An intelligent automated parking control system

Abstract

The present invention relates to the technical field of garage management, and discloses an intelligent automated parking management and control system, wherein the system comprises a multi-story parking garage, a parking control module, an entrance and exit management module, an on-site human-computer interaction module, a mobile client, a background control center, a data acquisition module, and a power supply module, which are communicatively connected to each other. The intelligent automated parking management and control system of the present invention comprehensively manages vehicle entry and exit approval, billing and charging, and automatic parking, thereby saving car owners' time in parking and retrieving vehicles and reducing the maintenance cost of the multi-story parking garage. The special design of the multi-story parking garage effectively saves space, effectively realizes the automated parking of vehicles, and improves the service quality and operational efficiency of the parking garage.

Description

Technical Field

[0001] The present invention relates to the technical field of garage management, and in particular to an intelligent automated parking management and control system. Background Art

[0002] With the rapid development of the automotive industry, the number of cars owned in my country has increased dramatically. As an integral part of transportation infrastructure, the management requirements for multi-story parking garages are constantly increasing with the increasing traffic volume and development. The goal is to make multi-story parking garages convenient, fast, and safe. Existing multi-story parking garages vary in size and management model. It is necessary to select an economical and practical management program based on the requirements of the multi-story garage to achieve system scalability and meet the information management needs of different multi-story garages.

[0003] In recent years, with the rapid and in-depth development of "Internet Plus" and its close integration with various industries, modern society has entered a highly information-based era. However, the rapid and substantial increase in vehicle ownership has brought about a series of challenges. Take parking, for example. For a long time, temporary or short-term parking often required manual intervention. In the early days, humans were required to check and schedule parking spaces, notify vehicles of available spaces, determine whether to release them, and record time and fees. The introduction of information systems has greatly improved this situation. A central control platform obtains parking space and available quantities and intelligently schedules parking, but terminals still require human identification, scheduling, release, and billing. Furthermore, with the establishment of business districts, central control platforms are being shared across entire districts or multiple commercial buildings. Parking resources are also being shared across these buildings. Coupled with the numerous entrances and exits, data capture, processing, coordination, and scheduling at each entrance and exit can be asynchronized. This can affect the replication, updating, optimization, and scheduling of data on the central control platform. Moreover, if the entire parking system cannot be efficiently and completely managed, it will lead to inaccurate available parking spaces during peak hours, resulting in vehicles being stuck at the entrance or searching for space in the parking lot, wasting users' time, resulting in additional consumption of energy used by vehicles, and reducing the efficiency of vehicle entry and exit.

[0004] In addition, the existing multi-story parking garage is not designed reasonably and occupies too large an area. At the same time, when in use, it is not convenient for vehicles to be quickly raised or lowered into the parking space, which affects the efficiency of vehicle parking. It is also not convenient for monitoring and processing, which further restricts the efficient design of the garage management system. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides an intelligent automated parking management and control system to solve the problems in the background technology. The present invention adopts the following technical solutions to solve the technical problems: an intelligent automated parking management and control system of the present invention includes a multi-story parking garage, a parking control module, an entrance and exit management module, an on-site human-computer interaction module, a mobile client, a background control center, a data acquisition module and a power supply module that are interconnected and communicate with each other; the multi-story parking garage includes a multi-story parking space component, a multi-story lifting device, a horizontal and vertical self-propelled vehicle-carrying component and a parking and picking platform, and the multi-story parking garage is configured to receive the command signal of the parking control module to automatically perform parking and moving operations; the parking control module includes a lifting control submodule, a horizontal and vertical movement control submodule, a parking space information management submodule, and a parking information management submodule. The module and the vehicle information reading submodule, the parking control module is configured to read the information of the vehicle to be parked and control the parking garage to move the vehicle to be parked, and transmit the vehicle parking information to the on-site human-computer interaction module, the mobile client and the background control center in real time; the entrance and exit control module includes the entrance and exit gate submodule and the vehicle and personnel information collection submodule, the entrance and exit control module is configured to identify the vehicle or personnel, and transmit the vehicle or personnel information and entry and exit time data to the background control center in real time, and execute the release action according to the instruction of the background control center; the on-site human-computer interaction module includes the on-site interactive touch The mobile client includes a mobile terminal and a parking APP software installed thereon, and the mobile client is configured for the car owner to perform one or more operations including reservation parking, remote automatic car pickup, automatic time metering payment, vehicle safety monitoring and additional services for car owners; the backend control center includes a vehicle and personnel database, a parking billing submodule, a charging billing submodule, an image recognition submodule, a parking space information management submodule and an in-and-out displacement management submodule. It is configured to receive data transmitted by other modules of the system and send processing results or control instructions to other modules of the system to cooperate with the parking control module or the entrance and exit management module to perform parking transfer or vehicle entry and exit management actions; the data acquisition module includes an environmental data acquisition submodule, a position sensor submodule and a vehicle information reading and writing submodule arranged in the three-dimensional parking garage. The data acquisition module is used to collect vehicle information, garage environment information, parking position information, lifting position information and berth position information and send them to the system module for call or storage; the power supply module is configured to provide matching power supply for other modules of the system.

[0006] Compared with the prior art, the present invention has the following beneficial effects:

[0007] The intelligent automated parking control system of the present invention comprehensively manages vehicle entry and exit approval, billing and charging, and automatic parking, saving car owners time in parking and retrieving their cars and reducing the maintenance costs of the three-dimensional parking garage. The unique three-dimensional garage design effectively saves space, effectively realizes automated parking for vehicles, and improves the service quality and operational efficiency of the parking lot.

[0008] The intelligent automated parking control system of the present invention can realize unmanned parking / retrieval, on-site management and charging services, and is particularly suitable for installation and application in government agencies, hospitals, commercial centers, office buildings, hotels, high-end communities, and public parking lots. In particular, the intelligent automated parking control system of the present invention cooperates with the three-dimensional parking garage, parking control module, entrance and exit control module, on-site human-computer interaction module, mobile client, background control center, data acquisition module and power supply module, so that all parking spaces in the garage can be automatically moved to designated parking spaces according to system instructions, further realizing intelligent interaction, parking reservation, remote automatic retrieval, and automatic time metering and payment. Customized vehicle identification, parking reminders, scheduled retrieval, safety and supervision alarms, and member car friend service functions;

[0009] The three-dimensional garage, which serves as the hardware foundation of the present invention, enables vehicles to move freely horizontally or vertically in the garage. The three-dimensional design reduces the number of empty mobile parking spaces, effectively saving space. The separate design of the loading plate and the parking space realizes automatic parking of vehicles. The free horizontal or vertical movement simplifies the parking and unloading operations and hardware costs. It is convenient, fast and safe, and provides a foundation for intelligent garage design with practical application value.

[0010] The special stereo garage adopts a modular design of stereo parking space components, stereo lifting devices, horizontal and vertical self-propelled vehicle carrying components and parking and retrieval platforms. It is lightweight, has a wide range of applications and low construction cost. It can be planned and assembled with any plane layout and any floor height according to the site plane and space conditions. At the same time, the parking / retrieval position of the garage can be configured to a designated location according to convenience needs (the nearest access channel, elevator entrance, gate, etc. of a public place or a subordinate unit of the parking lot). It can park automatically without manual driving or reversing in and out of the parking space. Based on innovation, the stereo parking space components, lifting components, horizontal and vertical self-propelled vehicle carrying components are uniquely designed. The components are used in conjunction with each other, without the need to set up turning lanes, interactive lanes, and flat-level transportation channels. Large, medium and small vehicles can be automatically parked in place to maximize the effective use of the site area.

