Stereoscopic circulation parking garage and control method thereof

Abstract

The present invention discloses a three-dimensional circulation parking garage and a control method thereof. The three-dimensional circulation parking garage forms an entry and exit area for vehicles to enter and exit. The three-dimensional circulation parking garage includes a plurality of vehicle loading platforms for parking vehicles, a conveying device for driving the vehicle loading platforms to move in a circular manner, a wireless communication module for wirelessly communicating with a user terminal device, and a controller; the controller is respectively connected to the conveying device and the wireless communication module, and the controller is used to control the conveying device to move the corresponding vehicle loading platform to the entry and exit area according to a vehicle pickup signal received by the wireless communication module.

Description

Technical Field

[0001] The invention relates to the field of garages, and in particular to a three-dimensional circulation parking garage and a control method thereof. Background Art

[0002] At present, with the continuous increase in the number of cars, the problem of parking difficulty has become increasingly prominent. And with the advancement of science and technology, three-dimensional circulation parking garages are widely used. For example: Chinese patent numbers 201510343091.3, 201511014070.3, 01257189X and 201520674851.4 respectively disclose a three-dimensional circulation parking garage, which realizes a small footprint and achieves the function of circular three-dimensional parking. In actual use, when a user needs to pick up a car, he usually needs to come to the three-dimensional circulation parking garage for on-site operation. In the process of the three-dimensional circulation parking garage moving the car to the entry and exit area, the user is often required to wait for a long time, resulting in low efficiency in picking up the car and poor user experience. How to design a three-dimensional circulation parking garage that shortens the time to pick up the car to improve the user experience is a technical problem to be solved by the present invention. Summary of the invention

[0003] The present invention provides a three-dimensional circulation parking garage and a control method thereof, which can shorten the time of picking up a car and improve the user experience.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] A three-dimensional circulation parking garage forms an entry and exit area for vehicles to enter and exit. The three-dimensional circulation parking garage includes multiple vehicle loading platforms for parking vehicles, a conveying device for driving the vehicle loading platforms to move in a cycle, a first sensor for detecting whether there is a vehicle on the vehicle loading platform located in the entry and exit area, and a controller; the controller is connected to the conveying device and the first sensor respectively, and the controller controls the operation of the conveying device according to the signal sent by the first sensor.

[0006] Furthermore, the three-dimensional circulation parking garage also includes a second sensor for weighing the weight of the vehicle loading platform located in the vehicle entry and exit area, and the second sensor is connected to the controller.

[0007] Furthermore, the three-dimensional circulation parking garage also includes a third sensor for detecting whether the movable vehicle loading platform has moved into place, and the third sensor is connected to the controller.

[0008] Furthermore, the three-dimensional circulation parking garage also includes an installation frame, the bottom of the installation frame forms the vehicle entry and exit area, the installation frame includes two support frames arranged relatively to each other and fixed on the foundation; the conveying device includes a driving mechanism, two chains and a plurality of sprockets, each of the support frames is provided with a plurality of sprockets, the chains are wound around the sprockets on the corresponding support frames, the driving mechanism is used to drive the sprockets to rotate so as to drive the vehicle loading platform to move through the chains, and the vehicle loading platform is connected between the two chains.

[0009] Furthermore, the sprocket directly connected to the driving mechanism is a driving sprocket, and a connecting shaft is provided between two driving sprockets opposite to each other and located at the same height on the two support frames; the driving mechanism is used to drive each of the driving sprockets to operate synchronously, so that the load on the chain between the two adjacent driving sprocket pairs above and below is borne by the driving sprocket located above.

[0010] Furthermore, a hinged portion is formed between two adjacent links in the chain, and a suspension link is provided on the upper part of the vehicle loading platform, one end of the suspension link is connected to the hinged portion of one of the chains, and the other end of the suspension link is connected to the corresponding hinged portion of the other chain.

[0011] Furthermore, the three-dimensional circulation parking garage also includes a positioning support component arranged on the foundation, and the positioning support component is used to position and support the vehicle loading platform located at the vehicle entry and exit area.

[0012] The present invention also provides a control method for the above-mentioned three-dimensional circulation parking garage, wherein the three-dimensional circulation parking garage comprises n vehicle loading platforms, and correspondingly, the three-dimensional circulation parking garage has n parking positions, each vehicle loading platform is located at a corresponding parking position, wherein when a vehicle is parked on the vehicle loading platform, it is marked as an occupied state, and when the vehicle loading platform is empty, it is marked as an idle state;

[0013] The control method includes a parking mode; the parking mode specifically includes:

[0014] Step 101: When the first sensor detects that a vehicle is parked on an idle vehicle loading platform in the vehicle entry and exit area, the vehicle loading platform is marked as occupied. Then, the conveying device drives each vehicle loading platform to rotate so that a new idle vehicle loading platform is parked in the vehicle entry and exit area. At the same time, the parking position information of each vehicle loading platform is modified according to the movement stroke of the vehicle loading platform.

[0015] Step 102: When the first sensor detects that a vehicle in an occupied vehicle loading platform in the vehicle entry and exit area has driven out, the vehicle loading platform is marked as being in an idle state.

[0016] Furthermore, the step 101 is specifically that the conveying device drives each vehicle loading platform to rotate the distance between m parking positions so that the difference in the load weight of the chains on both sides of the installation frame is minimized; and / or, the parking mode also includes: step 103, after executing step 102, the conveying device drives each vehicle loading platform to rotate the distance between m parking positions so that the difference in the load weight of the chains on both sides of the installation frame is minimized; at the same time, the parking position information of each vehicle loading platform is modified according to the movement stroke of the vehicle loading platform.

[0017] Furthermore, the parking space value X of each vehicle loading platform is modified according to the movement stroke of the vehicle loading platform. t Specifically, the conveying device drives each vehicle loading platform to move forward by the distance between m parking spaces, then the parking space value X of each vehicle loading platform t =X t-1 +m, if X t-1 +m is greater than n, then X t =X t-1 +mn; the conveying device drives each vehicle loading platform to move in the opposite direction by the distance between m parking spaces, then the parking space value of each vehicle loading platform is X t =X t-1 -m, if X t-1 - If the value of m is less than n, then X t =X t-1 -m+n; where X t-1 It is the parking space value before the vehicle loading platform moves; where m and n are natural numbers.

[0018] Compared with the prior art, the present invention has many advantages and positive effects:

[0019] The three-dimensional circulation parking garage provided by the present invention can, during the process of users picking up their cars, send a pick-up signal to the three-dimensional circulation parking garage in advance through a user terminal device. In this way, when the user is still a certain distance away from the three-dimensional circulation parking garage, the three-dimensional circulation parking garage will move the corresponding vehicle loading platform to the vehicle entry and exit area in advance according to the received pick-up signal. After the user arrives at the position of the three-dimensional circulation parking garage, he can directly pick up the car and leave the three-dimensional circulation parking garage, thereby greatly saving the waiting time required for the user to pick up the car on site, thereby shortening the pick-up time and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a layout principle diagram of the three-dimensional circulation parking garage of the present invention;

[0021] Figure 2 It is a three-dimensional diagram of the three-dimensional circulation parking garage of the present invention;

[0022] Figure 3 for Figure 2 A partial enlarged schematic diagram of the middle A area;

[0023] Figure 4 This is a structural schematic diagram of the three-dimensional circulation parking garage of the present invention without one side support frame;

[0024] Figure 5 for Figure 4 A partial enlarged schematic diagram of the middle B area;

[0025] Figure 6 for Figure 4 A partial enlarged schematic diagram of the middle C area;

[0026] Figure 7 It is a structural schematic diagram of the guide chute in the three-dimensional circulation parking garage of the present invention;

[0027] Figure 8 It is a structural schematic diagram of a vehicle loading platform in a three-dimensional circulation parking garage of the present invention;

[0028] Fig. 9 The figure is a structural principle diagram of the speed limiting component in the three-dimensional circulation parking garage of the present invention. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with the accompanying drawings.

