A three-dimensional mechanical parking garage and a vehicle storing and taking method and device thereof

Abstract

The application relates to a stereoscopic mechanical parking garage and a vehicle storing and taking method and device thereof. The stereoscopic mechanical parking garage comprises a multi-layer building, a carrying assembly, a radar, a vehicle storing device and a vehicle taking device. The multi-layer building is provided with a vehicle parking area, a vertical channel area and a parking space area. The vehicle parking area is located at the bottom layer of the multi-layer building. The parking space area is located at other layers except the bottom layer, or the parking space area is located at other areas of the bottom layer except the vehicle parking area and other layers except the bottom layer. The vehicle parking area is provided with a plurality of vehicle parking groups. The parking space area of each layer is provided with a plurality of parking space groups. The vertical channel area is provided with a plurality of vertical channels. The vertical channels correspond to the vehicle parking groups and the parking space groups of each layer respectively. The carrying assembly comprises a plurality of carrying units. The vehicle storing device is used for determining the vehicle picking-up stroke of the corresponding carrying unit according to the position information and size information of the vehicle to be stored detected by the radar. The corresponding carrying unit is controlled to carry the vehicle to be stored from the vertical channel to the designated parking space according to the determined vehicle picking-up stroke.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of mechanical parking garage, and particularly relates to a three-dimensional mechanical parking garage and a parking and taking vehicle method and device thereof. BACKGROUND

[0002] At present, the existing three-dimensional tower type vertical lifting, plane moving and roadway stacking garages on the market have a large inventory, and indoor parking spaces are separately arranged in the garage, so that the driver drives the vehicle to the indoor parking space and then performs parking operation. Except for the entrance, the remaining three sides of the indoor parking space are doors and walls, which greatly limits the driver's vision. SUMMARY

[0003] In view of the defects in the prior art, the present application aims to provide a three-dimensional mechanical parking garage and a parking and taking vehicle method and device thereof. The three-dimensional mechanical parking garage can design the vehicle parking area as a semi-open space, realizing the semi-openness of the three-dimensional mechanical parking garage to bring the driver a more open vision.

[0004] The technical solution adopted by the present application is as follows.

[0005] In a first aspect, a three-dimensional mechanical parking garage is provided, which comprises a multi-storey building, a carrying assembly, a radar, a parking device and a taking vehicle device,

[0006] The multi-storey building is provided with a vehicle parking area, a vertical passage area and a parking space area, the vehicle parking area is located at the bottom layer of the multi-storey building, the parking space area is located at other layers except the bottom layer, or the parking space area is located at other areas in the bottom layer except the vehicle parking area and other layers except the bottom layer, the vertical passage area is in communication with the vehicle parking area and the parking space area respectively, the vehicle parking area is provided with a plurality of vehicle parking groups, each layer of the parking space area is provided with a plurality of parking space groups, the vertical passage area is provided with a plurality of vertical passages, the vertical passages correspond to the vehicle parking groups and the parking space groups of each layer respectively, the vehicle parking group comprises n vehicle parking areas, the parking space group comprises n parking spaces, and the n vehicle parking areas and the n parking spaces are arranged in parallel in the length direction;

[0007] The carrying assembly comprises a plurality of carrying units, the carrying units correspond to the vertical passages one by one, and the carrying units are movably arranged in the corresponding vertical passages;

[0008] The radar is used to detect the position information and size information of the vehicle to be parked on the vehicle parking area;

[0009] The parking device is used for determining a vehicle receiving path of a corresponding carrying unit according to the position information and the size information of the vehicle to be parked on the parking lot, and controlling the corresponding carrying unit to carry the vehicle to be parked from the vertical channel to a designated parking space according to the determined vehicle receiving path of the corresponding carrying unit.

[0010] The taking device is used for determining a vehicle taking path of a corresponding carrying unit according to the position of the parking space of the vehicle to be taken and the position of the designated parking lot, and controlling the corresponding carrying unit to carry the vehicle to be taken from the vertical channel to the designated parking lot according to the determined vehicle taking path of the corresponding carrying unit.

[0011] Optionally, the carrying unit comprises a large car, a four-way vehicle and a carrier, the vertical channel is provided with a guide column, the large car is movably connected with the guide column, the large car is provided with a horizontal rail, the four-way vehicle is movably connected with the horizontal rail, the four-way vehicle is provided with a middle car, a rotary table and a fixed base, the rotary table is rotatably connected with the middle car, the fixed base is installed on the rotary table, the carrier is movably installed on the fixed base, the moving direction of the four-way vehicle is the same as the arrangement direction of the parking lot, and the moving direction of the carrier is perpendicular to the moving direction of the four-way vehicle when the angle of the rotary table is 0; the carrier is provided with two clamping slides corresponding to two pairs of wheels of the vehicle, and the two clamping slides are movably arranged on the carrier.

[0012] The position information comprises a vehicle center point coordinate and a parking angle, and the size information comprises a front-rear wheel base;

[0013] Correspondingly, the parking device is used for determining the angle of the rotary table according to the parking angle, calculating the moving path of the four-way vehicle on the horizontal rail according to the vehicle center point coordinate and the parking angle, calculating the moving path of the carrier according to the vehicle center point coordinate, a zero-degree vehicle receiving path and a limit-angle vehicle receiving path, and calculating the moving path of the two clamping slides according to the front-rear wheel base.

[0014] Optionally, the parking device is further used for,

[0015] determining whether the vehicle to be parked is parked in place according to the position information of the vehicle to be parked on the parking lot detected by the radar;

[0016] when the vehicle to be parked is not parked in place, determining an adjustment instruction according to the position information of the vehicle to be parked on the parking lot detected by the radar, and displaying the adjustment instruction on a display screen, the display screen being installed between the parking lot and the corresponding vertical channel;

[0017] When the vehicle to be stored is parked in place, vehicle parking in place information is displayed on the display screen, and the position information and size information of the vehicle to be stored on the parking lot detected by the radar are used to determine the storage travel of the corresponding carrying unit.