[0011] Other outstanding essential features and significant improvements of the present invention compared to the prior art are further described in detail in the Examples section. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0013] Figure 1 This is a schematic diagram of the system structure of an intelligent automated parking management and control system of the present invention; Figure 2 This is a schematic diagram of the assembled three-dimensional structure of the three-dimensional parking garage of the present invention; Figure 3 This is a schematic diagram of the subassembly structure of the stereo garage in the present invention; Figure 4 for Figure 3 Schematic diagram of the enlarged structure at A in the middle; Figure 5 This is a schematic diagram of the three-dimensional structure of a three-dimensional parking space component, a three-dimensional lifting device and a parking platform of a three-dimensional parking garage of the present invention after assembly; Figure 6 for Figure 5 The enlarged schematic diagram of point B in the middle; Figure 7 for Figure 5 Enlarged schematic diagram at G in the middle; Figure 8 for Figure 5 Enlarged schematic diagram at point C in the middle; Figure 9 for Figure 5 The enlarged schematic diagram at E in the middle; Figure 10 for Figure 5 The enlarged schematic diagram of point D in the middle; Figure 11 for Figure 5 The enlarged schematic diagram at F in the middle; Figure 12 It is a schematic diagram of the three-dimensional structure of the three-dimensional lifting device in the present invention; Figure 13 A schematic diagram of the three-dimensional structure of the three-dimensional lifting device of the present invention; Figure 14 A schematic diagram of the three-dimensional structure of a lifting car of the three-dimensional lifting device of the present invention; Figure 15 It is a partially enlarged three-dimensional schematic diagram of the hoisting rope installation structure of the three-dimensional lifting device of the present invention; Figure 16 It is a partially enlarged three-dimensional schematic diagram of the installation position of the hoist motor of the three-dimensional lifting device of the present invention; Figure 17 It is a partially enlarged three-dimensional schematic diagram of the installation position of one end of the hoisting transmission shaft of the three-dimensional lifting device of the present invention; Figure 18 It is a partially enlarged three-dimensional schematic diagram of the installation position of the pulley component of the three-dimensional lifting device of the present invention; Figure 19 It is a partially enlarged three-dimensional schematic diagram of the installation position of the lifting guide wheel of the three-dimensional lifting device of the present invention; Figure 20 This is a partially enlarged three-dimensional schematic diagram of the installation location of the car running level positioning sensor of the three-dimensional lifting device of the present invention; Figure 21 Schematic diagram of the three-dimensional structure of the horizontal and vertical self-propelled vehicle assembly of the present invention; Figure 22 It is a schematic isometric perspective structural diagram of the horizontal and vertical travel power mechanism of the horizontal and vertical self-propelled vehicle assembly of the present invention; Figure 23This is a 45° perspective structural diagram of the horizontal and vertical self-propelled vehicle assembly of the present invention; Figure 24 It is a schematic diagram of the three-dimensional structure of one end of the horizontal and vertical travel power mechanism of the horizontal and vertical self-propelled vehicle assembly in the present invention; Figure 25 This is a bottom-up perspective structural diagram of one end of the horizontal and vertical travel power mechanism of the horizontal and vertical self-propelled vehicle assembly of the present invention; Figure 26 Schematic diagram of the three-dimensional structure of the longitudinal transmission mechanism module of the transverse and longitudinal self-propelled vehicle assembly of the present invention; Figure 27 It is a partial three-dimensional enlarged structural diagram of the longitudinal transmission mechanism module of the transverse and longitudinal self-propelled vehicle assembly in the present invention; Figure 28 It is a schematic diagram of the three-dimensional structure of the combination of the power receiving device and the berth power supply connection device in the present invention; Figure 29 This is a schematic diagram of the three-dimensional structure of the berth power supply connection device of the present invention; Figure 30 This is a bottom-up schematic diagram of the three-dimensional structure of the berth power supply connection device of the present invention; Figure 31 This is a bottom-up schematic diagram of the three-dimensional structure of the berth power receiving device of the present invention; Figure 32 This is a partially enlarged three-dimensional structural diagram of the berth power supply connection device of the present invention; Figure 33 It is a schematic diagram of the three-dimensional structure of the power receiving device in the present invention. DETAILED DESCRIPTION

[0014] The technical solutions in the embodiments of the present invention will be described below in conjunction with the drawings in the embodiments of the present invention. The described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In addition, those skilled in the art know that certain aspects of the present invention can be implemented as a system, method or computer program product. Therefore, various aspects of the present invention can be specifically implemented in the form of a combination of software and hardware, which can be collectively referred to as "circuit", "module" or "system" here. In addition, in some embodiments, certain aspects of the present invention can also be implemented in the form of a computer program product in one or more microcontroller-readable media, which contains program code readable by the microcontroller.

[0015] Example 1

[0016] The present embodiment provides an intelligent automated parking control system, including a multi-story parking garage, a parking control module, an entrance and exit control module, an on-site human-computer interaction module, a mobile client, a background control center, a data acquisition module, and a power supply module that are interconnected and communicated with each other; the multi-story parking garage includes a multi-story parking space component, a multi-story lifting device, a horizontal and vertical self-propelled vehicle carrying component, and a parking and picking platform; the multi-story parking garage is configured to receive command signals from the parking control module and automatically perform parking and moving operations; the parking control module includes a lifting control submodule, a horizontal and vertical movement control submodule, a parking space information management submodule, and a vehicle information reading submodule. The parking control module is configured to read the information of the vehicles to be parked and control the parking garage to move the vehicles to be parked, and transmit the parking information of the vehicles to be parked to the on-site human-computer interaction module, mobile client and background control center in real time; the entrance and exit control module includes the entrance and exit gate module and the vehicle and personnel information collection submodule, and the entrance and exit control module is configured to identify the vehicles or personnel, and transmit the vehicle or personnel information and entry and exit time data to the background control center in real time, and execute the release action according to the instructions of the background control center; the on-site human-computer interaction module includes the on-site interactive touch screen, on-site interactive audio and The on-site command display is configured to be used by on-site staff or users to conduct real-time on-site control of the multi-story parking garage; the mobile client includes a mobile terminal and a parking APP software installed thereon, and the mobile client is configured for the owner to perform one or more operations including parking reservation, remote automatic vehicle pickup, automatic time and metering payment, vehicle safety monitoring, and additional services for car owners; the backend control center includes a vehicle and personnel database, a parking billing submodule, a charging billing submodule, an image recognition submodule, a parking space information control submodule, and an entry and exit displacement submodule. The backend control center is configured to receive data transmitted by other modules of the system and send processing results or control instructions to other modules of the system to cooperate with the parking control module or the entrance and exit control module to perform parking movement or vehicle entry and exit control actions; the data acquisition module includes an environmental data acquisition submodule, a position sensor submodule, and a vehicle information reading and writing submodule set in the multi-story parking garage. The data acquisition module is used to collect vehicle information, garage environment information, parking positioning information, lifting positioning information, and parking space positioning information and send them to the system module for retrieval or storage; the power supply module is configured to provide matching power to other modules of the system.

[0017] In this embodiment, a mobile communication module and a wireless communication module are set in the mobile terminal. The mobile communication module and the wireless communication module are connected to the background control center through a mobile communication network or a wireless network communication. The mobile terminal device is one of a computer, a laptop, a tablet computer, and a mobile phone.

[0018] The entrance gate submodule in this embodiment includes a vehicle induction coil, an entrance and exit gate, a voice announcer and an automatic card receiving and sending device. The vehicle induction coil is used to sense the vehicle position information and trigger the entrance and exit control module accordingly; the voice announcer is used to prompt and guide the visiting vehicle personnel to perform relevant operations; the vehicle information collection submodule includes a vehicle measuring device and an image collection device. The vehicle measuring device is used to collect the size specifications and weight of the vehicle to be entered into the warehouse, and the image collection device is used to collect the appearance and license plate data of the vehicle to be entered into the warehouse.

[0019] The power modules in this embodiment include a distribution box, a multi-story parking garage power module, an entrance and exit control module power module, an on-site human-computer interaction module power module, an uninterruptible power supply module, a switch sub-module and a background control center power module; the distribution box is used to provide power of required specifications to other power modules; the switch sub-module receives control instructions to perform switching, startup and standby management of each power module; the uninterruptible power supply module is used to provide power sources to other power modules when the mains power is abnormal; the multi-story parking garage power module includes a lifting component power unit, a horizontal and vertical self-propelled vehicle component power unit and a sensor power unit as well as a berth charging power unit.