[0030] See also Figure 1-Figure 9 As shown, the three-dimensional circular parking garage of the present embodiment forms an entry and exit area 101 for vehicles to enter and exit. The three-dimensional parking garage of the present embodiment includes a plurality of vehicle loading platforms 2 for parking vehicles, a conveying device for driving the vehicle loading platforms 2 to move in a circular manner, a wireless communication module for wirelessly communicating with a user terminal device, and a controller; the controller is respectively connected to the conveying device and the wireless communication module, and the controller is used to control the conveying device to move the corresponding vehicle loading platform to the entry and exit area according to the vehicle pickup signal received by the wireless communication module.

[0031] Specifically, the three-dimensional circulation parking garage in this embodiment has an entry and exit area 101 for vehicles to enter and exit, and the vehicle loading platform 2 located in the entry and exit area 101 will complete the vehicle entering or exiting. When the vehicle enters or exits the vehicle loading platform 2 located in the entry and exit area 101, when the user needs to pick up the vehicle, the user terminal device (for example: a handheld mobile device with wireless communication function such as a mobile phone) can send a pick-up signal to the three-dimensional circulation parking garage, and the controller drives the vehicle loading platform 2 corresponding to the conveying device to move to the entry and exit area 101 according to the pick-up signal received by the wireless communication module. In this way, advance reservation for picking up the vehicle can be realized to improve the efficiency of picking up the vehicle, shorten the pick-up time and improve the user experience.

[0032] In order to facilitate quick parking, in actual use, when the controller does not receive a pick-up signal, in order to facilitate the user to park quickly, it generally moves the idle vehicle loading platform 2 to the vehicle entry and exit area 101 to wait for a new vehicle to park. In order to ensure that the vehicle loading platform 2 in the vehicle entry and exit area 101 is empty, the three-dimensional circulation parking garage also includes a first sensor (not shown) for detecting whether there is a vehicle on the vehicle loading platform 2 located in the vehicle entry and exit area 101, and a controller (not shown); the controller is connected to the conveying device, the first sensor and the fourth sensor respectively, and the controller controls the operation of the conveying device according to the signal sent by the first sensor. Specifically, the three-dimensional circulating parking garage in this embodiment has an entry and exit area 101 for vehicles to enter and exit, and the vehicle loading platform 2 located in the entry and exit area 101 will complete the entry or exit of the vehicle. When the vehicle enters or exits the vehicle loading platform 2 located in the entry and exit area 101, it can be detected by the first sensor to determine whether there is a vehicle stored on the vehicle loading platform 2 located in the entry and exit area 101. The controller marks whether there is a vehicle on the vehicle loading platform 2 in the entry and exit area 101 according to the signal sent by the first sensor. After the vehicle loading platform 2 in the entry and exit area 101 is marked as having a vehicle, the controller controls the operation of the conveying device so that when no vehicle pick-up signal is received, the vehicle loading platform 2 located in the entry and exit area 101 is in an empty state. Among them, the three-dimensional circulation parking garage of this embodiment also includes a fourth sensor for detecting the running direction of the conveying device. When the conveying device is controlled by the controller to rotate forward or reverse, the fourth sensor can detect the running direction of the conveying device and feed it back to the controller to further confirm whether the running direction is correct, so as to update the parking position information of each vehicle loading platform 2. In addition, in order to ensure that the vehicle loading platform 2 can accurately move to the vehicle entry and exit area 101 to stop and wait, the three-dimensional circulation parking garage also includes a third sensor for detecting whether the moving vehicle loading platform has moved into place. The third sensor is connected to the controller. Specifically, in the process of driving each vehicle loading platform 2 to move by the conveying device, the controller controls the operation of the conveying device. When the distance moved by the vehicle loading platform 2 reaches the set number of parking position distances, the third sensor detects whether the vehicle loading platform 2 at the corresponding position has moved to the accurate position at a specific position, so as to trigger the controller to control the conveying device to stop running.Preferably, during operation, the parking states of the vehicle loading platforms 2 at different positions are different. In order to ensure that the weight of each vehicle loading platform 2 on the conveying device is kept balanced when the conveying device stops running, the three-dimensional parking in this embodiment also includes a second sensor (not shown) for weighing the weight of the vehicle loading platform 2 located in the vehicle entry and exit area 101. The second sensor is connected to the controller. Specifically, when the state of the parked vehicle on the vehicle loading platform 2 located in the vehicle entry and exit area 101 changes, the second sensor will detect the load of the vehicle loading platform 2 accordingly. The controller detects the load of the vehicle loading platform 2 according to the second sensor. The information generated by the sensor corresponds to the weight information of the vehicle loading platform 2 marked. In this way, during the circulation operation of the conveying device, if the controller does not receive the vehicle pick-up signal, it first ensures that there is an idle vehicle loading platform 2 in the vehicle entry and exit area 101. In the process of allocating the idle vehicle loading platform 2 to be moved to the vehicle entry and exit area 101, the position of the vehicle loading platform 2 is further adjusted according to the load of each vehicle loading platform 2 to achieve balanced weight distribution. This is a balanced distribution mode. Alternatively, the vehicle loading platform 2 will no longer move after being taken away, and the vehicle loading platform 2 will be directly marked as idle. This is the minimum movement mode.

[0033] Among them, the first sensor can be a photoelectric switch, or a pressure sensor. The fourth sensor can be a photoelectric switch or an angular displacement sensor. If a photoelectric switch is used to determine the direction of operation, the photoelectric switch is configured between two adjacent parking positions and offset to one of the parking positions. In this way, when the conveying device drives the vehicle-carrying platform 2 to move, the direction of operation can be determined based on the time difference between the start of the conveying device and the triggering of the photoelectric switch. The third sensor can be a travel switch or a position sensor; the second sensor can be a weighing sensor, or a pressure sensor, a weighing sensor, or other entities.

[0034] In addition, the three-dimensional circulation parking garage of this embodiment can adopt the following specific structural forms. The three-dimensional circulation parking garage of this embodiment also includes an installation frame 1, and the installation frame 1 includes two supporting frames 11 arranged opposite to each other. The conveying device includes a driving mechanism 3, two chains 5 and a plurality of sprockets, wherein the sprockets are divided into first sprockets 41 arranged at the top and bottom of the supporting frame 11, and the sprockets are further divided into two second sprockets 42 arranged at both sides of the supporting frame 11 and arranged up and down, and the first sprocket 41 and the second sprocket 42 on the same supporting frame 11 are provided with chains 5, and the two adjacent links in the chain 5 are connected to each other. A hinged portion 51 is formed, and a suspension link 22 is provided on the upper part of the vehicle loading platform 2, one end of the suspension link 22 is connected to the hinged portion 51 of one of the chains 5, and the other end of the suspension link 22 is connected to the corresponding hinged portion 51 of the other chain 5; a guide groove 6 is provided on at least one of the support frames 11, and a guide column 24 is provided on the vehicle loading platform 2, and the guide column 24 is slidably set in the guide groove 6; the driving mechanism 3 drives the first sprocket 41 and / or the second sprocket 42 to rotate.