[0018] Optionally, the vehicle storage device is configured to determine whether the vehicle center point coordinate of the vehicle to be stored is within the vehicle receiving position range and whether the parking angle of the vehicle to be stored exceeds the vehicle receiving angle of the vehicle receiving position range.

[0019] When the vehicle center point coordinate of the vehicle to be stored is within the vehicle receiving position range and the parking angle of the vehicle to be stored does not exceed the vehicle receiving angle of the vehicle receiving position range, it is determined that the vehicle to be stored is parked in place.

[0020] When the vehicle center point coordinate of the vehicle to be stored is not within the vehicle receiving position range or the parking angle of the vehicle to be stored exceeds the vehicle receiving angle of the vehicle receiving position range, it is determined that the vehicle to be stored is not parked in place.

[0021] Optionally, each parking lot is provided with a geomagnetic sensor.

[0022] The geomagnetic sensor is configured to detect whether a vehicle is parked on the parking lot.

[0023] Correspondingly, the vehicle storage device is further configured to, when the geomagnetic sensor detects that a vehicle is parked on the parking lot and the parking lot where the geomagnetic sensor is located is an entry parking lot at the current time, acquire the position information and size information of the vehicle to be stored on the parking lot detected by the radar.

[0024] Optionally, a camera device is installed on the top of each parking lot.

[0025] The camera device is configured to capture an image of the parking lot to obtain parking lot image information.

[0026] Correspondingly, the vehicle storage device is configured to, when the geomagnetic sensor detects that a vehicle is parked on the parking lot and the parking lot where the geomagnetic sensor is located is an entry parking lot at the current time, acquire the parking lot image information obtained by the camera device; determine whether there is living matter in the corresponding parking lot and the vehicle to be stored parked on the corresponding parking lot based on the parking lot image information; when there is no living matter in the corresponding parking lot and the vehicle to be stored parked on the corresponding parking lot, acquire the position information and size information of the vehicle to be stored on the parking lot detected by the radar; and when there is living matter in the corresponding parking lot and the vehicle to be stored parked on the corresponding parking lot, issue a warning.

[0027] In a second aspect, a vehicle storage method for a three-dimensional mechanical parking garage is provided, and the vehicle storage method is applied to the three-dimensional mechanical parking garage. The vehicle storage method comprises the following steps.

[0028] Acquiring the position information and size information of the vehicle to be stored on the parking lot detected by the radar.

[0029] determining a vehicle pickup route of the corresponding vehicle handling unit according to the position information and the size information of the vehicle to be stored detected by the radar;

[0030] controlling the corresponding vehicle handling unit to pick up the vehicle to be stored from the vertical channel to the designated parking space according to the determined vehicle pickup route of the corresponding vehicle handling unit.

[0031] In a third aspect, a vehicle pickup method of a stereoscopic mechanical parking garage is provided, and the vehicle pickup method is applied to the stereoscopic mechanical parking garage, and the vehicle pickup method comprises the following steps:

[0032] determining a vehicle pickup route of the corresponding vehicle handling unit according to the position information and the size information of the vehicle to be stored detected by the radar;

[0033] controlling the corresponding vehicle handling unit to pick up the vehicle to be stored from the vertical channel to the designated parking space according to the determined vehicle pickup route of the corresponding vehicle handling unit.

[0034] In a fourth aspect, a vehicle storage device of a stereoscopic mechanical parking garage is provided, and the vehicle storage device comprises:

[0035] a processor; and

[0036] a memory for storing executable instructions of the processor;

[0037] wherein the processor is configured to execute the vehicle storage method of the stereoscopic mechanical parking garage by executing the executable instructions.

[0038] In a fifth aspect, a vehicle pickup device of a stereoscopic mechanical parking garage is provided, and the vehicle pickup device comprises:

[0039] a processor; and

[0040] a memory for storing executable instructions of the processor;

[0041] wherein the processor is configured to execute the vehicle pickup method of the stereoscopic mechanical parking garage by executing the executable instructions.

[0042] The effect of the present application is that the three-dimensional mechanical parking garage comprises a multi-storey building, a carrying assembly, a radar and a vehicle storing and taking device; the multi-storey building is provided with a vehicle parking area, a vertical passage area and a parking space area, the vehicle parking area is located at the bottom layer of the multi-storey building, the parking space area is located at other layers except the bottom layer, or the parking space area is located at other areas of the bottom layer except the vehicle parking area and other layers except the bottom layer, the vertical passage area is communicated with the vehicle parking area and the parking space area respectively, the vehicle parking area is provided with a plurality of vehicle parking groups, the parking space area of each layer is provided with a plurality of parking space groups, the vertical passage area is provided with a plurality of vertical passages, the vertical passages correspond to the vehicle parking groups and the parking space groups of each layer respectively, the vehicle parking group comprises n vehicle parking spaces, the parking space group comprises n parking spaces, and the n vehicle parking spaces and the n parking spaces are arranged in parallel in the length direction; in this way, the entire vehicle parking area can be designed as a whole flat ground, so that the ground is open and free of other ground restrictions; the carrying assembly comprises a plurality of carrying units, the carrying units correspond to the vertical passages one by one, and the carrying units are movably arranged in the corresponding vertical passages; the vehicle storing device is used for determining the vehicle picking-up stroke of the corresponding carrying unit according to the position information and size information of the vehicle to be stored on the vehicle parking space detected by the radar; the vehicle storing device is used for controlling the corresponding carrying unit to carry the vehicle to be stored from the vertical passage to the designated parking space according to the determined vehicle picking-up stroke of the corresponding carrying unit; the vehicle taking device is used for determining the vehicle picking-up stroke of the corresponding carrying unit according to the position of the parking space of the vehicle to be taken and the position of the designated vehicle parking space; the vehicle taking device is used for controlling the corresponding carrying unit to carry the vehicle to be taken from the vertical passage to the designated vehicle parking space according to the determined vehicle picking-up stroke of the corresponding carrying unit; the storing and taking functions of the three-dimensional mechanical parking garage are realized; the carrying assembly of the garage is a moving part, and only needs to reach the vehicle parking area when storing and taking vehicles, and is hidden and runs in the vertical passage in other cases; in this way, the vertical passage and the parking space area can be designed as a closed building, and the vehicle parking area is designed as a semi-open space, so that the three-dimensional mechanical parking garage is semi-opened, so as to bring a more open view for the driver, reduce the psychological burden of the driver, make the parking mentality of the driver more relaxed, and the vehicle parking area can be seamlessly connected with the external road, so that the parking is more humanized; in addition, in the building design, the semi-open garage structure is more atmospheric and inclusive than the fully closed garage structure, and is more widely practical. BRIEF DESCRIPTION OF DRAWINGS