[0020] In this embodiment, the vehicle and personnel database includes a fixed authority sub-database, a vehicle parameter sub-database, and a temporary vehicle sub-database; the fixed authority sub-database is used to store data information of vehicles and personnel with fixed access permissions, specifically including: vehicle license plate, brand, personnel image, video, fingerprint, iris data, and corresponding permission type, date, and account information; the vehicle parameter sub-database is used to store specific parameter information of all brands of vehicles on the market; the temporary vehicle sub-database is used to store information of vehicles that temporarily obtain access permissions, specifically including vehicle image data, license plate information, driver contact data, and temporary account information.

[0021] In this embodiment, the backend control center receives and processes the vehicle or personnel information transmitted by the entrance and exit control module, and controls whether the entrance and exit gate modules are released, specifically including entry control and exit control;

[0022] The access control specifically includes: the entrance and exit control module transmits the information of the vehicle or person to be entered to the background control center in real time, and after the image recognition submodule extracts the vehicle data, the background control center searches and matches in the fixed authority sub-database and the temporary vehicle sub-database in turn, and decides whether to perform vehicle parameter sub-database matching based on the matching results in the fixed authority sub-database and the temporary vehicle sub-database, and decides whether to trigger the vehicle measurement device based on whether the vehicle data is matched in the vehicle parameter sub-database, and transmits the specific vehicle parameter information to the parking space information control sub-module, and the parking space information control sub-module performs parking space matching. If a suitable parking space is matched, an access command is issued to the entrance and exit control module and the vehicle entry time is recorded, and the parking space data and vehicle data are sent to the entry and exit displacement sub-control module at the same time. Otherwise, access is not allowed, and the reason for not releasing is announced through the voice announcer;

[0023] The exit and entry control specifically includes: the entrance and exit control module transmits the information of vehicles or personnel to be driven out to the background control center in real time; after the image recognition submodule extracts the vehicle data, the background control center searches and matches in the fixed authority sub-database and the temporary vehicle sub-database in turn, and sends the search results and the vehicle entry time to the parking billing sub-module and the charging billing sub-module, and feeds back the billing results to the mobile client or plays them through the voice announcer, and issues an entry command after detecting that the payment is completed.

[0024] In this embodiment, after sending the parking space data and vehicle data to the entry and exit displacement sub-control module, the entry and exit displacement sub-control module calculates the entry and exit displacement route matching the vehicle and sends it to the parking control module. After the vehicle to be parked arrives at the parking and pick-up platform, the parking control module controls the multi-story parking garage to perform parking and exit operations according to the entry and exit displacement route.

[0025] In order to realize the intelligent parking control system, automated parking hardware facilities are the foundation. Therefore, the present invention focuses on designing a truly automated three-dimensional parking garage, which establishes the premise for the entire intelligent automated parking control system.

[0026] The present embodiment provides a three-dimensional parking garage, comprising a three-dimensional parking space assembly 1, a three-dimensional lifting device 2, a horizontal and vertical self-propelled vehicle loading assembly 3, and a parking and retrieval platform 4; wherein the three-dimensional parking space assembly 1 is matched with the lifting frame 21 of the three-dimensional lifting device 2, and both include columns 211, crossbeams 212 and longitudinal beams 213 connecting the columns 211. The three-dimensional parking space assembly 1 is divided into several parking layers by the columns 211, crossbeams 212 and longitudinal beams 213, and each parking layer is divided into several connected parking units by the crossbeams 212 and longitudinal beams 213; the three-dimensional parking space assembly 1 can be designed with multiple layers as needed, please refer to Figure 1 In this embodiment, a two-layer stereo parking space assembly is used as an example;

[0027] The lifting frame 21 is divided into several parking layers by columns 211, cross beams 212 and longitudinal beams 213. In this embodiment, we also take two parking layers as an example for illustration. The lifting frame 21 and the three-dimensional parking space assembly 1 can be combined in various ways as needed. Please refer to Figure 1 This embodiment adopts an optimized combination design, that is, the lifting frame 21 is embedded in the three-dimensional parking space assembly 1, and the parking and retrieval platform 4 is matched with the bottom layer of the free side of the lifting frame 21. Of course, the parking and retrieval platform 4 can be placed in a suitable position for parking and retrieval as needed, and then a running track can be laid between the parking and retrieval platform 4 and the lifting frame 21. This can be easily modified by those skilled in the art according to the present invention and will not be described in detail here.

[0028] The three-dimensional lifting device 2 in this embodiment further includes a lifting assembly 22, which includes a lifting power mechanism 221 and a lifting car 222; the lifting power mechanism 221 includes a lifting drive unit and a lifting transmission unit detachably mounted on the lifting frame 21; the lifting car 222 is slidably disposed within the lifting frame 21 and connected to the lifting drive unit via the lifting transmission unit, thereby cooperating to achieve vertical movement and stopping of the lifting car 222; a plurality of transverse and longitudinal slide rails 11 are mutually matched and disposed within the parking unit, at the bottom of the lifting car 222, and on the parking and retrieval platform 4; the transverse and longitudinal slide rails 11 within the parking unit are correspondingly connected to form transverse and longitudinal tracks that run through the parking level;

[0029] The horizontal and vertical self-propelled vehicle carrying assembly in this embodiment is rollingly set on each parking unit, including a vehicle carrying plate 31 that can be detached up and down and a horizontal and vertical walking power mechanism 32. This detachability can be achieved by common bolt connection, wherein the horizontal and vertical walking power mechanism 32 includes a bracket 321 and a horizontal and vertical drive unit 322, a horizontal and vertical transmission unit 323 and a horizontal and vertical walking wheel group 324 installed on the bracket 321. The horizontal and vertical walking wheel group 324 is matched with the horizontal and vertical drive unit 322 and the horizontal and vertical transmission unit 323. The horizontal and vertical walking wheel group 324 is matched with the horizontal and longitudinal slide rails 11, and cooperates to realize that the vehicle carrying plate 31 reaches any parking unit, lifting car 222 or parking and picking platform 4 along the horizontal or longitudinal slide rail 11.

[0030] In this embodiment, the lifting drive unit includes a hoisting motor 2211 and a hoisting transmission shaft 2212 connected in synchronous transmission. The hoisting motor 2211 can be detachably mounted on the lifting frame 21. The hoisting transmission shaft 2212 is rotatably connected to the lifting frame 21. The two ends of the hoisting transmission shaft 2212 are respectively fixedly connected to a hoisting wheel 2213.

[0031] The lifting transmission unit in this embodiment includes a guide wheel group, a hoisting rope group and a lifting car pulley group, the guide wheel group includes a plurality of guide wheel components 2214 matched with the hoisting wheel 4, the lifting car pulley group includes a plurality of lifting car pulley components 2215 rotatably mounted on the lifting car 222, the hoisting rope group includes a plurality of hoisting ropes 2216, the hoisting ropes 2216 are made of steel wire ropes, the ropes 2216 respectively pass through the pulley or guide wheel of the lifting car 222 and are connected to the hoisting wheel 2213; the hoisting motor 2211 drives the hoisting wheel 2213 to rotate forward or reverse, thereby driving the lifting car 222 to move and lock in the vertical direction through the hoisting rope 2216 group in conjunction with the guide wheel group and the lifting car pulley group.

[0032] In this embodiment, the hoisting motor 2211 includes a first hoisting motor 22111 and a second hoisting motor 22112, and the hoisting transmission shaft 2212 includes a first hoisting transmission shaft 22121 and a second hoisting transmission shaft 22122. The first hoisting motor 22111 and the second hoisting motor 22112 are symmetrically arranged on the top of the pillars on both sides of the lifting frame 21, and the first hoisting transmission shaft 22121 and the second hoisting transmission shaft 22122 are respectively matched with the first hoisting motor 22111 and the second hoisting motor 22112 to rotate and are arranged at both ends of the top beam of the lifting frame 21.

[0033] In this embodiment, the first hoisting motor 22111 and the second hoisting motor 22112 can work at different times or in synchronization, and when working at different times or in synchronization, they can drive the first hoisting transmission shaft 22121 or the second hoisting transmission shaft 22122 to cooperate with the guide wheel group, the hoisting rope group and the hoisting car pulley group to drive the lifting car 222 to move and lock in the vertical direction.

[0034] In this embodiment, the lifting car 222 has four side columns 2221 with lifting guide wheels 2222 rotatably provided on the outside, and the lifting frame 21 has a lifting guide rail 214 provided on the inside of the column 211 to match the lifting guide wheels 2222 .