[0035] Specifically, in the three-dimensional circulation parking garage of this embodiment, two relatively arranged support frames 11 are installed on the foundation 100, and a plurality of sprockets are arranged on the support frames 11 to install the chains 5. The installation positions of the corresponding sprockets on the two support frames 11 are the same. The driving mechanism drives the sprockets to rotate to drive the two chains 5 to rotate synchronously, wherein the sprocket connected to the driving mechanism is used as the driving sprocket, and the sprocket not connected to the driving mechanism is used as the driven sprocket, and the two corresponding driving sprockets on the two support frames 11 are connected by a connecting shaft to ensure that the two driving sprockets rotate synchronously and the two chains 5 run synchronously, and the driven sprockets can be connected by the corresponding connecting shaft as needed, and the driven sprockets can also be independent of each other without the connecting shaft to reduce the manufacturing cost. The following is an example of the driving mechanism 3 driving the first sprocket 41 at the bottom of the support frame 11. The driving mechanism 3 transmits power to the first sprocket 41 at the bottom of the support frame 11. The first sprockets 41 at the bottom of the two support frames 11 are connected by a connecting shaft to rotate synchronously. The rotation of the first sprocket 41 at the bottom will drive the two chains 5 to run synchronously, thereby driving the vehicle loading platform 2 on the chain 5 to follow the movement, wherein the vehicle loading platform 2 is connected to the corresponding hinged parts 51 of the two chains 5 through the suspension link 22. In this way, the force generated by the vehicle loading platform 2 on the chain 5 acts on the hinged part 51. During the movement of the chain 5, the vehicle loading platform 2 can rotate relative to the hinged part 51, thereby ensuring that the vehicle loading platform 2 always remains in an upright state, and through the guidance of the guide column 24 on the vehicle loading platform 2 and the guide slide groove 6 on the support frame 11, it is ensured that the vehicle loading platform 2 can move along the guide slide groove 6, thereby reducing the shaking of the vehicle loading platform 2 during the movement of the chain 5. Since the suspension link 22 of the vehicle loading platform 2 is connected to the hinge 51 of the chain 5, there is no need to configure an additional extending connecting plate on the chain 5 to install the vehicle loading platform 2; the vehicle loading platform 2 will generate a vertical downward pulling force on the hinge 51 under the action of gravity, so that the chain 5 is subjected to a downward pulling force at the hinge 51, and the chain link part of the chain 5 will not be subjected to a lateral force perpendicular to the chain link direction, especially for the part of the chain 5 running in a vertical state, so that the vehicle loading platform 2 will not generate a torque on the chain 5 to cause the chain 5 to twist. Thereby, the wear of the chain 5 during operation can be reduced. At the same time, compared with the prior art that adopts a cantilever beam structure to install the frame on the connecting plate, a guide groove is required on one side of the chain to assist in bearing the gravity of the frame. Since the suspension link 22 of the vehicle loading platform 2 is connected to the hinge part 51 of the chain 5, the guide groove 6 mainly plays a guiding role during actual use, and the friction between the guide column 24 and the guide groove 6 is small, so that the vehicle loading platform 2 can move quickly along the guide groove 6 to improve the operation efficiency.Among them, in order to facilitate the installation of the suspension link 22, the hinged part 51 connecting the chain 5 and the suspension link 22 is a bushing, and the end of the suspension link 22 is inserted into the bushing. In order to reduce the friction between the suspension link 22 and the hinged part 51, a wear-resistant sleeve is also provided in the bushing, and the end of the suspension link 22 is inserted into the wear-resistant sleeve.

[0036] Further, the guide slide 6 includes two vertical guide grooves 61 arranged on the left and right, and the ends of the vertical guide grooves 61 are respectively provided with inclined guide grooves 611, the inclined guide groove 611 located at the upper part extends upward, and the inclined guide groove 611 located at the lower part extends downward; the vertical guide groove 61 and the inclined guide groove 611 are arranged on the support frame 11. Specifically, according to the distribution of the sprockets on the support frame 11, when the chain 5 drives the vehicle-carrying platform 2 to move in a circular manner, when it moves in the vertical direction between the two second sprockets 42 arranged adjacent to each other, the vehicle-carrying platform 2 is guided and moved through the vertical guide grooves 61, and when it moves between the first sprocket 41 and the second sprocket 42 arranged adjacent to each other, the vehicle-carrying platform 2 is guided and moved through the inclined guide grooves 611 at the ends of the vertical guide grooves 61, so as to ensure the smooth operation of the vehicle-carrying platform 2. Preferably, since the vehicle loading platform 2 will be located in the vehicle entry and exit area at the bottom of the mounting frame 1 when parking and picking up the vehicle, and since the moving vehicle will cause the vehicle loading platform 2 to shake when the vehicle enters or exits the vehicle loading platform 2, in order to ensure that the vehicle loading platform 2 still obtains good guiding support during the parking and picking up process, the guide slide groove 6 also includes a transverse guide groove 62, which is arranged at the bottom of the support frame 11 and is located between the two inclined guide grooves 611 at the bottom; the guide column 24 includes a guide column 24 arranged at the vehicle loading platform Specifically, when the vehicle loading platform 2 moves to the vehicle entry and exit area at the bottom, the two lower guide columns 241 at the bottom of the vehicle loading platform 2 are located in the transverse guide groove 62. On the one hand, the transverse guide groove 62 can guide the vehicle loading platform 2 in the process of moving the vehicle loading platform 2 to the bottom. On the other hand, in the process of parking and picking up the vehicle, the lower guide columns 241 cooperate with the transverse guide groove 62 to reduce the shaking of the vehicle loading platform 2. Under the restriction of the transverse guide groove 62, the two lower guide columns 241 reduce the shaking room of the vehicle loading platform 2. Among them, in order to ensure that the vehicle loading platform 2 obtains good guidance when moving between the first sprocket 41 and the second sprocket 42, the guide column 24 also includes two upper guide columns 242 arranged on the vehicle loading platform 2; the upper guide columns 242 are located directly above the corresponding lower guide columns 241; the inclined guide groove 611 includes two parallel inclined sub-guide grooves 6111 arranged up and down. Specifically, for the inclined guide groove 611 on the vertical guide groove 61, the upper inclined sub-guide groove 6111 is used to cooperate with the upper guide column 242 for guidance, and the lower inclined sub-guide groove 6111 is used to cooperate with the lower guide column 241 for guidance.In addition, in order to further ensure that the chain 5 can cooperate with the sprocket to drive the vehicle loading platform 2 to move smoothly, the number of teeth meshing between the second sprocket 42 and the chain 5 is not less than three. Specifically, since the second sprocket 42 is distributed at the four corners of the mounting frame 1, the chain 5 will change direction of its moving trajectory when passing through the second sprocket 42. By increasing the number of teeth meshing between the second sprocket 42 and the chain 5, the vehicle loading platform 2 can change its motion trajectory more smoothly when moving to the second sprocket 42, thereby reducing the shaking degree of the vehicle loading platform 2, reducing the impact on the guide slot 6, and further improving the operating efficiency.

