Intelligent skid-steer forklift truck

Abstract

The application relates to the technical field of stereo garage, and discloses a parking and taking method and system of an intelligent line control stereo garage. Before parking, it is determined whether the vehicle body meets the parking requirements; if yes, a command request is received, the received command request is divided into a parking group and a taking group, when the lift car is at rest, the corresponding parking and taking operation is immediately completed according to the received parking group or taking group command request, when the lift car is in motion, the priority of the parking group and the taking group command request is respectively judged, the command request with the highest priority is preferentially executed, and then the command requests of the parking group and the taking group are crossly executed according to the priority size; after completing a group of the parking group and the taking group command request, the priority of the subsequent accumulated command request is recalculated to execute the parking and taking operation. Through the motion state of the car, the priority and the setting of the priority ceiling, the parking and taking time of the stereo garage is reasonably planned, and the working efficiency of the stereo garage is improved.

Description

Technical Field

[0001] This invention relates to the field of automated parking system technology, and in particular to an intelligent wire-controlled automated parking system method and system for retrieving vehicles from a parking garage. Background Technology

[0002] With the rapid development of my country's economy and automobile manufacturing industry, the growth rate of motor vehicles in my country has increased significantly in recent years. However, the growth rate of parking infrastructure has been relatively slow, leading to increasingly prominent parking difficulties in urban areas. To address this issue, many large cities in my country have begun to develop multi-level parking systems. Compared to surface parking lots, multi-level parking garages have a higher space utilization rate and occupy less land, making them very effective in alleviating parking difficulties in areas with limited space. Compared to surface parking lots, multi-level parking garages offer safer and more reliable vehicle storage and retrieval. The entire process is executed by machines according to a pre-programmed sequence, avoiding the scratches and collisions that occur in surface parking lots.

[0003] For existing automated parking garages, the long time spent in the parking and retrieval process and the complicated procedures are key issues. In order to increase the number of parking spaces and facilitate operation and management, automated parking garages are often designed with only one or two entrances and exits. During peak hours, facing a large number of parking and retrieval demands at the same time, it is urgent to solve how to improve the intelligence of the automated parking garage, effectively control the parking garage, improve work efficiency, and thus reduce the time spent by users in parking and retrieval and reduce operating costs. To this end, an intelligent wire-controlled automated parking garage parking and retrieval method and system is proposed. Summary of the Invention

[0004] This invention provides an intelligent wire-controlled automated vehicle storage and retrieval method and system to solve the problems of long time consumption and low work efficiency in the existing automated vehicle storage and retrieval process.

[0005] To achieve the above objectives, the present invention employs the following technical solution:

[0006] Firstly, a method for storing and retrieving vehicles in an intelligent wire-controlled automated parking system includes the following steps:

[0007] Step 1: Before parking, a first judgment is made to determine whether the vehicle that needs to be parked meets the parking requirements. If it does, the parking command request will be accepted; if it does not, the retrieval command request will be rejected. The retrieval command request will be accepted directly.

[0008] Step 2: Divide all received parking command requests and retrieval command requests into parking groups and retrieval groups.

[0009] Step 3: Perform a second judgment to determine the motion status of the lifting car. When the lifting car is stationary, immediately complete the corresponding parking or retrieval operation upon receiving a parking or retrieval command request.

[0010] Step 4: When the elevator car is in motion, calculate the priority of all command requests, and then execute the parking group and retrieval group command requests in turn according to the priority. When performing parking or retrieval operations, a third judgment is made to check whether the priority of the remaining command requests has reached a priority ceiling. If a priority ceiling has reached, the command request corresponding to the priority ceiling will be executed first. Otherwise, the parking group and retrieval group command requests will continue to be executed in turn according to the priority.

[0011] Step 5: After each set of parking and retrieval command requests is completed, the priority of subsequent backlogged command requests is recalculated until the parking and retrieval command requests are cleared.