[0043] Fig. 1-2 is a structural schematic diagram of a three-dimensional mechanical parking garage provided by an embodiment of the present application;

[0044] Fig. 3 is a corresponding relationship schematic diagram of a vertical passage, a parking space group and a vehicle parking group provided by an embodiment of the present application;

[0045] Fig. 4 is a real scene schematic diagram of a vehicle parking area for entering a vehicle provided by an embodiment of the present application;

[0046] Fig. 5 is a real scene schematic diagram of a vehicle parking area for taking a vehicle provided by an embodiment of the present application;

[0047] Fig. 6 is a structural schematic view of a carrying unit provided by an embodiment of the present application;

[0048] Fig. 7 is an assembly view of a four-way vehicle and a carrier provided by an embodiment of the present application;

[0049] Fig. 8 is a structural schematic view of a middle vehicle and a rotary table provided by an embodiment of the present application;

[0050] Fig. 9 is a sectional view of an active walking wheel assembly provided by an embodiment of the present application;

[0051] Fig. 10 is a sectional view of a second driving assembly of a four-way vehicle provided by an embodiment of the present application;

[0052] Fig. 11 is Fig. 10 an enlarged schematic view at A in FIG. 8;

[0053] Fig. 12 is a structural schematic view of a second driving assembly of a four-way vehicle provided by an embodiment of the present application;

[0054] Fig. 13 is a structural schematic view of a carrier provided by an embodiment of the present application;

[0055] Fig. 14 is a structural schematic view of a clamping slide provided by an embodiment of the present application;

[0056] Fig. 15 is a force analysis schematic view of a clamping rod clamping a wheel provided by an embodiment of the present application;

[0057] Fig. 16 is a flow chart of a storing vehicle method of a three-dimensional mechanical parking garage provided by an embodiment of the present application;

[0058] Fig. 17 is a schematic view of a system coordinate system provided by an embodiment of the present application;

[0059] Fig. 18 is a schematic view of a limit size of a Y-axis driving motor in an X-axis direction under a limit parking angle provided by an embodiment of the present application;

[0060] Fig. 19 is a schematic view of a compensation stroke provided by an embodiment of the present application;

[0061] Fig. 20 is a schematic view of a vehicle sending stroke provided by an embodiment of the present application;

[0062] Fig. 21is a flow chart of a vehicle taking method of a three-dimensional mechanical parking garage provided by the embodiment of the present application.

[0063] In the figure, the vehicle parking area 80, the vehicle parking lot 800, the vehicle parking lot group 808, the liftable safety door 801, the display screen 802, the liftable safety fence 803, the vertical passage area 81, the vertical passage 818, the parking space area 82, the parking space group 828, the parking space 820, the carrying unit 838, the four-way vehicle 1, the middle car 11, the first driving assembly 12, the driving walking wheel assembly 121, the driven walking wheel assembly 122, the driving walking wheel 1212, the anti-slip wheel 124, the rotating table 13, the driving motor 131, the driving gear 132, the slewing bearing 133, the fixed base 21, the second driving assembly 22, the speed reducer 221, the driving base 222, the driving gear 223, the driving rack 211, the secondary guide groove 224, the driven gear 225, the carrier 2, the sliding table motor 235, the sliding table screw 237, the clamping sliding table 24, the support plate 241, the clamping rod motor 242, the clamping rod screw 2421, the driving plate 243, the linear guide rail 236, the connecting rod 244, the clamping rod 245, and the rotating table bearing 246, the large car 3, the horizontal rail 30, the special chain 300, the motor 31, the chain 32, the driving sprocket 33, the shaft coupling 34, the counterweight box 35, the guide column 36. DETAILED DESCRIPTION

[0064] The present application is further described below in conjunction with the accompanying drawings and specific embodiments.

[0065] The terms involved in the present embodiment are explained as follows.

[0066] Front-rear wheel base: the distance between the front and rear wheels.

[0067] Vehicle center point: the intersection of the diagonals of the square formed by sequentially connecting the four wheel centers.

[0068] Wheel center: the intersection of the wheel outer circle and the ground.

[0069] Parking angle of the vehicle: the angle of the length direction of the vehicle relative to the length direction of the parking lot.

[0070] In position: the position where the vehicle to be stored is parked in the parking lot and the carrying assembly can take the vehicle.

[0071] X-axis: parallel to the extension direction of the parking space or the parking lot.

[0072] Y-axis: parallel to the length direction of the parking space.

[0073] Z-axis: perpendicular to the XY plane.

[0074] B-axis: the rotation axis of the rotating table, and the rotating table is used to rotate the carrier.

[0075] Fig. 1-2 is a structural schematic diagram of a three-dimensional mechanical parking garage provided by an embodiment of the present application, Fig. 3 is a schematic diagram of the corresponding relationship of vertical passages, parking space groups and parking lot groups provided by an embodiment of the present application, see Fig. 1-3 The three-dimensional mechanical parking garage comprises a multi-storey building, a carrying assembly, a radar, a vehicle storage device and a vehicle taking device.

[0076] The multi-storey building is provided with a parking lot area 80, a vertical passage area 81 and a parking space area 82. The parking lot area 80 is located at the bottom layer of the multi-storey building, the parking space area 82 is located at other layers except the bottom layer, or the parking space area is located at other areas of the bottom layer except the parking lot area and other layers except the bottom layer. The vertical passage area 81 is in communication with the parking lot area 80 and the parking space area 82 respectively. The parking lot area 80 is provided with a plurality of parking lot groups 808, each layer of the parking space area 82 is provided with a plurality of parking space groups 828, and the vertical passage area 81 is provided with a plurality of vertical passages 818. The vertical passage 818 corresponds to the parking lot group 808 and each layer of the parking space group 828 respectively. The parking lot group 808 comprises n parking lots 800, the parking space group 828 comprises n parking spaces 820, and the n parking lots 800 and the n parking spaces 820 are arranged in parallel in the length direction.