[0037] At the same time, in order to more reliably improve the stability of the vehicle loading platform 2 during the process of parking and picking up the vehicle while reducing the impact on the chain 5, a positioning support assembly is also provided on the foundation 100, and the positioning support assembly is used to position and support the vehicle loading platform 2 located at the vehicle entry and exit area. Specifically, during the process of parking and picking up the vehicle, the vehicle loading platform 2 will move to the vehicle entry and exit area at the bottom of the mounting frame 1. At this time, the vehicle loading platform 2 in the vehicle entry and exit area can be supported and positioned by the positioning support assembly. On the one hand, the vehicle loading platform 2 can be supported from the bottom, and on the other hand, the positioning support assembly can also position the side of the vehicle loading platform 2. In this way, during the process of parking and picking up the vehicle, it can ensure that the vehicle loading platform 2 remains stable, and at the same time, the impact on the chain 5 caused by a sudden change in the load of the vehicle loading platform 2 when the car enters or exits can be reduced. The positioning support assembly includes a plurality of positioning telescopic modules 7, the positioning telescopic modules 7 include a telescopic mechanism 71 and a positioning support 72 arranged on the telescopic mechanism 71, the positioning support 72 has a supporting portion for supporting the bottom of the vehicle loading platform 2, and the positioning support 72 also has a positioning portion for positioning the side of the vehicle loading platform 2. Specifically, the positioning support 72 can be moved closer to or away from the vehicle loading platform 2 by telescoping the telescopic mechanism 71. When parking or picking up a vehicle, the telescopic mechanism 71 drives the positioning support 72 to move closer to the vehicle loading platform 2, the supporting portion of the positioning support 72 will support the vehicle loading platform 2 from the bottom, and the positioning portion of the positioning support 72 will position the vehicle loading platform 2 from the side; and the telescopic mechanism 71 can be represented by a telescopic electromagnet, an electric cylinder, a linear motor, etc. The positioning support 72 can be a positioning support plate with an L-shaped cross section, the transverse plate surface of the positioning support plate forms the supporting portion, and the longitudinal plate surface of the positioning support plate forms the positioning portion. In addition, the telescopic mechanism 71 can be arranged horizontally on the foundation 100, and the telescopic mechanism 71 arranged horizontally can be telescopic in the horizontal direction; or, the telescopic mechanism 71 can be arranged longitudinally on the foundation 100, and the telescopic mechanism 71 arranged longitudinally can be telescopic in the vertical direction. Preferably, the positioning telescopic modules 7 are arranged at both ends and both sides of the vehicle loading platform 2 located at the vehicle entry and exit area on the foundation 100. Specifically, the vehicle loading platform 2 located at the vehicle entry and exit area forms a projection area on the foundation 100, and correspondingly, positioning telescopic modules 7 are arranged around the projection area, and the positioning telescopic modules 7 arranged around the vehicle loading platform 2 can be positioned and supported around.

[0038] Furthermore, the vehicle loading platform 2 includes a vehicle loading plate 21, a connecting frame 23 and a suspension link 22, and the front and rear ends of the vehicle loading plate 21 are respectively provided with connecting frames 23, and the suspension link 22 is connected to the two connecting frames 23, and the connecting frame 23 is an inverted U-shaped structure. Specifically, the vehicle loading plate 21 is installed on the suspension link 22 through the connecting frame 23 of the inverted U-shaped structure. The vehicle loading plate 21 is used to park the car. In order to ensure that the car can be parked accurately, guide grooves 211 for guiding the movement of the wheels are formed on both sides of the vehicle loading plate 21. Specifically, when parking, the user drives the wheels on both sides into the corresponding guide grooves 211, and the car moves along the guide grooves 211 to the vehicle loading plate 21. At the same time, a limiting lever 212 for limiting the movement of the wheels is also provided in the guide groove 211. When the wheels of the car abut against the limiting lever 212, it means that the car is parked in place, so as to ensure that the position of the car on the vehicle loading plate 21 is accurate and the force on the vehicle loading plate 21 is balanced. The two connecting frames 23 extend downwardly from top to bottom in an inclined manner toward the middle of the vehicle-carrying plate 21, and the connecting frames 23 form an inclined-pull structure, which is conducive to more reliable installation of the vehicle-carrying plate 21 on the suspension link 22 through the connecting frames 23. Bearings are provided on the connecting frames 23, and the ends of the suspension link 22 pass through the corresponding bearings on the connecting frames 23. The vehicle-carrying plate 21 and the connecting frames 23 can be fixed together by bolts or welding, and the vehicle-carrying plate 21 can be rotatably hung on the suspension link 22 through the connecting frames 23. At the same time, the suspension link 22 can rotate relative to the hinge 51 of the chain 5, and two rotating pairs are formed between the vehicle-carrying plate 21 and the chain 5 to ensure that the vehicle-carrying plate 21 remains horizontal during movement. In addition, for the guide column 24, the lower guide column 241 is set on the vehicle loading plate 21, and the upper guide column 242 is set on the connecting frame 23. In order to further reduce the friction between the guide column 24 and the guide groove 6, the lower guide column 241 and the upper guide column 242 are respectively provided with rollers, and the rollers are used to roll in the guide groove 6.

[0039] Furthermore, in order to facilitate the adjustment of the tightness of the chain 5 and reduce the difficulty of installation, a lifting bracket 8 that can be raised and lowered is provided on the top of the support frame 11, and the first sprocket 41 located at the top is installed on the lifting bracket 8. Specifically, by installing the first sprocket 41 on the top of the support frame 11 to the lifting bracket, during the assembly process, after the chain 5 is connected to the first sprocket 41 and the second sprocket 42, the lifting bracket is raised to make the chain 5 reach a tensioned state, so that there is no need to add an additional tensioning wheel, and the use of a tensioning wheel can also avoid the shape of the chain 5 protruding outward or concave inward. In this way, the overall direction of the chain 5 is smoother, thereby ensuring that the vehicle-carrying platform 2 can follow the smooth movement of the chain 5. Among them, the specific entity of the lifting bracket 8 has a variety of structural forms, and the lifting bracket 8 includes a supporting beam 81, a mounting seat 82 and a lifting component 83. The supporting beam 81 is fixed on the supporting frame 11, and the mounting seat 82 is installed on the supporting beam 81 through the lifting component 83. The first sprocket 41 located at the top is installed on the mounting seat 82. Specifically, the supporting beam 81 is fixed to the supporting frame 11 as a supporting component, and a bearing seat 821 is arranged on the mounting seat 82 for installing the first sprocket 41, and the height position of the mounting seat 82 is adjusted by adjusting the lifting component 83. The specific entity of the lifting component 83 has a variety of structural forms, for example: the lifting component includes a plurality of supporting longitudinal beams 831, and a plurality of longitudinally arranged first mounting holes (not marked) are provided on the supporting beam 81. The lower end of the supporting longitudinal beam 831 is provided with a locking bolt (not marked), and the locking bolt is inserted into In the first mounting hole at the corresponding height position, the mounting seat 82 is fixed to the upper end of the supporting longitudinal beam 831. During actual assembly, after the chain 5 is installed, the supporting longitudinal beam 831 is raised to make the chain 5 reach a tightened state, and then, the locking bolt is inserted into the first mounting hole at the corresponding height position for fixing; or, the lifting assembly 83 includes a plurality of telescopically adjustable columns 832, and the columns 832 are arranged between the supporting cross beam 81 and the mounting seat 82. Specifically, the columns 832 can be a telescopic rod structure, and the columns 832 include a fixed column and a sliding column, and the sliding column can slide on the fixed column. A locking component is arranged between the fixed column and the sliding column, and the locking component can be a latch, and correspondingly, the fixed column and the sliding column are respectively provided with a plurality of latch holes. After the sliding column is adjusted into place, the latch is inserted into the latch hole of the fixed column and the latch hole of the sliding column at the same time. In the process of adjusting the supporting longitudinal beam 831 or the telescopic column 832, a jack can be used to support the mounting seat 82 on the supporting crossbeam 81 and gradually raise the mounting seat 82 until the chain 5 is tightened, and then the supporting longitudinal beam 831 or the column 832 is fixed and locked accordingly.In addition, after the lifting assembly 83 adjusts the height position of the mounting seat 82, in order to fix the mounting seat 82, a plurality of longitudinally arranged second mounting holes can be correspondingly set on the support frame 11, and the two ends of the mounting seat 82 are fixed by inserting fixing bolts into the second mounting holes at the corresponding height positions.