[0035] The guide wheel assembly in this embodiment includes four guide wheel components 2213 rotatably mounted on the top of the lifting frame 21, which are horizontal with the hoisting wheel 2213. The guide wheel components 2213 include two fixed pulleys that rotate independently of each other. The lifting car pulley assembly includes four lifting car pulley components 2215 rotatably mounted at the four corners of the top of the lifting car 222. The lifting car pulley components 2215 include two movable pulleys that rotate independently of each other. The hoisting rope assembly includes eight hoisting ropes 2216, which include four hoisting ropes 2216A on the same side and four hoisting ropes 2216B on the opposite side.

[0036] Each of the winch wheels 2213 is fixedly connected to one end of a winch rope 2216A on this side and one end of a winch rope 2216B on the opposite side. The other end of the winch rope 2216A on this side passes through a movable pulley located directly below the winch wheel 2213 and is fixedly connected to the top of the lifting frame 21. The other end of the winch rope 2216B on the opposite side passes through a fixed pulley in the guide wheel assembly 2214 on this side and a fixed pulley in the guide wheel assembly 2214 on the opposite side, as well as a movable pulley of the lifting car pulley assembly 2215 on the opposite side and is fixedly connected to the top of the lifting frame 21.

[0037] In this embodiment, the first hoist motor 22111 and the first hoist transmission shaft 22121, the second hoist motor 22112, and the second hoist transmission shaft 22122 are respectively matched with hoist transmission sprockets 22123, and the hoist transmission sprockets 22123 are synchronously connected by a chain. Of course, other synchronous connection methods can also be used, such as gear meshing connection, which will not be detailed here;

[0038] In this embodiment, the first hoisting motor 22111 and the first hoisting transmission shaft 22121 can independently drive the pulley components 2215 located at both ends of the lifting car 222 through the hoisting rope 2216. The first hoisting motor and the first hoisting transmission shaft can also drive the lifting car pulley components 2215 located at both ends of the lifting car 222 through the hoisting rope. That is to say, the three-dimensional lifting device a of the present invention has two independent lifting and hoisting power systems. In particular, these two independent lifting and hoisting power systems can also operate simultaneously, can achieve synchronous operation, and will not be affected by mutual crosstalk.

[0039] In this embodiment, a car running layer positioning sensor 2223, a car load positioning sensor 2224 and a car unload positioning sensor 2225 are provided at the bottom corner of the lifting car 222; a frame layer positioning sensor 215, a layered load positioning sensor 216 and a layered unload positioning sensor 217 are provided on each layer of the cross beam 212 or the longitudinal beam 213 of the lifting frame; the car running layer positioning sensor 2223 and the frame layer positioning sensor 215 are matched and arranged to locate the layer where the lifting car 222 is located; the car load positioning sensor 2224 and the layered positioning sensor 216 are matched and arranged to locate and lock the lifting car 222 in the position when it is ready to be loaded; the car unload positioning sensor 2225 and the layered unload positioning sensor 217 are matched and arranged to locate and lock the lifting car 222 in the position when it is ready to be unloaded.

[0040] The winch drive shaft 2212 in this embodiment is also fixedly sleeved with a brake wheel 22124, and the lifting frame 21 is correspondingly provided with a controlled brake 22125. The controlled brake 22125 is matched with the brake wheel 22124 to brake the winch drive shaft 2212, thereby locking the lifting car 222. Of course, if there is no such device, it can also be locked through the winch motor 2211. This configuration can increase the stability and safety of the lifting car 222. The specific controlled brake 22124 can be matched with the common structure in the market, which will not be elaborated here.

[0041] In this embodiment, the layered load-bearing positioning sensor 216 and the layered unloaded positioning sensor 217 are arranged horizontally, but the car load-bearing positioning sensor 2224 and the car unloaded positioning sensor 2225 are staggered. Specifically, the position of the car load-bearing positioning sensor 2224 is lower than the position of the car unloaded positioning sensor 2225. This is to ensure that when the lifting car 222 is ready to carry the horizontal and vertical self-propelled vehicle components, the bottom position of the car is slightly lower than the position of the parking layer. This can facilitate the movement of the horizontal and vertical self-propelled vehicle components, and when the horizontal and vertical self-propelled vehicle components are ready to be unloaded, the bottom position of the car should be flush with the position of the parking layer.

[0042] This embodiment should also be equipped with auxiliary devices such as a controller and a power supply. The controller is used to receive data collected by relevant sensors and send control instructions to control the operation of the hoisting motor 2211. The power supply is used to provide a working power source for the hoisting motor 2211 and relevant sensors. The hoisting motor 2211 can be directly equipped with a motor control chip as needed. These can be assembled by those skilled in the art as needed, so they are not described in detail here.

[0043] In this embodiment, the horizontal and vertical drive unit 322 includes a horizontal and vertical drive motor 3221 and a horizontal and vertical transmission shaft 3222 connected in synchronous transmission; the horizontal and vertical drive motor 3221 and the horizontal and vertical transmission shaft 3222 are respectively matched with a horizontal and vertical transmission sprocket 3223, and the horizontal and vertical transmission sprockets 3223 are connected by a chain synchronous transmission. Of course, synchronous transmission can also be achieved by direct gear meshing, which will not be elaborated here.

[0044] The transverse and longitudinal running wheel set 324 includes a transverse wheel set 3241 and a longitudinal wheel set 3242 symmetrically rotatably arranged at both ends of the bracket, and a wheel set lifting component 3243. The wheel set lifting component 3243 is matched with the longitudinal wheel set 3242 and is used to control the raising and lowering of the longitudinal wheel set 3242. Here, the wheel set lifting component 3243 is matched with the longitudinal wheel set 3242 so that the longitudinal wheel set 3242 can be retracted during transverse travel and lowered during longitudinal travel, thereby preventing transverse and longitudinal travel from interfering with each other.

[0045] The transverse and longitudinal transmission unit 323 includes a transverse transmission mechanism module 3231 and a longitudinal transmission mechanism module 3232. The transverse transmission module 3231 and the longitudinal transmission mechanism module 3232 are connected to the transverse and longitudinal transmission shafts 3222 in a controlled power manner, and are used to stagger the transverse wheel set 3241 or the longitudinal wheel set 3242 to independently roll and move.

[0046] The transverse wheel set 3241 or the longitudinal wheel set 3242 in this embodiment respectively includes a plurality of transverse wheels, transverse wheel axles and longitudinal wheels, longitudinal wheel axles that are matched with each other. The transverse wheel at one end of the bracket 321 is configured as an active transverse wheel 32411, and the other end is configured as a driven transverse wheel 32412.

[0047] The transverse transmission module 3231 includes a gear commutator 32311, which is arranged on one end of the bracket located at the active transverse wheel 32411, and the double slave shaft 32312 of the gear commutator 32311 is fixedly connected to the transverse wheel axle of the active transverse wheel 32411, and the transverse wheel axle is connected to the bracket 321 through a bearing, and one end of the single main shaft 32313 of the gear commutator 32311 and one end of the transverse and longitudinal transmission shaft 3222 are matched with mutually meshing transverse transmission gears 32314, and a transverse electromagnetic clutch 32315 for controlling the connection or disconnection between the transverse transmission gear 32314 and the single main shaft 32313 is also provided.

[0048] The longitudinal transmission mechanism module 3232 is symmetrically arranged at both ends of the bracket 321 and includes a longitudinal transmission central shaft 32321, which is rotatably connected to the bracket 321. One end of the longitudinal transmission central shaft 32321 is provided with a longitudinal transmission gear 32322 that meshes with the transverse and longitudinal transmission shafts 3222. A longitudinal electromagnetic clutch 32323 is provided between the longitudinal transmission gear 32322 and the longitudinal transmission central shaft 32321 for controlling the connection and disconnection between the two. A pair of longitudinal transmission sprockets 32324 are also provided in the middle of the longitudinal transmission central shaft 32321 and on the longitudinal wheel axles. The longitudinal transmission sprockets 32324 are synchronously connected by a chain.