[0077] The carrying assembly comprises a plurality of carrying units 838, the carrying unit 838 corresponds to the vertical passage 818 one by one, and the carrying unit 838 is movably arranged in the corresponding vertical passage 818.

[0078] The radar is used to detect the position information and size information of the vehicle to be stored on the parking lot.

[0079] The vehicle storage device is used to determine the vehicle pickup route of the corresponding carrying unit according to the position information and size information of the vehicle to be stored on the parking lot detected by the radar, and to control the corresponding carrying unit to carry the vehicle to be stored from the corresponding vertical passage to the designated parking space according to the determined vehicle pickup route of the corresponding carrying unit.

[0080] The vehicle taking device is used to determine the vehicle pickup route of the corresponding carrying unit according to the position of the vehicle to be taken and the position of the designated vehicle taking parking lot, and to control the corresponding carrying unit to carry the vehicle to be taken from the corresponding vertical passage to the designated vehicle taking parking lot according to the determined vehicle pickup route of the corresponding carrying unit.

[0081] n is a natural number greater than 2, and optionally n = 3.

[0082] In this embodiment, the stereoscopic mechanical parking garage includes a multi-storey building, a carrying assembly, a radar and a vehicle storing and taking device; the multi-storey building is provided with a vehicle parking area, a vertical passage area and a parking space area, the vehicle parking area is located at the bottom layer of the multi-storey building, the parking space area is located at other layers except the bottom layer, or the parking space area is located at other areas of the bottom layer except the vehicle parking area and other layers except the bottom layer, the vertical passage area is in communication with the vehicle parking area and the parking space area respectively, the vehicle parking area is provided with a plurality of vehicle parking groups, each layer of the parking space area is provided with a plurality of parking space groups, the vertical passage area is provided with a plurality of vertical passages, the vertical passages correspond to the vehicle parking groups and each layer of the parking space groups respectively, the vehicle parking groups include n vehicle parking areas, the parking space groups include n parking spaces, and the n vehicle parking areas and the n parking spaces are arranged in parallel in the length direction; in this way, the entire vehicle parking area can be designed as a whole flat ground, so that the ground is spacious and free of other ground restrictions; the carrying assembly includes a plurality of carrying units, the carrying units correspond to the vertical passages one by one, and the carrying units are movably arranged in the corresponding vertical passages; the vehicle storing device is used to determine the vehicle picking-up travel of the corresponding carrying unit according to the position information and size information of the vehicle to be stored on the vehicle parking area detected by the radar; the vehicle storing device is used to control the corresponding carrying unit to carry the vehicle to be stored from the vertical passage to the designated parking space according to the determined vehicle picking-up travel of the corresponding carrying unit; the vehicle taking device is used to determine the vehicle picking-up travel of the corresponding carrying unit according to the position of the parking space of the vehicle to be taken and the position of the designated vehicle parking area; the vehicle taking device is used to control the corresponding carrying unit to carry the vehicle to be taken from the vertical passage to the designated vehicle parking area according to the determined vehicle picking-up travel of the corresponding carrying unit; the storing and taking functions of the stereoscopic mechanical parking garage are realized; the carrying assembly of the garage is a moving part, and only needs to reach the vehicle parking area when storing and taking vehicles, and is hidden and runs in the vertical passage in other cases; in this way, the vertical passage and the parking space area can be designed as a closed building, and the vehicle parking area is designed as a semi-open space, so that the semi-openness of the stereoscopic mechanical parking garage is realized, so as to bring a more open view for the driver, reduce the psychological burden of the driver, make the driver's parking mentality more relaxed, and enable the vehicle parking area to be seamlessly connected with the external road, so that the parking is more humanized; in addition, in the building design, the semi-open garage structure is more atmospheric and inclusive than the fully closed garage structure, and is more widely practical.

[0083] Exemplarily, the number of the parking space areas in each layer is 2, and the two parking space areas of the same layer are located at opposite sides of the vertical passage area, and the parking space area of the upper layer is located directly above the parking space area of the lower layer.

[0084] Exemplarily, the number of the vehicle parking areas can be 1, and the vehicle parking area is used for storing and taking vehicles. The vehicle parking area is located directly below one of the parking space areas of the upper layer. Referring to Fig. 1 , the number of the vehicle parking areas can also be 2, and the vehicle parking areas in one vehicle parking area are used for storing vehicles, and the vehicle parking areas in another vehicle parking area are used for taking vehicles. One vehicle parking area is located directly below one of the parking space areas of the upper layer, and the other vehicle parking area is located directly below the other parking space area of the upper layer.

[0085] Fig. 4 is a real scene schematic diagram of a car parking lot for entering a car provided by an embodiment of the present application, referring to Fig. 4 , for example, a liftable safety door 801 is arranged between the car parking lot 800 and the corresponding vertical passage, and a display screen 802 is arranged on the liftable safety door 801.

[0086] Fig. 5 is a real scene schematic diagram of a car parking lot for exiting a car provided by an embodiment of the present application, referring to Fig. 5 , for example, a liftable safety fence 803 is arranged at the exit of the car parking lot 800 for taking a car.

[0087] Fig. 6 is a structural schematic diagram of a carrying unit provided by an embodiment of the present application, Fig. 7 is a three-dimensional assembly diagram of a four-way car and a carrier provided by an embodiment of the present application. Referring to Fig. 6 and Fig. 7 , the carrying unit includes a large car, a four-way car and a carrier.