[0040] By connecting the suspension link on the vehicle loading platform to the hinge part of the corresponding chain, no force arm is formed between the suspension link and the hinge part. In this way, the chain only bears the downward pulling force generated by the vehicle loading platform, and the vehicle loading platform will not generate additional torque on the chain part running in the vertical state. On the one hand, it ensures that the chain part running in the vertical state will not be deformed by the lateral force, thereby reducing the wear of the chain and increasing the service life of the chain. On the other hand, the vehicle loading platform only generates a downward pulling force on the chain without generating torque, so that the guide slide groove only needs to guide the running vehicle loading platform without providing supporting force. The friction between the guide column of the vehicle loading platform and the guide slide groove is small, so that the chain can drive the vehicle loading platform to operate quickly and efficiently, thereby improving the operating efficiency of the three-dimensional circulation parking garage, extending its service life and improving its reliability.

[0041] Based on the above technical solution, optionally, in order to reduce operating energy consumption and make full use of the height space to obtain more parking spaces, the installation frame 1 can be increased in the height direction. Correspondingly, the length of the chain 5 will increase. At the same time, the number of vehicle loading platforms 2 suspended on the chain 5 will increase at the same time. The chain 5 will cumulatively bear the tension generated by multiple vehicle loading platforms 2. In order to improve the reliability of the chain 5, the chain 5 carries the vehicle loading platform 2 in a segmented load-bearing manner. Specifically, at least one third sprocket 43 is also provided between the two second sprockets 42 arranged up and down. The drive The mechanism 3 is drivingly connected to the first sprocket 41, the second sprocket 42 and the third sprocket 43 respectively, and the first sprocket 41, the second sprocket 42 and the third sprocket 43 serve as driving sprockets with power drive; a connecting shaft is arranged between the two driving sprockets opposite to each other at the same height on the two support frames 11; the driving mechanism 3 is used to drive each of the driving sprockets to operate synchronously, so that the load of the chain 5 between the two adjacent driving sprocket pairs above and below is borne by the driving sprocket located above. Specifically, two driving sprockets connected by a connecting shaft form a group of driving wheel pairs, and the driving mechanism 3 provides power for each driving wheel pair, so that the driving sprocket in the driving wheel pair can provide pulling force to the chain 5 below it. By controlling the driving force of the driving wheel pair at different positions, the following effects can be achieved: for the two driving sprockets adjacent to each other in the same support frame, the driving sprocket located above is configured to bear the load of the chain 5 between the two driving sprockets, thereby realizing the segmented load-bearing of the chain 5, wherein the driving mechanism 3 has multiple ways of transmitting power to the driving wheel pairs respectively. For example, in the first scheme, the driving mechanism 3 includes a main motor and a power distribution box 31, wherein the power distribution box 31 is provided with a power input shaft and a plurality of power output shafts connected to the power input shaft, wherein the main motor is connected to the power input shaft, and the power output shaft is connected to the corresponding driving wheel pair, thereby realizing synchronous operation and bearing the load of the chain in sections; or, in the second scheme, the driving mechanism 3 includes a plurality of driving motors connected to the driving wheel pair, realizing synchronous operation or automatic acceleration or deceleration operation according to the load between the two driving sprockets through a control system, thereby bearing the load of the chain in sections. In addition, according to the length of the chain 5 between two adjacent driving sprockets, in the case where the chain 5 between the two driving sprockets is relatively long, a driven sprocket (not shown) can also be provided between the upper and lower adjacent driving sprockets, and the chain 5 is guided by the driven sprocket to ensure that the chain 5 can move smoothly, wherein the driven sprocket is driven as a driven wheel without power and is only used to guide the chain 5.Preferably, due to the different storage states of the vehicles in the vehicle loading platform 2 at different positions, the different numbers of stored vehicles lead to unbalanced load. In order to ensure smooth movement during actual operation, the driving wheel pair also includes a speed limiting component, which includes a friction sleeve 431, a mounting shaft 432 and a plurality of friction plates 433. The mounting shaft 432 is inserted into the friction sleeve 431, and a plurality of guide rods 435 are arranged on the periphery of the mounting shaft 432. The outer surface of the friction plate 433 is arranged to be an arc surface that cooperates with the inner wall of the friction sleeve 431. The friction plate 433 is slidably arranged on the corresponding guide rod 435, and a return spring 434 is arranged between the friction plate 433 and the mounting shaft 432; the friction sleeve 431 is fixedly arranged on the mounting frame, and the mounting shaft 432 is connected to the driving sprocket. Specifically, when the driving sprocket rotates, it will also drive the mounting shaft 432 to rotate. The friction plate 433 will overcome the pulling force of the return spring 434 and move outward under the action of centrifugal force. When the rotation speed of the driving sprocket exceeds the set value, the friction plate 433 will contact the inner wall of the friction sleeve 431 to generate friction. Moreover, the greater the rotation speed of the driving sprocket, the greater the friction generated. This can effectively stabilize the rotation speed of the driving sprocket and avoid the occurrence of overspeeding of the driving sprocket when the weight distribution is unbalanced, thereby ensuring that the entire equipment can run smoothly.