[0012] Through the above design, when a customer needs to park their car, the system prioritizes determining whether the car meets the parking requirements to avoid wasting time. The priority settings rationally allocate the time spent on parking and retrieving cars, prioritizing the processing of short-time command requests. The priority ceiling also prevents customers from having to wait for higher-priority command requests to be completed when they arrive first. At the same time, the cross-processing of command requests from parking and retrieval groups also improves the work efficiency of the automated parking system.

[0013] Furthermore, in step 4, the priority is determined by the floor level of the parking space corresponding to the command request in the multi-level parking garage, with the first floor parking space having the highest priority and the top floor parking space having the lowest priority.

[0014] The third judgment, whether the priority of the remaining command requests has reached the priority ceiling, specifically includes: timing all remaining parking command requests and retrieval command requests separately; when the service response ratio of a certain command request exceeds a set threshold, the priority of the command request is determined to be the priority ceiling, and the parking and retrieval operation corresponding to the command request is executed first; then the command requests of the parking group and the retrieval group are executed in turn according to the determined priority.

[0015] Through the above design, the threshold can be flexibly adjusted based on factors such as the location and size of the automated parking garage, thereby shortening the waiting time for customers.

[0016] Furthermore, the service response ratio expression is:

[0017]

[0018] Deadline is the time spent by customers parking and retrieving their vehicles.

[0019] Through the above design, by designing the service response ratio, and taking into account different regions and the size of the multi-level parking garage, the threshold corresponding to the service response ratio is reasonably set, so that the waiting time for customers to park and retrieve their cars is more reasonable.

[0020] Furthermore, completing the parking group command request includes the following steps:

[0021] The parking space selected by the customer is determined based on the customer's parking order request.

[0022] Determine the priority of the parking command request based on the parking space.

[0023] If a parking space on a lower floor becomes vacant in the multi-level parking garage, the customer is reminded whether they would like to change parking spaces, and the priority is recalculated based on the customer's choice.

[0024] The parking operation is completed by sorting the parking spaces selected by the customer according to their priority within the parking group command request.

[0025] The above design calculates the priority of the parking space selected by the customer. When a lower-level parking space becomes available in the multi-level parking garage, a reminder can be sent to the customer to change parking spaces, thus shortening the time it takes for the customer to retrieve their car.

[0026] Furthermore, completing the vehicle retrieval group command request includes the following steps.

[0027] The parking space selected by the customer is determined based on the customer's request to retrieve their vehicle.

[0028] Based on the parking space, determine the priority of the vehicle retrieval request.

[0029] The car retrieval operation is completed by sorting the priority of the parking space selected by the customer within the priority order of the car retrieval group command request.

[0030] Furthermore, when performing a parking or retrieval operation, if the backlog of parking or retrieval groups has the same priority and there is no priority ceiling, the earliest received parking or retrieval command request will be executed first.

[0031] Secondly, this application provides an intelligent wire-controlled automated parking system, including: a main controller, multiple floor controllers, multiple motor controllers, a back-end system, a lifting car, and multiple vehicle platforms. The main controller is connected to the floor controllers, motor controllers, and back-end system via a CAN bus.

[0032] The main controller is used to determine whether the vehicle meets the parking requirements and to send action commands to the floor controller and the motor controller.

[0033] The floor controller is used to determine the location of the vehicle on the floor and control the vehicle's movement.

[0034] The back-end system is used to receive customer parking and retrieval command requests, calculate the priority of the command request, and forward the command request and priority together to the main controller.

[0035] The motor controller is used to control the operation of the motor of the car platform and the traction machine of the lifting car.

[0036] The lift car is used to transport vehicles to designated floors.

[0037] The vehicle carrier is used to support vehicles parked in the lift car.

[0038] Furthermore, the floor controller is connected to the motor of the vehicle platform via a relay.

[0039] Furthermore, the backend system includes a human-machine operation module, a mobile terminal operation module, and a cloud database module.

[0040] The human-machine operation module includes a face recognition unit and a license plate recognition unit.

[0041] The mobile app module is used to reserve parking spaces and check parking status.