[0088] Referring to Fig. 6 , a guide column 36 is arranged in the vertical passage, and the large car 3 is movably connected with the guide column 36. A horizontal rail 30 is arranged on the large car 3, and the four-way car 1 is movably connected with the horizontal rail 30. Referring to Fig. 7 , the four-way car 1 is provided with a middle car 11, a rotating table 13 and a fixed base 21, the rotating table 13 is rotatably connected with the middle car 11, the fixed base 21 is installed on the rotating table 13, and the carrier 2 is movably installed on the fixed base 21. The moving direction of the four-way car 1 is the same as the arrangement direction of the car parking lot. When the angle of the rotating table 13 is 0, the moving direction of the carrier 2 is perpendicular to the moving direction of the four-way car 1. Two clamping slides 24 are arranged on the carrier 2, and the two clamping slides 24 correspond to two pairs of wheels of the vehicle, and the two clamping slides 24 are movably arranged on the carrier 2.

[0089] The following will briefly introduce the example structure of the large car, the four-way car and the carrier.

[0090] Structure of the large car: referring to Fig. 6 , the large car 3 includes the horizontal rail 30, a motor 31, a chain 32, a driving sprocket 33, a coupling 34 and a counterweight box 35. The large car is powered by the motor 31, the two driving sprockets 33 are connected by the coupling 34, the eight chains 32 pass through the driving sprockets 33, one end of each chain 32 is connected with the car, and the other end is connected with the counterweight box 35, so that the gravity of the two ends is close to balance, and the horizontal rail 30 moves up and down along the guide column 36 in the Z axis more labor-saving.

[0091] Structure of the four-way car: Fig. 8is a structural schematic view of the middle car and the rotating table provided by the embodiment of the present application, referring to Fig. 8 The four-way vehicle 1 comprises a middle car 11, a rotating table 13, a first driving assembly 12, a driving walking wheel assembly 121 and a driven walking wheel assembly 122. Fig. 9 is a sectional view of the driving walking wheel assembly provided by the embodiment of the present application. Referring to Fig. 9 The driving walking wheel assembly 121 comprises a driving walking wheel 1212, and the driven walking wheel assembly 122 comprises a driven walking wheel. The middle car 11 is provided with three sets of six walking wheels (including driving walking wheels and driven walking wheels), which are matched with three horizontal rails 30 of the large car. The first driving assembly 12 drives the driving walking wheel 1212 to rotate, so that the driving walking wheel 1212 moves in the X-axis direction on the horizontal rail 30 of the large car, and the alignment of the vehicle and the parking space during the vehicle picking and storing can be completed. Referring to Fig. 9 The driving walking wheel 1212 is connected with a coaxial anti-slip wheel 124, which is used to cooperate with a special chain 300 installed on the middle horizontal rail 30, and plays a role of preventing the four-way vehicle from slipping.

[0092] Fig. 10 is a sectional view of the second driving assembly of the four-way vehicle provided by the embodiment of the present application, Fig. 11 is Fig. 10 an enlarged schematic view of A in the middle, Fig. 12 is a structural schematic view of the second driving assembly of the four-way vehicle provided by the embodiment of the present application. Referring to Fig. 7 、 Fig. 10-12 The four-way vehicle further comprises a fixed base 21, a second driving assembly 22, a speed reducer 221, a driving base 222, a driving gear 223, a driving rack 211, a secondary guide groove 224 and a driven gear 225.

[0093] Referring to Fig. 7 、 Fig. 8 and Fig. 10-14, the carrier 2 on the four-way vehicle 1 along the fixed base 21 of the matching extension and retraction, Y axis direction movement, can realize the vehicle access and storage action. As shown in the figure, the motor in the second drive assembly 22 is connected to the reduction mechanism 221 to drive the drive gear 223 to mesh with the drive rack 211 fixed on the fixed base 21 to move, the drive gear 223 is installed on the drive base 222, one end of which is connected to the drive gear 223, and the other end is connected to the driven gear 225 through the secondary guide groove 224, the secondary guide groove 224 is matched with the guide wheel set 213 to guide and support the carrier 2, so that it can slide along the Y axis. The lower part of the driven gear 225 is engaged with the primary rack 212 fixed on the fixed base 21, and the upper part is engaged with the secondary rack 232 fixed on the lower part of the carrier 2. Therefore, when the second drive assembly 22 drives the drive gear 223 to move on the fixed base 21, the carrier 2 will move under the drive of the driven gear 225, and the carrier 2 will move at a speed of two times the speed of the drive gear 223, so that the carrier 2 can be completely extended from the fixed base 21 and smoothly enter the bottom of the vehicle.

[0094] The structure of the carrier: Fig. 13 is a structural diagram of the carrier provided by the embodiment of the application, referring to Fig. 13 , the carrier 2 includes a sliding table motor 235, a sliding table screw 237, and two clamping sliding tables 24. The clamping sliding table 24 is responsible for the action of clamping the vehicle tire, so that the tire is clamped and the vehicle is separated from the ground. Fig. 14 is a structural diagram of the clamping sliding table provided by the embodiment of the application, referring to Fig. 14 , the clamping sliding table 24 includes a support plate 241, a clamping rod motor 242, a clamping rod screw 2421, a drive plate 243, a linear guide rail 236, a connecting rod 244, a clamping rod 245, and a rotary table bearing 246. After the vehicle information measured by the external laser radar is received by the garage, the carrier 2 enters the bottom of the vehicle, and then the two sliding table motors 235 drive the sliding table screw 237 to drive the two clamping sliding tables 24 to move along the linear guide rail 236 to the front and rear wheels of the vehicle, and then the clamping rod motor 242 drives the clamping rod screw 2421 to drive the two drive plates 243 along the linear guide rail 236 to drive the connecting rod 244, and finally drive the clamping rod 245 to rotate around the rotary table bearing 246 connected to the support plate 241 and the clamping rod 245. When the tire is clamped by the clamping rod 245, the downward gravity of the vehicle received by the clamping rod 245 cannot be transmitted to the drive plate 243, and the clamping sliding table 24 enters a mechanical self-locking state. Fig. 15 is a force analysis diagram of the clamping rod when clamping the wheel, referring to Fig. 15In the mechanical self-locking state, the resultant force on the connecting rod 244 is F244 in the direction of the line connecting the two force points of the connecting rod 244, at which time F244=F244X, and F244X is the component force F244X of the force F244 in the X direction (see the content of Patent No. CN 218476714 U). The mechanical self-locking state can occur in the event of power failure and other unexpected situations, and will not cause the vehicle to fall, thereby avoiding safety accidents.