[0049] The supporting wheel lifting component 3243 includes a lifting center axis 32431, a lifting connecting rod 32432, a sliding shaft 32433, a rocker 32434 and a fixed shaft 32435; the lifting center axis 32431 is rotatably connected to the bracket 321, and a lifting transmission sprocket 32436 is matched with the horizontal and vertical transmission shafts 3222 in the middle thereof, and the lifting transmission sprockets 32436 are synchronously connected by a chain. A lifting electromagnetic clutch 32437 for controlling the connection or disconnection between the lifting transmission sprocket 32436 and the lifting center axis 32431 is also provided; the sliding shaft 32433 passes through the lifting connecting rod 32432 and the two ends are respectively slidably set in the track groove 32438 opened on the bracket 321, and the sliding shaft 32433 includes a first sliding shaft 324 33A and the second sliding shaft 32433B, the first sliding shaft 32433A and the second sliding shaft 32433B and the second sliding shaft 32433B and the fixed shaft 32435 are respectively rotatably connected to the longitudinal wheel axle through the rocker 32434; the rocker 32434 forms a swing pair with the first sliding shaft 32433A, the second sliding shaft 32433B, the fixed shaft 32435 or the longitudinal wheel axle, and is used to drive the longitudinal wheel axle to descend or ascend when the first sliding shaft 32433A, the second sliding shaft 32433B and the fixed shaft 32435 move in the same direction or in opposite directions with each other; one end of the lifting link 32432 is provided with a spur rack 32439A, and the spur rack 32439A is meshed with the push-pull gear 32439B set on the lifting center shaft, and the other end of the lifting link 32432 is provided with a movable groove 32432A at the place where the second sliding shaft 32433A passes through.

[0050] In this embodiment, the wheel group lifting components 3243 are symmetrically arranged at both ends of the bracket 321, and are also symmetrically arranged on both sides of the horizontal and vertical transmission shafts 3222 at each end. In order to make the wheel group lifting components 3243 on both sides perform the lifting operation synchronously, please refer to the attached Figure 6 The straight racks 32439A of the wheel group lifting components 3243 on both sides are set in reverse up and down. This design can ensure that when the push-pull gears 32439B on both sides rotate in the same direction, the wheel group lifting components 3243 can be lifted and lowered synchronously.

[0051] The various electromagnetic clutches in this embodiment can adopt electromagnetic clutch devices available on the market, which can execute power connection and separation in real time according to the controller's instructions, and will not be described in detail here.

[0052] A power manager 3211, a battery pack 3212, a communication middle end 3213 and a travel control terminal 3214 are also provided at the end of the bracket 321 where the driven transverse wheel is provided. The battery pack 3212 is used to provide matching power output to the vehicle-carrying board power equipment including the transverse and longitudinal drive motors 3221. The power manager 3211 is used to control the charging and discharging of the battery pack 3212. The communication middle end 3213 is used to provide data exchange between the travel control terminal 3214 and the external control center. The travel control terminal 3214 is used to control the transverse and longitudinal travel power mechanism 32 in real time to perform transverse or longitudinal travel according to a preset program or external control instructions. The connections between these power devices, as well as the hardware equipment such as the optional controller, can be assembled as needed and will not be elaborated on here.

[0053] The bracket 321 is also provided with a data acquisition device, which includes one or more of a video data collector, a voice data collector, an environmental temperature and humidity sensor, a photoelectric sensor and a laser sensor arranged around the bracket. The data acquisition device is used to collect walking-related data and send it to the walking control terminal 3214 for processing. This design can adopt existing mature image processing technology to enable the horizontal and vertical self-propelled vehicle component b to have automatic obstacle avoidance and intelligent walking related functions. These can be directly processed using existing processing algorithms and other technologies, which will not be elaborated here.

[0054] Buffer pads 3215 are also provided on the bottom surfaces of both ends of the bracket 321. The use of the buffer pads can effectively prevent the bracket from receiving possible impacts. Of course, protective buffer pads 3215 can also be provided in other places of the bracket 321. No further details will be given here.

[0055] In fact, the horizontal and vertical self-propelled vehicle component b in this embodiment can also use engines with other power sources. It only needs to be equipped with relevant energy sources. If the motor in this embodiment is used, a charging interface or coupler can be installed on the bracket 321. Here, as an optimized design, existing equipment on the market can be used, so no further details will be given.

[0056] In this embodiment, a berth power supply connection device 71 is provided at the bottom of the parking unit, and the bracket is provided with a power receiving device 72 matching the berth power supply connection device. The berth power supply connection device 71 and the power receiving device 72 are arranged in coordination to connect to the external power when the horizontal and vertical self-propelled vehicle assembly is stably parked in the parking unit.

[0057] The berth power supply connection device 71 in this embodiment includes a fixed electrode mounting plate 711, a fixed electrode seat 712, a fixed electrode 713, a fixed electrode washer 714, and a fixed electrode return spring 715. The fixed electrode seat 712 passes through the fixed electrode mounting plate 711 and is detachably connected thereto. The fixed electrode 713 is slidably disposed in the fixed electrode seat 712 and is capable of limited return sliding. In this embodiment, an electrode through-hole is formed in the fixed electrode seat 712.

[0058] The specific structure of the limited reset sliding is as follows: the fixed electrode 713 is slidably inserted into the electrode through-hole and is provided with a fixed electrode reset spring 715 on one side of the fixed electrode seat 712, and a fixed electrode washer 714 is provided around the top. A limit block 717 is provided on the other side of the fixed electrode 713. One end of the fixed electrode reset spring 715 is connected to the fixed electrode seat 712, and the other end is connected to the fixed electrode washer 714.

[0059] The power receiving device 72 includes a positioning telescopic member 721 detachably connected to the bracket 321, a push-pull transmission member and a movable electrode assembly, the movable electrode assembly including a movable electrode mounting plate 7231, a movable electrode seat 7232 and a movable electrode 7233, the movable electrode 7233 is fixedly inserted into the movable electrode seat 7232, and is slidably inserted into the movable electrode mounting plate 7231 along with the movable electrode seat 7232; in this embodiment, a pole seat through hole is provided on the movable electrode mounting plate 7231, and the movable electrode seat 7232 is slidably inserted into the pole seat through hole; the push-pull transmission member is hinged between the positioning telescopic member 721 and the movable electrode assembly, and the push-pull transmission member is configured to be used for positioning the telescopic member 721 The push-pull drive drives the movable electrode seat 7232 and the movable electrode 7233 to slide up and down on the movable electrode mounting plate 7231. In this embodiment, the push-pull transmission component includes a sliding fixed plate 7221 and a plurality of guide shafts 7222 surrounding the movable electrode seat 7232 and fixedly connected to the movable electrode mounting plate 7231. The guide shafts 7222 are sleeved with movable electrode reset springs 7223. The sliding fixed plate 7221 is slidably connected to the guide shafts 7222. The two ends of the movable electrode reset spring 7223 respectively abut against the sliding fixed plate 7221 and the movable electrode mounting plate 7231.

[0060] The lower side of the sliding fixed plate 7221 is fixedly connected to the movable electrode seat 7232, and the upper side is hinged with a support rod 7224. The swinging ends of the support rod 7224 are hinged to the push-pull connecting rod 7225 and one end of the force rocker 7226 respectively. The other end of the push-pull connecting rod 7225 is hinged to the free end of the positioning telescopic member 721. The other end of the force rocker 7226 is hinged to the movable electrode mounting plate 7231 through the movable electrode fixed shaft 7227. The support rod 7224 forms a swinging pair in the sliding fixed plate 7221, and the force rocker 7226 forms a swinging pair on the movable electrode mounting plate 7231. Here, an electric push rod is used to position the telescopic member 721.

[0061] In this embodiment, the movable electrode mounting plate 7231 and the fixed electrode mounting plate 711 are both triangular in shape and have a number of mounting holes formed thereon as required. The edges of the movable electrode mounting plate 7231 and the fixed electrode mounting plate 711 are curved and extended outward to protect the fixed electrode holder 712 or the movable electrode holder 7232 mounted therein. The movable electrode mounting plate 7231 is also fixedly provided with a mounting support column 7228 for the movable electrode fixing shaft 7227.