[0042] The cloud data module is used to store parking information.

[0043] Furthermore, both the main controller and the floor controller are equipped with sensors. The sensors on the main controller are used to determine whether the front and rear and the height of the vehicle on the platform exceed the limit. The sensors on the floor controller are used to determine the location of the floor on which the vehicle on the platform is located.

[0044] The present invention has the following beneficial effects:

[0045] 1. The present invention provides a method for storing and retrieving vehicles in an intelligent wire-controlled automated parking system. The priority setting reasonably allocates the time spent on storing and retrieving vehicles, prioritizes the processing of command requests with shorter processing times, and the priority ceiling setting also avoids situations where customers arrive first but have to wait for higher priority command requests to be completed. At the same time, the cross-processing of command requests from the parking group and the retrieval group also improves the working efficiency of the automated parking system.

[0046] 2. In a preferred embodiment, the intelligent wire-controlled automated parking system of the present invention controls each controller via wire control, and uses a CAN bus to communicate between the controllers, making information transmission convenient, fast and stable, thus making the operation of the automated parking system more intelligent and efficient. Sensors are used to provide real-time feedback on the status information of the automated parking system, making the operation of the automated parking system safer and more reliable.

[0047] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0048] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0049] Figure 1 This is a flowchart illustrating a preferred embodiment of an intelligent wire-controlled automated parking system for storing and retrieving vehicles.

[0050] Figure 2 This is a schematic diagram of a vehicle storage and retrieval system for an intelligent wire-controlled automated parking garage, according to a preferred embodiment of the present invention. Detailed Implementation

[0051] The technical solution of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms "an" or "a," and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "connected" or "linked," and similar terms, are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up," "down," "left," "right," etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship also changes accordingly.

[0053] Example 1

[0054] Please see Figure 1 This application provides a method for storing and retrieving vehicles in an intelligent wire-controlled automated parking system, comprising the following steps:

[0055] Step 1: Before parking, a first judgment is made to determine whether the vehicle that needs to be parked meets the parking requirements. If it does, the parking command request will be accepted; if it does not, the retrieval command request will be rejected. The retrieval command request will be accepted directly.

[0056] During implementation, if a customer needs to park their vehicle, the system will assess whether the vehicle meets the parking requirements, such as its length, height, and whether the doors are closed. If the vehicle meets the requirements, the parking request will be accepted. If the vehicle does not meet the requirements, the parking request will not be accepted. If the customer needs to retrieve their vehicle, the retrieval request will be accepted directly.

[0057] Step 2: Divide all received parking command requests and retrieval command requests into parking groups and retrieval groups.

[0058] The received parking and retrieval command requests are divided into parking groups and retrieval groups. The parking group includes parking command requests from all customers who need to park their vehicles, and the retrieval group includes retrieval command requests from all customers who need to retrieve their vehicles.

[0059] Step 3: Perform a second judgment to determine the motion status of the lifting car. When the lifting car is stationary, immediately complete the corresponding parking or retrieval operation upon receiving a parking or retrieval command request.

[0060] During implementation, when a command request is received, the elevator car is stationary, meaning that there are no other parking or retrieval command requests prior to this parking or retrieval command request. The automated parking system will directly execute the parking or retrieval operation corresponding to this command request.

[0061] Step 4: When the elevator car is in motion, calculate the priority of all command requests, and then execute the parking group and retrieval group command requests in turn according to the priority. When performing parking or retrieval operations, a third judgment is made to check whether the priority of the remaining command requests has reached a priority ceiling. If a priority ceiling has reached, the command request corresponding to the priority ceiling will be executed first. Otherwise, the parking group and retrieval group command requests will continue to be executed in turn according to the priority.

[0062] During implementation, the elevator car is in motion, meaning that other parking or retrieval command requests were stored before the current request. The priority of all parking and retrieval command requests is determined by the floor level of the parking space corresponding to the command request within the automated parking garage. The first floor has the highest priority, and the priority decreases as the parking space increases in floor level. The top floor parking spaces have the lowest priority. For a four-story automated parking garage, the priority of the parking spaces, from highest to lowest, is as follows:

[0063] First-floor parking space priority > Second-floor parking space priority > Third-floor parking space priority > Fourth-floor parking space priority.

