩展，只需要匹配好升降电梯1的升降速度。
升降电梯1、车库立柱2、车库横梁3、车库斜拉梁4、车位模块5都采用工厂提前预制方式，按图纸提前加工出连接所需的尺寸和孔位，分别运输至项目施工现场。最大程度减小现场施工的工作量，保证项目高质量、高效率完成。先将车库立柱2固定到地面的基础上，再从下到上逐层安装车库横梁3，此时框架基本成型。紧接着将预制好的车位模块从下到上逐层安装到已经连接好的车库框架上。
车位模块5(如图6所示)主框架采用矩形管、槽钢等型材焊接成型，泊车平面采用矩形管拼焊成梳齿状，与转运车辆6的梳齿交错排列，通过转运车辆6 梳齿的升降实现待泊车辆的接驳。车位模块5的主框架在转运车辆6的车轮行驶轨迹上焊接加强梁，给转运车辆6提供行驶通道，为增加通道宽度和稳定性，转运车辆6的车轮行驶轨迹上焊接的加强梁上平面上再焊接层板，防止由于转运车辆6的导航偏差导致的坠落风险。
本发明提供的智能立体车库的控制系统可以如图8所示，具体可以包括立体车库的控制装置、监控显示屏、触摸屏、车辆检测模块、转运车以及升降电梯，其中立体车库的控制装置能够控制转运车辆和升降电梯的运行，车库工作人员可以通过监控显示屏看到车库内的车辆情况，车主可以通过触摸屏实现立体车库的控制装置的人机交互，车辆检测模块具体可以为车库上设置的检测车辆尺寸的模块。
本发明提供的智能立体车库为全封闭、内部无人参与的大型密集式停车库，主要为解决大型自动化停车难题，层数可以建造成5层至20层，甚至更高，随着层数的增多，车库的容积率进一步相应提高，车库的容量也同步提高，每个车位均摊的占地面积和建造成本都大幅降低，投资收益更为可观，解决更多的停车难题，创造的社会价值也更高，本发明的优势将更加凸显。
可以理解的是，以上实施方式仅仅是为了说明本发明的原理而采用的示例性实施方式，然而本发明并不局限于此。对于本领域内的普通技术人员而言，在不脱离本发明的精神和实质的情况下，可以做出各种变型和改进，这些变型和改进也视为本发明的保护范围。

Claims (10)

  1. 一种立体车库的控制方法，其特征在于，所述立体车库的控制方法包括：
    接收存车预约请求/取车预约请求；
    根据所述存车预约请求/取车预约请求以及车库内的空余车位分布/停车位置形成存车调度计划/取车调度计划；
    根据所述存车调度计划/取车调度计划调度转运车辆到达指定位置，同时控制升降电梯运行至指定位置；
    其中，所述存车预约请求包括预约存车时间段和待存车辆车牌号，所述取车预约请求包括预约取车时间段和待取车辆车牌号。
  2. 根据权利要求1所述的立体车库的控制方法，其特征在于，所述根据所述存车预约请求以及车库内的空余车位分布形成存车调度计划包括：
    根据所述预约存车时间段查询预约存车时间段内车库内的空余车位分布；
    根据距离最短原则选择目标空车位；
    根据目标空车位所在的车库层级形成存车调度计划。
  3. 根据权利要求2所述的立体车库的控制方法，其特征在于，所述存车调度计划包括根据目标空车位所在的车库层级以及距离最短原则选择目标转运车辆以及目标升降电梯。
  4. 根据权利要求3所述的立体车库的控制方法，其特征在于，所述根据所述存车调度计划调度转运车辆到达指定位置，同时控制升降电梯运行至指定位置包括：
    控制目标转运车辆在预约存车时间段内到达目标空余车位所在的车库层级对应的目标升降电梯位置，同时控制目标升降电梯在预约存车时间段内运行至目标空余车位所在的车库层级。
  5. 根据权利要求1所述的立体车库的控制方法，其特征在于，所述立体车库的控制方法还包括在所述根据所述存车预约请求以及车库内的空余车位分布形成存车调度计划的步骤前进行的：
    根据待存车辆车牌号获取待存车辆的车型；
    根据所述待存车辆的车型与立体车库的存车尺寸要求比对，判断所述待存车辆的车型是否符合立体车库的存车尺寸要求；
    若所述待存车辆的车型符合立体车库的存车尺寸要求，则接收待存车辆的存车预约请求；
    否则，发出不能停车的反馈信息。
  6. 根据权利要求1所述的立体车库的控制方法，其特征在于，所述根据所述取车预约请求以及停车位置形成取车调度计划包括：
    根据所述预约取车时间段查询以及待取车辆车牌号查询待取车辆的停车位置；
    根据待取车辆的停车位置以及距离最短原则形成取车调度计划。
  7. 根据权利要求6所述的立体车库的控制方法，其特征在于，所述取车调 度计划包括：
    根据待取车辆的停车位置确定待取车辆所在的车库层级；
    根据待取车辆所在的车库层级以及距离最短原则选择目标转运车辆以及目标升降电梯。
  8. 根据权利要求7所述的立体车库的控制方法，其特征在于，所述根据取车调度计划调度转运车辆到达指定位置，同时控制升降电梯运行至指定位置包括：
    控制目标转运车辆在取车预约时间段内到达待取车辆所在的车库层级对应的目标升降电梯位置，同时控制目标升降电梯在取车预约时间段内运行至待取车辆所在的车库层级。
  9. 一种立体车库的控制装置，其特征在于，所述立体车库的控制装置包括：
    请求接收模块，所述接收模块用于接收存车预约请求/取车预约请求；
    调度计划形成模块，所述调度计划形成模块用于根据所述存车预约请求/取车预约请求以及车库内的空余车位分布/停车位置形成存车调度计划/取车调度计划；
    控制模块，所述控制模块用于根据所述存车调度计划/取车调度计划调度转运车辆到达指定位置，同时控制升降电梯运行至指定位置；
    其中，所述存车预约请求包括预约存车时间段和待存车辆车牌号，所述取车预约请求包括预约取车时间段和待取车辆车牌号。
  10. 一种智能立体车库，其特征在于，所述智能立体车库包括多层级的机械立体停车库、多部升降电梯、多台转运车辆和权利要求9所述的立体车库的控制装置，每一层级的机械立体停车库包括多个停车位，每一层级的机械立体停车库至少设置一台转运车辆，且每一层级的机械立体停车库包括多个出入口，每个出入口均对应一部升降电梯，每部所述升降电梯和每台转运车辆均与所述立体车库的控制装置通信连接。
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