[0042] Furthermore, the driving wheel pair also includes a brake (not shown) for braking the driving sprocket. Specifically, when the third sensor requires the vehicle loading platform to stop at a specified position, the brake will brake the driving wheel pair to ensure that the driving sprocket will not rotate arbitrarily without power, ensuring the static state in the parking state. Preferably, the driving wheel pair is also provided with a torque sensor (not shown) for detecting the magnitude of the torque applied to the driving sprocket; at the same time, a second sensor is configured in the vehicle entry and exit area to weigh the weight of the vehicle loading platform 2 located in the vehicle entry and exit area. Specifically, in order to realize that the driving sprocket provides segmented pulling force to the chain 5 below it until the next driving sprocket, so as to realize the segmented load-bearing of the chain more accurately, for the vehicle-carrying platform 2 at different positions, there are two states: with a vehicle and without a vehicle. The number of vehicle-carrying platforms 2 that can be placed on the chain 5 between the two upper and lower adjacent driving sprockets is certain. The weight carried by the vehicle-carrying platform 2 on the chain 5 between the two upper and lower adjacent driving sprockets can be obtained through the weighing sensor when the vehicle is parked on the vehicle-carrying platform and stored in the control system for the controller to call. Combined with the weight of the chain 5 and the vehicle-carrying platform 2 itself, it can be accurately calculated. The torque generated by the section of chain 5 and the corresponding vehicle-carrying platform 2 on the upper driving sprocket is obtained. In this way, in the process of the driving mechanism 3 driving the chain to circulate, on the ascending side, when the torque value detected by the torque sensor corresponding to the upper driving sprocket is greater than the calculated torque value, the lower driving sprocket will accelerate to increase the load-bearing capacity; on the descending side, when the torque value detected by the torque sensor corresponding to the upper driving sprocket is greater than the calculated torque value, the lower driving sprocket will decelerate to increase the load-bearing capacity. In this way, the driving sprocket bears the load of the corresponding part of the chain 5 below it, and the segmented load-bearing is realized more accurately.

[0043] The present invention also provides a control method for the above-mentioned three-dimensional circulation parking garage, the control method includes a driving control mode; the driving control mode includes: the driving mechanism drives each driving wheel pair to rotate synchronously, so that the two adjacent driving wheel pairs above and below are borne by the driving wheel pair located above the two driving wheel pairs. Specifically: by driving each driving wheel pair to rotate synchronously, the driving wheel pair located above is borne by the corresponding chain part below it, eliminating the cumulative effect of the chain load, effectively enhancing the chain's carrying capacity, making it very easy to build a single large-capacity three-dimensional circulation parking garage, and reducing the operating energy consumption and manufacturing cost of the three-dimensional circulation parking garage, and greatly improving the operating speed and shortening the time for storing and retrieving cars. Among them, during the chain circulation process, for the two adjacent driving wheel pairs on the rising side, when the torque value detected by the torque sensor corresponding to the upper driving wheel pair is greater than the load of the chain between the two driving wheel pairs, the lower driving wheel is accelerated accordingly until the torque value detected by the torque sensor corresponding to the upper driving wheel pair is equal to the load of the chain between the two driving wheel pairs; conversely, when the torque value detected by the torque sensor corresponding to the upper driving wheel pair is less than the load of the chain between the two driving wheel pairs, the upper driving wheel is accelerated accordingly until the torque value detected by the torque sensor corresponding to the upper driving wheel pair is equal to the load of the chain between the two driving wheel pairs. load; for the two adjacent driving wheel pairs on the descending side, when the torque value detected by the torque sensor corresponding to the upper driving wheel pair is greater than the load of the chain between the two driving wheel pairs, the lower driving wheel will decelerate and increase the load-bearing until the torque value detected by the torque sensor corresponding to the upper driving wheel pair is equal to the load of the chain between the two driving wheel pairs; conversely, when the torque value detected by the torque sensor corresponding to the upper driving wheel pair is less than the load of the chain between the two driving wheel pairs, the upper driving wheel will decelerate and increase the load-bearing until the torque value detected by the torque sensor corresponding to the upper driving wheel pair is equal to the load of the chain between the two driving wheel pairs.

[0044] For the driving method using scheme one, a main motor drives each driving wheel pair to rotate synchronously through a power distribution box, so that the upper driving wheel pair can bear the load of the corresponding chain part below it; and for the driving method using scheme two, since the driving wheel pairs are driven by different driving motors, the output power of the driving motor can be dynamically controlled. For the two adjacent driving wheels on the upper and lower sides of the ascending side, when the torque value detected by the torque sensor corresponding to the upper driving wheel is greater than the load of the chain between the two driving wheels, the lower driving wheel is accelerated accordingly until the torque value detected by the torque sensor corresponding to the upper driving wheel is equal to the load of the chain between the two driving wheels; conversely, when the torque value detected by the torque sensor corresponding to the upper driving wheel pair is less than the load of the chain between the two driving wheel pairs, When the load is heavy, the upper driving wheel is accelerated accordingly until the torque value detected by the torque sensor corresponding to the upper driving wheel pair is equal to the load of the chain between the two driving wheel pairs; and for the two adjacent driving wheel pairs on the descending side, when the torque value detected by the torque sensor corresponding to the upper driving wheel pair is greater than the load of the chain between the two driving wheel pairs, the lower driving wheel is decelerated and increased in load-bearing until the torque value detected by the torque sensor corresponding to the upper driving wheel pair is equal to the load of the chain between the two driving wheel pairs; conversely, when the torque value detected by the torque sensor corresponding to the upper driving wheel pair is less than the load of the chain between the two driving wheel pairs, the upper driving wheel is decelerated and increased in load-bearing until the torque value detected by the torque sensor corresponding to the upper driving wheel pair is equal to the load of the chain between the two driving wheel pairs.

[0045] The control method also includes a vehicle pickup mode and a vehicle storage mode. The following describes how to store and retrieve a vehicle.

[0046] 1. In the vehicle pickup mode, the details are as follows: after the user terminal device sends a vehicle pickup signal to the three-dimensional circular parking garage, the wireless communication module of the three-dimensional circular parking garage receives the vehicle pickup signal and transmits it to the controller, and the controller moves the vehicle loading platform where the corresponding vehicle is stored to the vehicle entry and exit area according to the vehicle pickup signal; wherein the vehicle pickup signal contains the vehicle license plate information. Specifically, the user terminal device can be a handheld mobile device with wireless communication function such as a mobile phone. After the user stores the vehicle on the corresponding vehicle loading platform, the controller of the three-dimensional circular parking garage will record the vehicle license plate information and match it with the information of the vehicle loading platform. When the user needs to pick up the vehicle, the vehicle pickup signal is sent to the three-dimensional circular parking garage in advance through the mobile phone. In this way, the vehicle loading platform where the user's vehicle is parked can be moved to the vehicle entry and exit area in advance for waiting before the user arrives at the three-dimensional circular parking garage. In this way, the user can drive the vehicle directly when he arrives at the vehicle entry and exit area, reducing the waiting time for picking up the vehicle.

[0047] In actual use, only one user's pick-up signal may be received within a certain period of time, or multiple users' pick-up signals may be received. The pick-up mode includes a single-user reservation pick-up mode and a multi-user reservation pick-up mode;

[0048] In the single-person reservation car pickup mode, after the user terminal device sends a car pickup signal to the three-dimensional circular parking garage, the three-dimensional circular parking garage simultaneously obtains the real-time location information of the user terminal device, and the controller receives the car pickup signal and the real-time location information through the wireless communication module. When the controller determines that the distance between the user terminal device and the three-dimensional circular parking garage is less than the set distance value according to the real-time location information, the controller moves the vehicle loading platform where the corresponding vehicle is stored to the vehicle entry and exit area according to the car pickup signal. Specifically, when a user sends a car pickup signal, the three-dimensional circular parking garage will not immediately move the vehicle loading platform where the corresponding vehicle is parked to the vehicle entry and exit area after receiving the car pickup signal, but further learns the distance between the user and the three-dimensional circular parking garage according to the received location information sent by the user terminal device. When the distance between the user and the three-dimensional circular parking garage is less than the set distance value, the controller controls the conveying device to start transporting the vehicle loading platform of the corresponding vehicle to the vehicle entry and exit area. In this way, when the user cannot reach the three-dimensional circular parking garage in time due to other reasons and cannot pick up the vehicle, the three-dimensional circular parking garage is prevented from doing useless work and consuming electricity, and green and low-carbon operation is achieved. Among them, the acquisition of real-time location information can be that the user terminal device sends the real-time location information to the three-dimensional circular parking garage at a set interval, or the user terminal device shares the location with the three-dimensional circular parking garage. There is no restriction on the specific method of obtaining the real-time location information.