[0064] Whether the priority of the remaining command requests reaches the priority ceiling specifically includes: timing all remaining parking command requests and retrieval command requests separately; when the service response ratio of a certain command request exceeds a set threshold, the priority of the command request is determined to be the priority ceiling, and the parking and retrieval operation corresponding to the command request is executed first; then, the command requests of the parking group and the retrieval group are executed in turn according to the determined priority.

[0065] When a four-story automated parking garage executes command requests for both parking and retrieval groups, if a priority ceiling is reached among the remaining command requests, the priorities from highest to lowest are as follows:

[0066] Priority is as follows: Ceiling-level parking space > First-floor parking space > Second-floor parking space > Third-floor parking space > Fourth-floor parking space.

[0067] The service response ratio expression is:

[0068]

[0069] Deadline is the time spent by customers parking and retrieving their vehicles.

[0070] For different regions, such as business districts, office building areas, and residential communities, the demand for parking and retrieval in multi-level parking garages varies. For example, the service response ratio threshold should be appropriately increased in business districts on weekends and after get off work hours, while it should be appropriately increased in office buildings during commuting hours and in residential communities during commuting hours. By adjusting the service response ratio threshold, the waiting time for customers to park and retrieve their cars can be made more reasonable.

[0071] When fulfilling a parking group command request, the following steps are included:

[0072] The parking space selected by the customer is determined based on the customer's parking order request.

[0073] Determine the priority of the parking command request based on the parking space.

[0074] If a parking space on a lower floor becomes vacant in the multi-level parking garage, the customer is reminded whether they would like to change parking spaces, and the priority is recalculated based on the customer's choice.

[0075] Complete the parking operation according to priority.

[0076] Based on the floor of the parking space selected by the customer in the automated parking garage, the priority of the selected parking space is calculated. According to the priority of the parking space in the backlog of parking order requests, the parking operation is arranged. When a parking space on a lower floor becomes available in the automated parking garage, a reminder to change parking spaces can be sent to the customer, shortening the time required for the customer to retrieve their car.

[0077] When fulfilling the vehicle retrieval group's command request, the following steps are included:

[0078] The parking space selected by the customer is determined based on the customer's request to retrieve their vehicle.

[0079] Based on the parking space, determine the priority of the vehicle retrieval request.

[0080] The vehicle retrieval process will be completed according to priority.

[0081] In the above-mentioned parking and retrieval operations, when there are backlogged parking or retrieval groups with the same priority and no priority ceiling has been reached, the earliest received parking or retrieval command request will be executed first.

[0082] When priorities are the same and no priority ceiling has been reached, the earliest received parking or retrieval command request is processed first, which minimizes the possibility of a priority ceiling and reduces the pressure on parking and retrieval in the multi-level parking garage.

[0083] Step 5: After each set of parking and retrieval command requests is completed, the priority of subsequent backlogged command requests is recalculated until the parking and retrieval command requests are cleared.

[0084] During implementation, after completing one highest priority vehicle storage command request and one highest priority vehicle retrieval command request, the priorities of subsequent backlogged command requests are recalculated and re-determined.

[0085] Example 2

[0086] Please see Figure 2 This application also provides an intelligent wire-controlled automated parking system, including: a main controller, two floor controllers, two motor controllers, a back-end system, a lifting car, and two vehicle platforms. The main controller is connected to the floor controllers, motor controllers, and back-end system via a CAN bus.

[0087] The main controller is used to determine whether the vehicle meets the parking requirements and to send action commands to the floor controller and motor controller.

[0088] The floor controller is used to determine the location of the vehicle on the floor and to control the vehicle's movement.

[0089] The back-end system is used to receive customer parking and retrieval command requests and calculate the priority of the command request, and then forward the command request and priority together to the main controller.