[0095] The structure of the turntable: see Fig. 8 The turntable 13 includes a driving motor 131, a driving gear 132, and a slewing bearing 133. The turntable 13 is rotatably fixed to the middle car 11 and can drive the fixed base 21 to rotate by 360° (see Fig. 7 The carrier rotates with the fixed base (the rotation axis is the B axis), and therefore, the turntable 13 is used to complete the rotation action of the carrier parallel to the vehicle when the vehicle is parked and the rotation action of the vehicle head outward when the vehicle is moved.

[0096] Based on the structure of the above-mentioned carrying unit, no additional equipment needs to be installed on the parking lot. Compared with related parking garages, there are more physical limitations in the parking space, such as the design of the ground or the presence of a turntable, or tire restrictions and blockages. The driver can easily park on the parking lot. In addition, in terms of machine automation, the carrying unit integrates all the moving parts in the garage, and the equipment integration is higher. In terms of running speed, since the carrying unit can be linked in three axes (X, Z, and B (the self-rotation axis of the turntable)), the speed can be consistent with that of the current tower-type garage.

[0097] The above-mentioned example structure of the carrying unit is a disclosed technology, which will not be described here. It should be noted that the structure of the above-mentioned carrying unit is only an example, and the embodiments of the present application do not limit the structure of the carrying unit applicable to the three-dimensional mechanical parking garage. The three-dimensional mechanical parking garage can also be applicable to carrying units with other structures.

[0098] For the radar, the radar can be a laser radar. The radar can be installed in front of the liftable safety door. The position information of the vehicle detected by the radar can include the position of the wheel center of the vehicle to be stored on the parking lot, the parking angle of the vehicle to be stored, and the coordinate of the center point of the vehicle; and the size information of the vehicle detected by the radar can include the front and rear wheel track.

[0099] The working principle of the radar for calculating the position of the wheel center on the parking lot, the parking angle of the vehicle, the coordinate of the center point of the vehicle, and the front and rear wheel track will be introduced below.

[0100] Step 1, scan the vehicle and collect the scanned trajectory point data set, each point having x and y coordinate values.

[0101] Step 2, according to the distribution range of the relative distance between the data points, all points are classified into four trajectory groups, and the mean values of the x and y axes of all points in the four trajectory groups are calculated respectively to obtain the coordinates of the wheel centers of the four tires.

[0102] Step 3, the mean values of the x and y axes of the wheel centers of the four tires are calculated to obtain the coordinates of the vehicle center point.

[0103] Step 4, the absolute distances between all two points in the wheel center coordinates of the four tires are calculated, and the smallest absolute distance is compared to obtain the second largest absolute distance as the front and rear wheelbase.

[0104] Step 5, according to the two points of the smallest absolute distance compared in step 4, taking the x of one point and the y of the other point as the third point, the smallest acute angle is obtained according to the triangle formed by the three points, and the parking angle of the vehicle is obtained.

[0105] Exemplarily, the vehicle storage device is used to determine the angle of the rotating table according to the parking angle; calculate the moving distance of the four-way vehicle on the horizontal track according to the vehicle center point coordinates and the parking angle; calculate the moving distance of the carrier according to the vehicle center point coordinates, the zero-degree vehicle receiving distance and the limit-angle vehicle receiving distance; and calculate the moving distance of the two clamping slides according to the front and rear wheelbase.

[0106] Exemplarily, the vehicle storage device is used to determine whether the to-be-stored vehicle is parked in place according to the position information of the to-be-stored vehicle on the parking lot detected by the radar; when the to-be-stored vehicle is not parked in place, an adjustment instruction is determined according to the position information of the to-be-stored vehicle on the parking lot detected by the radar, and the adjustment instruction is displayed on the display screen installed between the parking lot and the corresponding vertical channel; when the to-be-stored vehicle is parked in place, the vehicle parking in place information is displayed on the display screen, and the storage distance of the corresponding carrier unit is determined according to the position information and size information of the to-be-stored vehicle on the parking lot detected by the radar.

[0107] Optionally, the display screen is a display screen on a liftable safety door.

[0108] Exemplarily, the vehicle storage device is used to determine whether the vehicle center point coordinates of the to-be-stored vehicle are located in the vehicle receiving position range, and whether the parking angle of the to-be-stored vehicle exceeds the vehicle receiving angle of the vehicle receiving position range; when the vehicle center point coordinates of the to-be-stored vehicle are located in the vehicle receiving position range, and the parking angle of the to-be-stored vehicle does not exceed the vehicle receiving angle of the vehicle receiving position range, it is determined that the to-be-stored vehicle is parked in place; when the vehicle center point coordinates of the to-be-stored vehicle are not located in the vehicle receiving position range, or the parking angle of the to-be-stored vehicle exceeds the vehicle receiving angle of the vehicle receiving position range, it is determined that the to-be-stored vehicle is not parked in place.

[0109] Exemplarily, the vehicle storage device is used for,

[0110] When the vehicle to be stored is not parked in place, the current center point coordinate and the current parking angle of the vehicle to be stored are determined, and the difference between the closest vehicle pickup position range and the vehicle pickup angle in the vehicle pickup position range is determined. The adjustment instruction is determined according to the difference. The adjustment instruction can include the number and identification of the wheels of the vehicle to be stored that exceed the limit (front left wheel, front right wheel, rear left wheel, or rear right wheel), and / or the adjustment direction of the vehicle to be stored (moving forward, backward, left, or right).

[0111] Optionally, the size information of the vehicle detected by the radar can further include body size information, and the body size information includes the length, width, and height of the body.

[0112] Correspondingly, the vehicle storage device is used for, according to the body size information, assigning a parking space for the vehicle to be stored.

[0113] Different sizes of parking spaces can be designed according to actual body sizes, thereby meeting the parking of vehicles with different body sizes.

[0114] Exemplarily, each vehicle platform is provided with a geomagnetic.

[0115] The geomagnetic is used for detecting whether a vehicle is parked on the vehicle platform.