[0049] In the multi-person reservation vehicle pickup mode, after M user terminal devices respectively send vehicle pickup signals to the three-dimensional circular parking garage, the M three-dimensional circular parking garages simultaneously obtain the real-time location information of the user terminal devices, and the controller receives the vehicle pickup signal and the real-time location information through the wireless communication module. When the controller determines that the location of N user terminal devices is less than the set distance value from the three-dimensional circular parking garage based on the real-time location information, the controller determines the vehicle loading platform where each vehicle is located based on the vehicle pickup signals sent by the N user terminal devices, and calculates the vehicle pickup order of the sorted vehicles according to the principle of unidirectional operation of the conveying device and the shortest operation path, and moves the corresponding vehicle loading platform to the vehicle entry and exit area in sequence according to the vehicle pickup order; wherein, M is a natural number greater than 2, N is a natural number greater than 1, and M≥N. Specifically, when M users send vehicle pick-up signals within a certain time period, the controller specifically controls the process of the conveying device transporting the vehicle loading platform according to the location information of the M users. In actual use, after the M users send out vehicle pick-up signals, the locations of the multiple users are different, and the distances from each user to the three-dimensional circulation parking garage are also different. More importantly, the time for different users to arrive at the three-dimensional circulation parking garage is also different. Based on the above factors, in order to simplify the control process, improve operation efficiency and reduce operation energy consumption, when the distances of M users from the three-dimensional circulation parking garage are less than the set distance value, the controller calculates the pick-up order of the sorted vehicles according to the positions of the vehicle loading platforms corresponding to the M users, according to the principle that the conveying device runs in one direction and has the shortest running path. The pick-up order will be displayed on the display screen configured on the three-dimensional circulation parking garage, and the controller controls the conveying device to run according to the calculated pick-up order; of course, in actual use, there is also the situation that after M users send out pick-up signals, only N users move toward the three-dimensional circulation parking garage, while other users may be unable to pick up the car for other reasons. At this time, the pick-up order of the sorted vehicles cannot be calculated according to the positions of the vehicle loading platforms corresponding to the M users. It is necessary to calculate the pick-up order of the sorted vehicles according to the positions of the vehicle loading platforms corresponding to the N users that have met the distance requirements. In this way, it is more conducive to improving the effect of intelligent operation, improving user experience, and further reducing the waiting time required for multiple users to pick up the car. In actual use, for example, in places such as shopping malls or banks, when there are VIP users, at this time, if there is a designated priority user terminal device among the N user terminal devices, the vehicle loading platform corresponding to the designated priority user terminal device will be moved to the entry and exit area first. Specifically, the three-dimensional circular parking stores the information of different users, and when the designated priority user sends a pick-up signal in the multi-person reservation pick-up mode, the controller will calculate the pick-up order of the sorted vehicles according to the position of the vehicle loading platform where the designated priority user's vehicle is located.

[0050] 2. Parking mode, specifically as follows: the three-dimensional circulation parking garage includes n vehicle loading platforms, and correspondingly, the three-dimensional circulation parking garage has n parking spaces, each vehicle loading platform is located at a corresponding parking space, wherein when a vehicle is parked on the vehicle loading platform, it is marked as occupied, and when the vehicle loading platform is empty, it is marked as idle; the parking mode specifically includes:

[0051] Step 101: When the first sensor detects that a vehicle is parked on an idle vehicle platform in the vehicle entry and exit area, the vehicle platform is marked as occupied. Then, the conveying device drives each vehicle platform to rotate so that a new idle vehicle platform is parked in the vehicle entry and exit area. At the same time, the parking position information of each vehicle platform is modified according to the movement of the vehicle platform. Specifically, when the user needs to park, the user parks the vehicle on an idle vehicle platform in the vehicle entry and exit area. At this time, the first sensor detects that a vehicle is parked on the vehicle platform in the vehicle entry and exit area, and the controller marks the vehicle platform as occupied. After the vehicle is parked, the controller controls the conveying device to drive each vehicle platform to rotate so that the new idle vehicle platform moves to the vehicle entry and exit area. At the same time, the controller synchronously modifies the parking position information of each vehicle platform. In order to meet the balanced weight distribution of the vehicle platform, the conveying device drives each vehicle platform to rotate the distance between m parking positions so that the difference in the load weight of the chains on both sides of the mounting frame is minimized.

[0052] Step 102: When the first sensor detects that a vehicle in an occupied vehicle loading platform in the vehicle entry and exit area has driven out, the vehicle loading platform is marked as idle. Specifically, when the user needs to park, the controller moves the vehicle loading platform where the user's vehicle is parked to the vehicle entry and exit area. After the vehicle leaves the vehicle loading platform, the first sensor detects that there is no vehicle on the vehicle loading platform, and the controller re-marks the vehicle loading platform as idle.

[0053] Step 103, after executing step 102, the conveying device drives each vehicle loading platform to rotate the distance between m parking positions, so that the difference in the load weight of the chains on both sides of the installation frame is minimized; at the same time, the parking position information of each vehicle loading platform is modified according to the movement of the vehicle loading platform. Specifically, in the case of considering weight balance, when the vehicle loading platform that was originally in an occupied state in the vehicle entry and exit area is re-marked as an idle state, if the controller determines through calculation that the weight distribution of each vehicle loading platform is uneven at this time, the controller controls the conveying device to drive each vehicle loading platform to rotate, moves another idle state vehicle loading platform to the vehicle entry and exit area, and at the same time ensures that the difference in the load weight of the chains on both sides of the installation frame is minimized, that is, the weight distribution of each vehicle loading platform is balanced.

[0054] Furthermore, the parking space value X of each vehicle loading platform is modified according to the movement stroke of the vehicle loading platform. t Specifically, the conveying device drives each vehicle loading platform to move forward by the distance between m parking spaces, then the parking space value X of each vehicle loading platform t =X t-1 +m, if X t-1 +m is greater than n, then X t =X t-1 +mn; the conveying device drives each vehicle loading platform to move in the opposite direction by the distance between m parking spaces, then the parking space value of each vehicle loading platform is X t =X t-1 -m, if X t-1 - If the value of m is less than n, then X t =X t-1 -m+n; where X t-1 It is the parking space value before the vehicle loading platform moves; where m and n are natural numbers.