[0090] The motor controller is used to control the operation of the motor of the car platform and the traction machine of the lifting car.

[0091] The elevator car is used to transport vehicles to designated floors.

[0092] The vehicle carrier is used to support vehicles parked in the lift car.

[0093] In this embodiment, two vehicle carriers are provided, each independently performing vehicle storage and retrieval operations. The main controller uses photoelectric sensors to determine whether a vehicle parked on the first floor meets the storage requirements. Specifically, the photoelectric sensors determine the front, rear, height, vehicle type, and door closing status of the vehicle. The main controller uses inductive sensors to determine the opening and closing status of the garage doors on the first floor of the automated parking garage. The main controller uses an external encoder to collect pulse signals to calculate the position of the lifting car. Combined with the external inductive sensors on the floor controller, the main controller determines the movement status of the vehicle carriers and the lifting car, thereby knowing the vehicle's movement status and position and controlling the vehicle's movement.

[0094] The floor controller is connected to the motor of the vehicle platform via relays.

[0095] During implementation, the floor controller controls the movement of the vehicle platform by controlling the on / off state of the vehicle platform motor through relays. The main controller can also be connected to the gate installed on the first floor of the automated parking garage through relays to control the opening and closing of the gate, thereby improving the safety of the automated parking garage.

[0096] The backend system includes a human-computer interaction module, a mobile terminal operation module, and a cloud database module.

[0097] The human-machine operation module includes a face recognition unit and a license plate recognition unit.

[0098] The mobile app module is used to reserve parking spaces and check parking status.

[0099] The cloud data module is used to store parking information.

[0100] During implementation, customers need to park their cars. The main controller uses inductive sensors to determine the opening and closing status of the first-floor gate of the automated parking garage. If it is closed, the gate is opened via a relay. At this time, the customer can move their car onto the car platform. The main controller will then determine whether the car meets the parking requirements, such as the car model, the front and rear height of the car, and the door closing status. If it does, the back-end system will receive the parking command request. The customer can then select a parking space through the mobile app. Simultaneously, the human-machine interface module records and stores the parking information in the cloud data module.

[0101] After a customer selects a parking space, the backend system prioritizes the received parking command requests. If there is an available parking space with a higher priority than the customer's selected space, a reminder will be sent to the customer, who can then choose to change parking spaces. If no change is made, the customer will wait for the automated parking system to process the parking request based on priority. If the customer waits for too long, and the corresponding service response rate exceeds a set threshold, the priority of this customer's parking command request will be raised to the priority ceiling, and the automated parking system will prioritize processing this parking request.

[0102] When a parking garage is in operation, the main controller sends an action command to the motor controller of the car carrier platform. The motor controller then controls the motor of the car carrier platform to move the car into the lift car. The main controller then sends an action command to the motor controller of the lift car, which in turn controls the traction machine of the lift car to transport the car carrier platform and the car to the floor corresponding to the customer's selected parking space. During the operation of the traction machine of the lift car and the motor of the car carrier platform, the external inductive sensor of the floor controller determines the movement status of the lift car and the car carrier platform. Combined with the pulse signal collected by the encoder connected to the main controller, the position of the lift car is calculated. After reaching the designated floor, the floor controller controls the operation of the motor of the car carrier platform through a relay, and finally transports the car to the designated parking space, completing the parking operation.

[0103] The principle is roughly the same when retrieving the vehicle, so it will not be elaborated here.