[0116] Correspondingly, the vehicle storage device is further used for, when the geomagnetic detects that a vehicle is parked on the vehicle platform and the vehicle platform where the geomagnetic is located is a vehicle entry platform at the current time, obtaining the position information and size information of the vehicle to be stored on the vehicle platform detected by the radar.

[0117] Correspondingly, the vehicle pickup device is further used for, when the geomagnetic detects that the vehicle parked on the vehicle platform has left and the vehicle platform where the geomagnetic is located is a vehicle exit platform at the current time, ending the vehicle pickup process.

[0118] Exemplarily, referring to Fig. 4 The top of each vehicle platform is provided with a camera device 804.

[0119] The camera device 804 is used for collecting images of the vehicle platform to obtain vehicle platform image information.

[0120] Correspondingly, the vehicle storage device is used for, when the geomagnetic detects that a vehicle is parked on the vehicle platform and the vehicle platform where the geomagnetic is located is a vehicle entry platform at the current time, obtaining the vehicle platform image information obtained by the camera device, determining whether there is living matter in the corresponding vehicle platform and the parked vehicle to be stored according to the vehicle platform image information; when there is no living matter in the corresponding vehicle platform and the parked vehicle to be stored, obtaining the position information and size information of the vehicle to be stored on the vehicle platform detected by the radar; and when there is living matter in the corresponding vehicle platform and the parked vehicle to be stored, issuing a warning.

[0121] It should be noted that when the corresponding parking lot and the parked vehicle to be stored exist living things, the vehicle storage process cannot be started, the liftable safety door cannot be opened, and the carrying assembly cannot work; when the corresponding parking lot and the parked vehicle to be stored do not exist living things, the vehicle storage process can be normally started.

[0122] Optionally, the camera equipment can be a camera equipped with thermal imaging technology, and the parking lot image can be an infrared thermal image.

[0123] Optionally, when the carrying assembly in the garage runs to an angle and an X-axis direction at which a vehicle can be received, the vehicle storage device issues an opening door instruction to the door control motor, and the door control motor lifts the liftable safety door to complete the opening door action.

[0124] The vehicle storage device and the vehicle taking-out device can be computers.

[0125] Fig. 16 is a flowchart of a vehicle storage method of a three-dimensional mechanical parking garage provided by an embodiment of the present application, Fig. 16 The vehicle storage method shown is applied to Fig. 1-3 The three-dimensional mechanical parking garage shown. Referring to Fig. 16 The method flowchart includes the following steps.

[0126] S101: Obtain position information and size information of a vehicle to be stored on a parking lot detected by a radar.

[0127] S102: Determine a vehicle receiving travel of a corresponding carrying unit according to the position information and the size information of the vehicle to be stored on the parking lot detected by the radar.

[0128] S103: Control the corresponding carrying unit to carry the vehicle to be stored from a vertical channel to a designated parking space according to the determined vehicle receiving travel of the corresponding carrying unit.

[0129] Optionally, before S101, the method flowchart can further include S100.

[0130] S100: Obtain detection information of a geomagnetic sensor, and when the geomagnetic sensor detects that a vehicle is parked on a parking lot and the parking lot of the geomagnetic sensor is an entry parking lot at a current time, perform S101.

[0131] Optionally, before S101 is performed, S100 can further include: when the geomagnetic sensor detects that a vehicle is parked on a parking lot and the parking lot of the geomagnetic sensor is an entry parking lot at a current time, obtain parking lot image information obtained by camera equipment. According to the parking lot image information, determine whether living things exist in the corresponding parking lot and the parked vehicle to be stored; when no living things exist in the corresponding parking lot and the parked vehicle to be stored, perform S101; and when living things exist in the corresponding parking lot and the parked vehicle to be stored, issue a warning.

[0132] Optionally, S101 can further include determining whether the to-be-stored vehicle is parked in place according to the position information of the to-be-stored vehicle on the parking lot detected by the radar. When the to-be-stored vehicle is not parked in place, an adjustment instruction is determined according to the position information of the to-be-stored vehicle on the parking lot detected by the radar, and the adjustment instruction is displayed on a display screen installed between the parking lot and the corresponding vertical passage. When the to-be-stored vehicle is parked in place, vehicle parking in place information is displayed on the display screen, and S102 is executed.

[0133] Correspondingly, the determination method of whether the to-be-stored vehicle is parked in place can include judging whether the vehicle center point coordinate of the to-be-stored vehicle is located in the vehicle receiving position range and judging whether the parking angle of the to-be-stored vehicle exceeds the vehicle receiving angle of the vehicle receiving position range. When the vehicle center point coordinate of the to-be-stored vehicle is located in the vehicle receiving position range and the parking angle of the to-be-stored vehicle does not exceed the vehicle receiving angle of the vehicle receiving position range, it is determined that the to-be-stored vehicle is parked in place. When the vehicle center point coordinate of the to-be-stored vehicle is not located in the vehicle receiving position range or the parking angle of the to-be-stored vehicle exceeds the vehicle receiving angle of the vehicle receiving position range, it is determined that the to-be-stored vehicle is not parked in place.

[0134] Correspondingly, the determination method of the adjustment instruction can include determining the difference between the current center point coordinate and the current parking angle of the to-be-stored vehicle and the closest vehicle receiving position range and the vehicle receiving angle in the vehicle receiving position range when the to-be-stored vehicle is not parked in place; and determining the adjustment instruction according to the difference. The adjustment instruction can include the number and identification of the over-limit wheels of the to-be-stored vehicle and / or the adjustment direction of the to-be-stored vehicle.

[0135] Through the determination method of whether the to-be-stored vehicle is parked in place and the determination method of the adjustment instruction, it is not necessary for the driver or other auxiliary personnel to confirm whether the vehicle is parked in place, thereby improving the intelligence of the parking hardware of the internal auxiliary driver.

[0136] Exemplarily, in S101, the position information further includes the vehicle center point coordinate, and the size information includes the front and rear wheel track.

[0137] Correspondingly, S102 can include determining the angle of the rotary table according to the parking angle; calculating the moving stroke of the four-way vehicle on the horizontal track according to the vehicle center point coordinate and the parking angle; calculating the moving stroke of the carrier according to the vehicle center point coordinate, the zero-degree vehicle receiving stroke, and the limit-angle vehicle receiving stroke; and calculating the moving stroke of the two clamping slides according to the front and rear wheel track.

