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Method for accurately positioning transverse moving trolley

A technology for traversing trolleys and precise positioning, which is applied in the direction of buildings, building types, and buildings where cars are parked. It can solve the problems of low positioning accuracy of traversing trolleys, and achieve simple structure, convenient debugging, and high safety factor. Effect

Pending Publication Date: 2021-07-13
SHANDONG TIANCHEN INTELLIGENT PARKING EQUIPMENT CO LTD
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  • Claims
  • Application Information

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Problems solved by technology

[0008] The purpose of the present invention is to provide a method for precise positioning of the traversing trolley to solve the problem of low positioning accuracy of the traversing trolley in the prior art

Method used

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  • Method for accurately positioning transverse moving trolley
  • Method for accurately positioning transverse moving trolley

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Embodiment 1

[0033] A method for precise positioning of a traversing trolley, in which the specific steps for the traversing trolley to travel from any position to a designated position are as follows:

[0034] (1) Initial position: The traversing trolley is parked on the walking guide rail, and the light spot of the laser rangefinder of the traversing trolley is irradiated on the reflective plate at the end of the walking guide rail;

[0035](2) The control system controls the traversing trolley to move from the initial position to the designated parking space position in a position control manner. The target position is the calibration position where the traversing trolley is aligned with the parking space during commissioning. This target position is called the initial traversing trolley target position, the control system sends the encoder value and laser rangefinder value corresponding to the calibration position to the traverse trolley;

[0036] (3) When the traversing trolley approa...

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Abstract

The invention discloses a method for accurately positioning a transverse moving trolley. A laser range finder is installed on the transverse moving trolley. A reflecting plate is arranged on the end part of a transverse moving trolley walking guide rail; and an encoder is installed on a motor shaft of a transverse moving trolley walking motor. In the process that the transverse moving trolley walks to a designated parking space, the laser range finder measures the distance between the transverse moving trolley and the reflecting plate in real time, when the difference between the distance and the numerical value of the laser range finder at the initial target position of the transverse moving trolley reaches a set fixed numerical value, a control system increases (or decreases) the numerical value of the current encoder by a calibration numerical value, and the encoder numerical value is used as the calibrated encoder numerical value of the target position; then the transverse moving trolley continues to run according to the calibrated encoder numerical value to reach the target position of the calibrated transverse moving trolley; and the condition that the pulse value of the encoder is inconsistent with the actual distance value caused by slipping of traveling wheels of the transverse moving trolley can be eliminated. After in-place verification, the actual position measured by the laser range finder is compared with the preset target position, so that the in-place verification effect is achieved.

Description

technical field [0001] The invention relates to a method for precise positioning of a traversing trolley used in a three-dimensional intelligent garage, and belongs to the technical field of three-dimensional parking equipment. Background technique [0002] With the continuous improvement of people's living standards and the increasing penetration rate of cars, "difficulty in parking" has become an important factor restricting the development of urban traffic. Intelligent parking garage is a three-dimensional parking equipment with a high degree of automation. It has the characteristics of convenient access, economical operation, convenient maintenance, and small footprint. It is a solution to deal with a large number of vehicles and a small parking area. [0003] The large car-type tower library of the vertical lift type and the three-dimensional parking equipment of the plane movement type need to use the traverse trolley. The main components of these two types of equipmen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E04H6/42E04H6/24
CPCE04H6/424E04H6/24
Inventor 刘钊郭鹏王延山王业宁
Owner SHANDONG TIANCHEN INTELLIGENT PARKING EQUIPMENT CO LTD
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