[0104] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A method for storing and retrieving vehicles in an intelligent wire-controlled automated parking garage, characterized in that, Includes the following steps: Step 1: Before parking, a first judgment is made to determine whether the vehicle that needs to be parked meets the parking requirements. If it does, the parking command request will be accepted; if it does not, the parking command request will be rejected. The vehicle retrieval command request will be accepted directly. Step 2: Divide all received parking command requests and retrieval command requests into parking groups and retrieval groups; When completing the parking group command request, the following steps are included: Determine the parking space selected by the customer based on their parking request; Based on the parking space, determine the priority of the parking command request; If a parking space on a lower floor becomes vacant in the automated parking garage, the customer is reminded whether they would like to change parking spaces, and the priority is recalculated based on the customer's choice. The parking operation is completed by sorting the parking spaces selected by the customer according to their priority in the parking group command request; Step 3: Perform a second judgment to determine the motion status of the lifting car. When the lifting car is stationary, immediately complete the corresponding parking or retrieval operation upon receiving a command request from the parking group or retrieval group. Step 4: When the elevator car is in motion, calculate the priority of all command requests, and then execute the parking group and retrieval group command requests in turn according to the priority. When performing parking or retrieval operations, a third judgment is made to check whether the priority of the remaining command requests has reached a priority ceiling. If a priority ceiling has reached, the command request corresponding to the priority ceiling will be executed first. Otherwise, the parking group and retrieval group command requests will continue to be executed in turn according to the priority. The priority is determined by the floor level of the parking space corresponding to the command request in the automated parking garage, with the highest priority corresponding to the parking space on the first floor of the automated parking garage and the lowest priority corresponding to the parking space on the top floor of the automated parking garage. The third judgment, whether the priority of the remaining command requests has reached the priority ceiling, specifically includes: timing all remaining parking command requests and retrieval command requests separately; when the service response ratio of a certain command request exceeds a set threshold, the priority of the command request is determined to be the priority ceiling and the parking and retrieval operation corresponding to the command request is executed first; then the command requests of the parking group and the retrieval group are executed in turn according to the determined priority. Step 5: After each set of parking and retrieval command requests is completed, the priority of subsequent backlogged command requests is recalculated until the parking and retrieval command requests are cleared.

2. The vehicle storage and retrieval method according to claim 1, characterized in that, The service response ratio expression is: ； Deadline is the time spent by customers parking and retrieving their vehicles.

3. The vehicle storage and retrieval method according to claim 1, characterized in that, When completing the vehicle retrieval group command request, the following steps are included: Determine the parking space selected by the customer based on their vehicle retrieval request; Based on the parking space, determine the priority of the vehicle retrieval request; The car retrieval operation is completed by sorting the priority of the parking space selected by the customer within the priority order of the car retrieval group command request.

4. The vehicle storage and retrieval method according to any one of claims 1 and 3, characterized in that, When performing a parking or retrieval operation, if there are parking or retrieval groups with the same priority and no priority ceiling has been reached, the earliest received parking or retrieval command request will be executed first.

5. A system for intelligent wire-controlled automated parking garages, characterized in that, The system applied to the vehicle storage and retrieval method of claim 1 includes: a main controller, multiple floor controllers, multiple motor controllers, a back-end system, a lifting car, and multiple vehicle carriers. The main controller is connected to the floor controllers, motor controllers, and back-end system via a CAN bus. The main controller is used to determine whether the vehicle meets the parking requirements and to send action commands to the floor controller and the motor controller. The floor controller is used to determine the location of the vehicle on the floor and control the movement of the vehicle; The back-end system is used to receive customer parking and retrieval command requests and calculate the priority of the command request, and forward the command request and priority together to the main controller; The motor controller is used to control the operation of the motor of the car platform and the traction machine of the lifting car; The lift car is used to transport vehicles to designated floors; The vehicle carrier is used to support vehicles parked in the lift car.

6. The system according to claim 5, characterized in that, The floor controller is connected to the motor of the vehicle platform via a relay.

7. The system according to claim 5, characterized in that, The backend system includes a human-machine operation module, a mobile terminal operation module, and a cloud database module; The human-machine operation module includes a face recognition unit and a license plate recognition unit; The mobile app module is used to reserve parking spaces and check parking status. The cloud database module is used to store parking information.

8. The system according to claim 5, characterized in that, Both the main controller and the floor controller are equipped with sensors. The sensors on the main controller are used to determine whether the front and rear and the height of the vehicle on the platform exceed the limit. The sensors on the floor controller are used to determine the location of the floor on which the vehicle on the platform is located.

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