[0062] In this embodiment, one end of the movable electrode 7223 extends outward from the movable electrode seat 7232, and the other end is flush with the surface of the movable electrode seat 7232, which can provide better electrode protection; the contact surfaces of the fixed electrode 713 and the movable electrode 7223 at one end are horizontally matched, and a wiring through hole 73 is opened at the top of the opposite end, and the wiring through hole 73 is used to connect external wires; in this embodiment, there are two fixed electrodes 713 and two movable electrodes 7223.

[0063] In this embodiment, the fixed electrode seat 712 and the movable electrode seat 7232 are both made of insulating materials. At the same time, the fixed electrode mounting plate 711 and the movable electrode mounting plate 7231 are respectively matched with laser positioning sensors 74. The laser positioning sensor 74 includes a matching laser transmitter and a laser receiver. When the two are detected and aligned, the movable electrode 7233 and the fixed electrode 713 in the berth power supply connection device 71 and the power receiving device 72 are in the accurate alignment position.

[0064] The bottom of the lift car 222 and the bottom of the parking unit are matched with the bracket 321 and are equipped with a radio frequency reader 91 and a positioning sensor 92; the radio frequency reader 91 is used to read the information of the vehicle to be parked, and the positioning sensor 92 is used to locate and lock the position of the horizontal and vertical self-propelled vehicle carrier assembly 3 when it is parked. The three-dimensional parking space assembly is also equipped with a number of visual sensors 12 and a display 13 for collecting video information and displaying relevant parameters of the three-dimensional parking garage or human-computer interaction information.

[0065] Both ends of the parking platform 4 are also provided with parking operation positioning sensors 41 and vehicle loading plate rising and falling positioning sensors 42. The parking operation positioning sensors 41 are used to locate and lock the horizontal and vertical self-propelled vehicle loading assembly 3 in the position when waiting to park and pick up the vehicle, and the vehicle loading plate rising and falling positioning sensors 41 are used to locate and lock the vehicle loading plate 31 at the height when waiting to park and pick up the vehicle.

[0066] When parking in the three-dimensional garage of this embodiment, the car can be driven directly to the parking platform and the parking action is automatically performed. Specifically, the radio frequency reader 91 sends the read data to the controller, plans the parking route, and sends it to the three-dimensional lifting device 2 and the horizontal and vertical self-propelled vehicle carrier component 3. The horizontal and vertical self-propelled vehicle carrier component 3 can be used to safely and smoothly send the car to the predetermined parking unit according to the planned route in conjunction with the three-dimensional lifting device 2. For example, when it is necessary to move horizontally, the horizontal electromagnetic clutch 32315 will transmit the horizontal transmission. The driven gear 32314 is power-connected to the single main shaft 32313. The longitudinal electromagnetic clutch 32323 power-decouples the longitudinal transmission gear 32322 from the longitudinal transmission center shaft 32321. Driven by the transverse and longitudinal transmission shafts 3222, the single main shaft 32313 rotates the dual slave shafts 32312. The dual slave shafts 32312 then rotate the transverse wheel axles of the active transverse wheels 32411. This, in turn, rotates the active transverse wheels 32411, driving the driven transverse wheels 32412 to achieve transverse movement.

[0067] When longitudinal movement is required, the transverse electromagnetic clutch 32315 power-decouples the transverse transmission gear 32314 from the single main shaft 32313, and the lifting electromagnetic clutch 32437 first power-connects the lifting transmission sprocket 32436 to the lifting center shaft 32431. Driven by the transverse and longitudinal transmission shafts 3222, the lifting center shaft 32431 drives the push-pull gear 32439B in turn, and the push-pull gear 32439B drives the two spur racks 32439A to move in opposite directions, thereby lowering the longitudinal wheel set 3242. At this time, the lifting electromagnetic clutch 32437 power-decouples the lifting transmission sprocket 32436 from the lifting center shaft 32431, and the longitudinal electromagnetic clutch 32323 power-connects the longitudinal transmission gear 32322 to the longitudinal transmission center shaft 32321, thereby driving the longitudinal transmission sprocket 32324 to rotate, thereby driving the longitudinal wheel set 3242 to rotate.

[0068] When the horizontal and vertical self-propelled vehicle assembly 3 enters the lifting car 222 of the three-dimensional lifting device 2, the positioning sensor 92 has determined that the horizontal and vertical self-propelled vehicle assembly 3 has been parked at the correct position, and the vertical displacement is entered at this time. The winch motor 2211 drives the winch transmission shaft 2212 to rotate, so that the winch wheel 2213 drives the lifting car pulley group to move up or down through the winch rope group, so that the lifting car 222 moves up or down along the direction of the column 211 under the guidance of the lifting guide wheel 2222. The first winch motor 22111 and the second winch motor 22112 can be started at the same time or independently. After the car running layer positioning sensor 2223, the car load positioning sensor 2224 and the car unload positioning sensor 2225 are sensed and confirmed with one of the frame layer positioning sensor 215, the layer load positioning sensor 216 and the layer unload positioning sensor 217, the parking action is executed and the lifting car 222 is locked;

[0069] When the horizontal and vertical self-propelled vehicle component 3 is parked in the parking unit, if charging is required, the laser positioning sensor 74 performs position sensing and confirmation. At this time, the electric push rod 721 pushes the push-pull connecting rod 7225. At this time, the angle between the force-bearing rocker 7226 and the support rod 7224 becomes larger, driving the sliding fixed plate 7221 to move downward along the guide shaft 7222, thereby pushing the movable electrode seat 7232 together with the movable electrode 7233 to move outward, thereby connecting with the fixed electrode 713. When the power needs to be disconnected, the electric push rod 721 pulls the push-pull connecting rod 7225. At this time, the angle between the force-bearing rocker 7226 and the support rod 7224 becomes smaller, driving the sliding fixed plate 7221 to move upward along the guide shaft 7222, thereby pulling the movable electrode seat 7232 together with the movable electrode 7233 to move inward, thereby breaking contact with the fixed electrode 713.

[0070] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. An intelligent automated parking control system, characterized in that: It includes a multi-story parking garage, a parking control module, an entrance and exit control module, an on-site human-computer interaction module, a mobile client, a background control center, a data acquisition module, and a power supply module that are interconnected. The three-dimensional parking garage includes a three-dimensional parking space component, a three-dimensional lifting device, a horizontal and vertical self-propelled vehicle carrying component and a parking and picking-up platform. The three-dimensional parking garage is configured to receive a command signal from a parking control module and automatically perform parking and moving operations; The parking control module includes a lifting control submodule, a horizontal and vertical movement control submodule, a parking space information management submodule, and a vehicle information reading submodule. The parking control module is configured to read the information of the vehicle to be parked and control the parking and moving of the vehicle to be parked in the three-dimensional parking garage, and transmit the vehicle parking information in real time to the on-site human-computer interaction module, the mobile client, and the background control center; The entrance and exit control module includes an entrance and exit gate module and a vehicle and personnel information collection submodule. The entrance and exit control module is configured to identify vehicles or personnel, and transmit vehicle or personnel information and entry and exit time data to the background control center in real time, and execute the release action according to the instructions of the background control center; The on-site human-computer interaction module includes an on-site interactive touch screen, on-site interactive audio and an on-site command display, which is configured for on-site staff or users to conduct on-site real-time control of the stereo garage; The mobile client includes a mobile terminal and a parking APP software installed thereon, and the mobile client is configured to allow the vehicle owner to perform one or more operations including parking reservation, remote automatic vehicle pickup, automatic time metering payment, vehicle safety monitoring, and additional services for vehicle owners; The backend control center includes a vehicle and personnel database, a parking billing submodule, a charging billing submodule, an image recognition submodule, a parking space information management submodule, and an entry and exit displacement management submodule. The backend control center is configured to receive data transmitted by other modules of the system and send processing results or control instructions to other modules of the system to cooperate with the parking control module or the entrance and exit management module to execute parking movement or vehicle entry and exit management actions; The data acquisition module includes an environmental data acquisition submodule, a position sensor submodule, and a vehicle information reading and writing submodule provided in the stereo garage. The data acquisition module is used to collect vehicle information, garage environmental information, parking location information, lift location information, and berth location information and send them to the system module for retrieval or storage; The power supply module is configured to provide matching power to other modules in the system.