[0055] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A three-dimensional circulation parking garage, characterized in that: The three-dimensional circulation parking garage forms an entry and exit area for vehicles to enter and exit, and the three-dimensional circulation parking garage includes a plurality of vehicle loading platforms for parking vehicles, a conveying device for driving the vehicle loading platforms to move circularly, a wireless communication module for wirelessly communicating with a user terminal device, and a controller; the controller is connected to the conveying device and the wireless communication module respectively, and the controller is used to control the conveying device to move the corresponding vehicle loading platform to the entry and exit area according to the vehicle pickup signal received by the wireless communication module; Wherein, the three-dimensional circulation parking garage further comprises a positioning support assembly arranged on the foundation, and the positioning support assembly is used for positioning and supporting the vehicle loading platform located at the vehicle entry and exit area; The positioning support assembly includes a plurality of positioning telescopic modules, the positioning telescopic modules include a telescopic mechanism and a positioning support member arranged on the telescopic mechanism, the positioning support member has a supporting portion for supporting the bottom of the vehicle loading platform, and the positioning support member also has a positioning portion for positioning the side of the vehicle loading platform; when parking or picking up a vehicle, the telescopic mechanism drives the positioning support member to approach the vehicle loading platform, the supporting portion of the positioning support member will support the vehicle loading platform from the bottom, and the positioning portion of the positioning support member will position the vehicle loading platform from the side; The positioning support member is a positioning support plate with an L-shaped cross section, the transverse plate surface of the positioning support plate forms the supporting portion, and the longitudinal plate surface of the positioning support plate forms the positioning portion; the vehicle loading platform located at the vehicle entry and exit area forms a projection area on the foundation, and the positioning telescopic modules are arranged around the projection area, and the positioning telescopic modules arranged around the periphery can position and support the periphery of the vehicle loading platform; The three-dimensional circulation parking garage also includes a mounting frame, the bottom of the mounting frame forming the vehicle entry and exit area, the mounting frame includes two support frames arranged relatively and fixed on the foundation; at least one of the support frames is provided with a guide slide, the vehicle loading platform is provided with a guide column, and the guide column is slidably arranged in the guide slide; the guide slide includes a transverse guide groove and two vertical guide grooves arranged on the left and right, and the ends of the vertical guide grooves are respectively provided with inclined guide grooves, the inclined guide groove located at the upper part extends upward, and the inclined guide groove located at the lower part extends downward; the vertical guide groove and the inclined guide groove are arranged on the support frame, and the transverse guide groove is arranged at the bottom of the support frame and is located between the two inclined guide grooves at the bottom; the guide column includes two lower guide columns arranged at the bottom of the vehicle loading platform; The conveying device includes a driving mechanism, two chains and a plurality of sprockets, each of the support frames is provided with a plurality of the sprockets, the chains are wound around the sprockets on the corresponding support frames, the driving mechanism is used to drive the sprockets to rotate so as to drive the vehicle carrying platform to move through the chains, and the vehicle carrying platform is connected between the two chains; A lifting bracket that can be adjusted to rise and fall is provided on the top of the support frame, and the sprocket located at the top is installed on the lifting bracket; the lifting bracket includes a supporting beam, a mounting seat and a lifting assembly, the supporting beam is fixed on the support frame, the mounting seat is installed on the supporting beam through the lifting assembly, and the sprocket located at the top is installed on the mounting seat.

2. The three-dimensional circulation parking garage according to claim 1 is characterized in that: The sprocket directly connected to the driving mechanism is a driving sprocket, and a connecting shaft is arranged between two driving sprockets opposite to each other at the same height on the two support frames; the driving mechanism is used to drive each of the driving sprockets to operate synchronously, so that the load on the chain between the two adjacent driving sprocket pairs above and below is borne by the driving sprocket located above.

3. The three-dimensional circulation parking garage according to claim 1 is characterized in that: A hinge is formed between two adjacent links in the chain, and a suspension link is provided on the upper part of the vehicle loading platform. One end of the suspension link is connected to the hinge of one of the chains, and the other end of the suspension link is connected to the corresponding hinge of the other chain.

4. The three-dimensional circulation parking garage according to any one of claims 1 to 3, characterized in that: The three-dimensional circulation parking garage also includes a first sensor for detecting whether there is a vehicle on the vehicle loading platform located in the vehicle entry and exit area, and the controller is connected to the first sensor.

5. A control method for a three-dimensional circulation parking garage as described in any one of claims 1 to 3, characterized in that: The control method includes a vehicle pickup mode, and the vehicle pickup mode specifically includes: After the user terminal device sends a pick-up signal to the multi-story circular parking garage, the wireless communication module of the multi-story circular parking garage receives the pick-up signal and transmits it to the controller. The controller then moves the vehicle loading platform where the corresponding vehicle is stored to the entry and exit area according to the pick-up signal; wherein the pick-up signal includes the vehicle's license plate number information.

6. The control method of the three-dimensional circulation parking garage according to claim 5 is characterized in that: The car pickup mode includes a single-person reservation car pickup mode and a multi-person reservation car pickup mode; In the single-person reservation car pickup mode, after the user terminal device sends a car pickup signal to the three-dimensional circular parking garage, the three-dimensional circular parking garage simultaneously obtains the real-time location information of the user terminal device, and the controller receives the car pickup signal and the real-time location information through the wireless communication module. When the controller determines that the distance between the user terminal device and the three-dimensional circular parking garage is less than the set distance value according to the real-time location information, the controller moves the vehicle loading platform where the corresponding vehicle is stored to the vehicle entry and exit area according to the car pickup signal; In the multi-person reservation vehicle pickup mode, after M user terminal devices respectively send vehicle pickup signals to the three-dimensional circular parking garage, the M three-dimensional circular parking garages simultaneously obtain the real-time location information of the user terminal devices, and the controller receives the vehicle pickup signal and the real-time location information through the wireless communication module. When the controller determines that the location of N user terminal devices is less than the set distance value from the three-dimensional circular parking garage based on the real-time location information, the controller determines the vehicle loading platform where each vehicle is located based on the vehicle pickup signals sent by the N user terminal devices, and calculates the vehicle pickup order of the sorted vehicles according to the principle of unidirectional operation of the conveying device and the shortest operation path, and moves the corresponding vehicle loading platform to the vehicle entry and exit area in sequence according to the vehicle pickup order; wherein, M is a natural number greater than 2, N is a natural number greater than 1, and M≥N.

7. The control method of the three-dimensional circulation parking garage according to claim 6 is characterized in that: The multi-person reservation vehicle pick-up mode is specifically as follows: after the controller determines that the distance between the locations of N user terminal devices and the three-dimensional circular parking garage is less than a set distance value based on the real-time location information, if there is a designated priority user terminal device among the N user terminal devices, the vehicle loading platform corresponding to the designated priority user terminal device is first moved to the vehicle entry and exit area.

8. The control method of the three-dimensional circulation parking garage according to claim 5 is characterized in that: The three-dimensional circulation parking garage comprises n vehicle loading platforms, and correspondingly, the three-dimensional circulation parking garage has n parking spaces, each vehicle loading platform is located at a corresponding parking space, wherein when a vehicle is parked on the vehicle loading platform, it is marked as occupied, and when the vehicle loading platform is empty, it is marked as idle; The control method includes a parking mode; the parking mode specifically includes: Step 101: When the first sensor detects that a vehicle is parked on an idle vehicle loading platform in the vehicle entry and exit area, the vehicle loading platform is marked as occupied. Then, the conveying device drives each vehicle loading platform to rotate so that a new idle vehicle loading platform is parked in the vehicle entry and exit area. At the same time, the parking position information of each vehicle loading platform is modified according to the movement stroke of the vehicle loading platform. Step 102: When the first sensor detects that a vehicle in an occupied vehicle loading platform in the vehicle entry and exit area has driven out, the vehicle loading platform is marked as being in an idle state.

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