2. The intelligent automated parking control system according to claim 1, characterized in that: The three-dimensional parking space assembly is matched with the lifting frame of the three-dimensional lifting device, and both include columns, crossbeams and longitudinal beams connecting the columns. The three-dimensional parking space assembly is divided into a plurality of parking layers by the columns, crossbeams and longitudinal beams, and each parking layer is divided into a plurality of connected parking units by the crossbeams and longitudinal beams. The three-dimensional lifting device also includes a lifting assembly, and the lifting assembly also includes a lifting power mechanism and a lifting car; the lifting power mechanism includes a lifting drive unit and a lifting transmission unit detachably mounted on the lifting frame, and the lifting car is slidably arranged inside the lifting frame and connected to the lifting drive unit via the lifting transmission unit, and cooperates with each other to realize the movement and stopping of the lifting car in the vertical direction; A plurality of transverse and longitudinal slide rails are provided in the interior of the parking unit, on the bottom of the lift car, and on the parking and retrieval platform. The transverse and longitudinal slide rails in the parking unit are connected to form transverse and longitudinal tracks running through the parking level. The horizontal and vertical self-propelled vehicle carrying assembly is rollingly set on each parking unit, including a vehicle carrying plate set up upper and lower and a horizontal and vertical walking power mechanism. The horizontal and vertical walking power mechanism includes a bracket and a horizontal and vertical driving unit, a horizontal and vertical transmission unit and a horizontal and vertical walking wheel group installed on the bracket. The horizontal and vertical walking wheel group is matched with the horizontal and vertical slide rails, and cooperates to enable the vehicle carrying plate to reach any parking unit, lifting car or parking and picking platform along the horizontal or vertical slide rails.

3. The intelligent automated parking control system according to claim 2, characterized in that: The lifting frame is embedded in the three-dimensional parking space component, and the bottom layer of the free side of the lifting frame is matched with a parking platform; The lifting drive unit includes a hoisting motor and a hoisting transmission shaft that are synchronously connected to each other, the hoisting motor is detachably mounted on the lifting frame, the hoisting transmission shaft is rotatably connected to the lifting frame, and both ends of the hoisting transmission shaft are fixedly connected to hoisting wheels; The lifting transmission unit includes a guide wheel group, a hoisting rope group and a lifting car pulley group, the guide wheel group includes a plurality of guide wheel components matched with the hoisting wheel, the lifting car pulley group includes a plurality of lifting car pulley components rotatably mounted on the lifting car, and the hoisting rope group includes a plurality of ropes, each of which passes through the lifting car pulley or the guide wheel and is connected to the hoisting wheel; The hoisting motor drives the hoisting wheel to rotate forward or reverse, thereby driving the lifting car to move and lock in the vertical direction through the hoisting rope group, the guide wheel group and the lifting car pulley group; The hoisting motor includes a first hoisting motor and a second hoisting motor, and the hoisting transmission shaft includes a first hoisting transmission shaft and a second hoisting transmission shaft. The first hoisting motor and the second hoisting motor are symmetrically arranged on the top of the pillars on both sides of the lifting frame, respectively. The first hoisting transmission shaft and the second hoisting transmission shaft are respectively matched with the first hoisting motor and the second hoisting motor for rotation and are arranged at both ends of the top crossbeam of the lifting frame. The first hoisting motor and the first hoisting transmission shaft, the second hoisting motor and the second hoisting transmission shaft are respectively matched with hoisting transmission sprockets, and the hoisting transmission sprockets are synchronously connected by a chain. The guide wheel assembly includes four guide wheel components horizontal to the hoisting wheel and rotatably mounted on the top of the lifting frame, and the guide wheel components include two fixed pulleys that rotate independently of each other; The lift car pulley assembly includes four lift car pulley components rotatably mounted at the four corners of the lift car top, and the lift car pulley components include two movable pulleys that rotate independently of each other; The hoisting rope group includes eight hoisting ropes, and the eight hoisting ropes include four hoisting ropes on the same side and four hoisting ropes on the opposite side; Each of the winch wheels is fixedly connected to one end of a winch rope on the same side and one end of a winch rope on the opposite side, the other end of the winch rope on the same side passes through a movable pulley located directly below the winch wheel and is fixedly connected to the top of the lifting frame, and the other end of the winch rope on the opposite side passes through a fixed pulley on the same side and a fixed pulley on the opposite side, as well as a movable pulley below the opposite side, and is fixedly connected to the top of the lifting frame. The four side columns of the lifting car are rotatably provided with lifting guide wheels, and the inner sides of the columns of the lifting frame are provided with lifting guide rails matching the lifting guide wheels; The horizontal and vertical drive unit includes horizontal and vertical drive motors and horizontal and vertical drive shafts that are synchronously connected to each other; The transverse and longitudinal running wheel sets include a transverse wheel set and a longitudinal wheel set symmetrically arranged at both ends of the bracket, and a wheel set lifting component. The wheel set lifting component is matched with the longitudinal wheel set and is used to control the lifting and lowering of the longitudinal wheel set. The transverse and longitudinal transmission unit includes a transverse transmission mechanism module and a longitudinal transmission mechanism module, which are connected to the transverse and longitudinal transmission shafts in a controlled power manner and are used to stagger the transverse wheel set or the longitudinal wheel set to independently roll and move. The horizontal and vertical drive motors and the horizontal and vertical transmission shafts are respectively matched with horizontal and vertical transmission sprockets, and the horizontal and vertical transmission sprockets are synchronously connected by chains; The transverse wheel set and the longitudinal wheel set respectively include a plurality of transverse wheels, transverse wheel axles and longitudinal wheels, longitudinal wheel axles arranged in a matching manner; The transverse transmission mechanism module includes a gear commutator provided at one end of the bracket, the dual slave shafts of the gear commutator are fixedly connected to the transverse wheel shaft, one end of the single main shaft of the gear commutator and one end of the transverse and longitudinal transmission shaft are matched with mutually meshing transverse transmission gears, and a transverse electromagnetic clutch is further provided between the transverse transmission gear and the single main shaft for controlling the connection or disconnection between the two. The other end of the bracket is also provided with a power manager, a battery pack and a travel control terminal; The longitudinal transmission mechanism module is symmetrically arranged at both ends of the bracket, including a longitudinal transmission central shaft, which is rotatably connected to the bracket, and one end of which is matched with the transverse and longitudinal transmission shafts to be provided with mutually meshing longitudinal transmission gears. A longitudinal electromagnetic clutch is also provided between the longitudinal transmission gear and the longitudinal transmission central shaft for controlling the connection or disconnection between the two. A plurality of pairs of longitudinal transmission sprockets are also matched with the middle portion of the longitudinal transmission central shaft and the longitudinal wheel shaft, and the longitudinal transmission sprockets are connected by a chain for synchronous transmission. The wheel assembly lifting component includes a lifting center shaft, a lifting connecting rod, a sliding shaft, a rocker and a fixed shaft; The lifting center shaft is rotatably connected to the bracket, and a lifting transmission sprocket is provided on its middle portion to match the horizontal and vertical transmission shafts. The lifting transmission sprockets are synchronously connected by a chain. A lifting electromagnetic clutch is also provided between the lifting transmission sprocket and the lifting center shaft to control the connection or disconnection between the two. The sliding shaft passes through the lifting link and has both ends slidably arranged in track grooves provided on the bracket. The sliding shaft includes a first sliding shaft and a second sliding shaft. The first sliding shaft and the second sliding shaft as well as the second sliding shaft and the fixed shaft are respectively connected to the longitudinal wheel shaft through a rocker for rotation. The rocker forms a swing pair with the first sliding shaft, the second sliding shaft, the fixed shaft or the longitudinal wheel shaft, respectively, for driving the longitudinal wheel shaft to descend or ascend when the first sliding shaft, the second sliding shaft and the fixed shaft move in the same direction or in the opposite direction to each other; One end of the lifting link is provided with a spur rack, which is meshed with a push-pull gear provided on the lifting center shaft, and the other end of the lifting link is provided with a moving groove where the second sliding shaft passes through; A berth power supply connection device is provided at the bottom of the parking unit, and a power receiving device matching the berth power supply connection device is provided on the bracket. The berth power supply connection device and the power receiving device are cooperatively provided for connecting the lateral and longitudinal self-propelled vehicle assembly to an external power source when the lateral and longitudinal self-propelled vehicle assembly is stably parked in the parking unit. The berth power supply connection device includes a fixed electrode mounting plate, a fixed electrode seat, a fixed electrode, a fixed electrode washer and a fixed electrode return spring; The fixed electrode seat passes through the fixed electrode mounting plate and is detachably connected thereto. An electrode through-hole is provided on the fixed electrode seat. The fixed electrode is slidably inserted into the electrode through-hole and a fixed electrode reset spring is sleeved on one side of the fixed electrode seat, and a limit block is provided on the other side. One end of the reset spring is connected to the fixed electrode seat, and the other end is connected to a fixed electrode washer fixedly arranged around the top of the fixed electrode. The power receiving device includes an electric push rod and a movable electrode assembly, and the movable electrode assembly includes a movable electrode mounting plate, a movable electrode seat, a movable electrode and a push-pull transmission member. The movable electrode mounting plate is provided with a pole seat through-hole, the movable electrode seat is slidably inserted into the pole seat through-hole, and the movable electrode is fixedly inserted into the movable electrode seat; The push-pull transmission component includes a sliding fixed plate and a plurality of guide shafts surrounding the movable electrode seat and fixedly connected to the movable electrode mounting plate, the guide shafts are sleeved with a movable electrode reset spring, the sliding fixed plate is slidably connected to the guide shafts, and the two ends of the movable electrode reset spring respectively abut against the sliding fixed plate and the movable electrode mounting plate; The lower side of the sliding fixed plate is fixedly connected to the movable electrode seat, and a support rod is hinged on the upper side. The swinging end of the support rod is hinged to the push-pull connecting rod and one end of the force-bearing rocker respectively. The other end of the hinged push-pull connecting rod is hinged to the free end of the electric push rod. The other end of the force-bearing rocker is hinged to the movable electrode mounting plate through the movable electrode fixed axis. The support rod forms a swing pair in the sliding fixed plate, and the force-bearing rocker forms a swing pair on the movable electrode mounting plate.

4. The intelligent automated parking control system according to claim 3, characterized in that: The bottom of the lift car and the bottom of the parking unit are matched with the bracket and are correspondingly provided with a radio frequency reader and a positioning sensor; The radio frequency reader is used to read the information of the vehicle to be parked, and the positioning sensor is used to locate and lock the position of the horizontal and vertical self-propelled vehicle-carrying assembly when it is parked; The bottom corner of the lifting car is provided with a car running layer positioning sensor, a car load positioning sensor and a car unload positioning sensor; The horizontal beams or longitudinal beams of each layer of the lifting frame are provided with a garage layer positioning sensor, a layer load positioning sensor and a layer load-free positioning sensor; The car-operating layer positioning sensor and the garage layer positioning sensor are matched and arranged to locate the layer where the lifting car is located; The car-carrying positioning sensor and the layered positioning sensor are matched and arranged to locate and lock the position of the lifting car when it is in the position to be loaded with the horizontal and vertical self-propelled car-carrying assembly; The car unloading positioning sensor and the layered unloading positioning sensor are matched and arranged to locate and lock the position of the lifting car when it is in the position of the horizontal and vertical self-propelled vehicle component to be unloaded; The three-dimensional parking space component is also provided with a number of visual sensors and displays for collecting video information and displaying relevant parameters of the three-dimensional parking space or human-computer interaction information; Parking and retrieval operation positioning sensors and vehicle loading plate rise and fall positioning sensors are also provided at both ends of the parking and retrieval platform. The parking and retrieval operation positioning sensors are used to locate and lock the position of the horizontal and vertical self-propelled vehicle loading assembly when waiting to park and retrieval, and the vehicle loading plate rise and fall positioning sensors are used to locate and lock the height of the vehicle loading plate when waiting to park and retrieval.

5. The intelligent automated parking control system according to claim 1, characterized in that: The mobile terminal is provided with a mobile communication module and a wireless communication module, which are connected to a background control center via a mobile communication network or a wireless network communication. The mobile terminal device is one of a computer, a laptop, a tablet computer, and a mobile phone.

6. The intelligent automated parking control system according to claim 1, characterized in that: The entrance gate module includes a vehicle induction coil, an entrance and exit gate, a voice announcer, and an automatic card receiving and sending device. The vehicle induction coil is used to sense the vehicle's position information and trigger the entrance and exit control module accordingly. The voice announcer is used to prompt and guide the visiting vehicle personnel to perform relevant operations; The vehicle information collection submodule includes a vehicle measuring device and an image collection device. The vehicle measuring device is used to collect the size specifications and weight of the vehicle to be stored, and the image collection device is used to collect the appearance and license plate data of the vehicle to be stored.

7. The intelligent automated parking control system according to claim 1, characterized in that: The power supply module includes a distribution box, a stereo garage power supply module, an entrance and exit control module power supply module, an on-site human-computer interaction module power supply module, an uninterruptible power supply module, a switch submodule and a background control center power supply module; The distribution box is used to provide power of required specifications to other power modules; The switch submodule receives control instructions to manage the switching, startup and standby of each power module; The uninterruptible power supply module is used to provide power source to other power supply modules when the mains power is abnormal; The power supply module of the stereo garage includes a lifting component power supply unit, a horizontal and vertical self-propelled vehicle component power supply unit, a sensor power supply unit and a berth charging power supply unit.

8. The intelligent automated parking control system according to claim 6, characterized in that: The vehicle personnel database includes a fixed authority sub-database, a vehicle parameter sub-database and a temporary vehicle sub-database; The fixed-authority sub-database is used to store data information of vehicles and personnel with fixed access permissions, specifically including: vehicle license plate, brand, personnel image, video, fingerprint, iris data, and corresponding permission type, date, and account information; The vehicle parameter sub-database is used to store specific parameter information of all brands of vehicles on the market; The temporary vehicle sub-database is used to store information about vehicles that have temporarily obtained access rights, specifically including vehicle image data, license plate information, driver contact data, and temporary account information.

9. The intelligent automated parking control system according to claim 8, characterized in that: The backend control center receives and processes the vehicle or personnel information transmitted by the entrance and exit control module, and controls whether the entrance and exit gate modules are released, specifically including entry control and exit control; The access control specifically includes: the entrance and exit control module transmits the information of the vehicle or person to be entered to the background control center in real time, and after the image recognition submodule extracts the vehicle data, the background control center searches and matches in the fixed authority sub-database and the temporary vehicle sub-database in turn, and decides whether to perform vehicle parameter sub-database matching based on the matching results in the fixed authority sub-database and the temporary vehicle sub-database, and decides whether to trigger the vehicle measurement device based on whether the vehicle data is matched in the vehicle parameter sub-database, and transmits the specific vehicle parameter information to the parking space information control sub-module, and the parking space information control sub-module performs parking space matching. If a suitable parking space is matched, an access command is issued to the entrance and exit control module and the vehicle entry time is recorded, and the parking space data and vehicle data are sent to the entry and exit displacement sub-control module at the same time. Otherwise, access is not allowed, and the reason for not releasing is announced through the voice announcer; The exit and entry control specifically includes: the entrance and exit control module transmits the information of vehicles or personnel to be driven out to the background control center in real time; after the image recognition submodule extracts the vehicle data, the background control center searches and matches in the fixed authority sub-database and the temporary vehicle sub-database in turn, and sends the search results and the vehicle entry time to the parking billing sub-module and the charging billing sub-module, and feeds back the billing results to the mobile client or plays them through the voice announcer, and issues an entry command after detecting that the payment is completed.

10. The intelligent automated parking control system according to claim 9, characterized in that: After sending the parking space data and vehicle data to the entry and exit displacement sub-control module, the entry and exit displacement sub-control module calculates the entry and exit displacement route matching the vehicle and sends it to the parking control module. After the vehicle to be parked arrives at the parking and pick-up platform, the parking control module controls the multi-story parking garage to perform parking and exit operations according to the entry and exit displacement route.

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