[0138] The zero-degree vehicle receiving stroke is the vehicle receiving stroke of the carrier when the angle of the rotary table is 0°.

[0139] The limit-angle vehicle receiving stroke is the vehicle receiving stroke of the carrier when the angle of the rotary table is θ, and θ is the limit angle at which the carrier can receive the vehicle.

[0140] The calculation methods of each moving stroke are introduced below.

[0141] I. The angle Ba of the rotary table is equal to the parking angle a. Ba=a. The parking angle has positive and negative values, and the rotary table rotates in different directions when the positive and negative values of the parking angle are different.

[0142] II. The moving stroke Xa of the four-way vehicle on the horizontal track can be calculated by formula (1).

[0143] Xa=x-Xr (1)

[0144] x is the x value of the vehicle center point coordinate in the system coordinate system, x=x1, x1 is the x value of the vehicle center point coordinate in the radar coordinate system (measured by the radar), and Xr is the relative moving stroke of the X axis.

[0145] Xr can be calculated by formula (2).

[0146] Xr=TANa*y (2)

[0147] a is the parking angle, y is the y value of the vehicle center point coordinate in the system coordinate system, y=y1+L / 2, y1 is the y value of the vehicle center point coordinate in the radar coordinate system (measured by the radar), and L is the length of the four-way vehicle.

[0148] III. The moving stroke Ya of the carrier can be calculated by formula (3). It should be noted that the moving stroke Ya of the carrier is the stroke that the Y-axis drive motor needs to drive. Since the carrier and the Y-axis drive motor have a "double-stroke speed-up" relationship, the actual moving stroke of the carrier is twice the stroke that the Y-axis drive motor needs to drive, i.e. 2×Ya.

[0149]

[0150] Yr is the relative moving stroke of the Y axis, and Ya is the limit stroke of the Y-axis drive motor under the parking angle a.

[0151] Yr can be calculated by formula (4).

[0152] Yr=y / cos a (4)

[0153] a is the parking angle, y is the y value of the vehicle center point coordinate in the system coordinate system, and L is the length of the four-way vehicle. The length of the carrier is equal to the length of the four-way vehicle.

[0154] Ya can be calculated by formula (5).

[0155] Ya=Y0 / cos|a|-X θ / 2×tan|a| (5)

[0156] Y0 is the zero degree pick-up travel (the pick-up travel of the carrier when the turret angle is 0°), Y0 is a calibration value; X θ X is the limit pick-up angle X-axis direction limit size of the Y-axis drive motor, X θ which can be calculated in advance.

[0157] X θ may be calculated using formula (6).

[0158] X θ = 2 x (Y0 / cos|θ|-Y θ ) / tan|θ| (6)

[0159] θ is the limit angle of the carrier pick-up, Y θ is the limit angle pick-up travel (the pick-up travel of the carrier when the turret angle is θ), θ and Y θ are both calibration values.

[0160] Four, the moving travel W1 and W2 of the two clamping slides can be calculated using formulas (7) and (8).

[0161] W1 = RP + W' (7)

[0162] W2 = W2max - RP + W' (8)

[0163] W1 is the moving travel of one of the clamping slides; W2 is the moving travel of the other clamping slide; RP is the W-axis relative moving travel, W2max is the maximum moving travel of the other clamping slide, and W' is the compensation travel.

[0164] RP can be calculated using formula (9).

[0165] RP = (Wb - L1 - L2) / 2 (9)

[0166] Wb is the front and rear wheel base, L1 is the length of the middle section of the carrier (between the two sets of clamping slides), and L2 is the length of the clamping slide.

[0167] W' can be calculated using formula (10).

[0168]

[0169] Ya is the moving travel of the carrier; Yr is the Y-axis relative moving travel, and Yα is the limit travel of the Y-axis drive motor at the parking angle α.

[0170] The derivation process of each calculation formula is as follows:

[0171] First, introduce the system coordinate system referred to by each calculation formula. Fig. 17is a schematic diagram of the system coordinate system provided by the embodiment of the present application, referring to Fig. 17 The system coordinate system X axis, Y axis and B axis (rotation axis of the turntable and carrier) are defined as follows.

[0172] System coordinate system X axis: the zero point of the system coordinate system X axis coordinate is the X axis stroke zero point of the four-way vehicle.

[0173] The relationship between the system coordinate system X axis coordinate value and the radar coordinate system x axis coordinate value is that they are equal.

[0174] System coordinate system Y axis: the zero point of the system coordinate system Y axis coordinate is aligned with the rotation center of the carrier.

[0175] The relationship between the system coordinate system Y axis coordinate value and the radar coordinate system y axis coordinate value is that the radar coordinate system y axis coordinate value plus half of the overall length of the four-way vehicle (the carrier length is consistent with the four-way vehicle length) is equal to the system coordinate system Y axis coordinate value.

[0176] System coordinate system B axis: the stroke zero point of the four-way vehicle is the zero point of the system coordinate system B axis coordinate.

[0177] The relationship between the system coordinate system B axis coordinate value and the radar coordinate angle is that they are equal.

[0178] Suppose:

[0179] The vehicle center point coordinate in the radar coordinate is: x1 is 1829; y1 is 2745.

[0180] The parking angle measurement value is +3°; that is, α = +3°.

[0181] The front and rear wheel base measurement value is 2676; that is, Wb = 2676.

[0182] The length of the four-way vehicle is 6100; that is, L = 6100; half the length of the four-way vehicle is L / 2 = 6100 / 2 = 3050.

[0183] Then, the vehicle center point coordinate in the system coordinate system is: x = 1829; y = 2745 + 6100 / 2 = 5795.

[0184] It should be noted that the parking angle measurement value has positive and negative, in this embodiment, referring to Fig. 17 , the vehicle head tilts to the left is positive, and tilts to the right is negative.

[0185] The calculation principle of the moving stroke (X axis stroke) of the four-way vehicle on the horizontal track is as follows.

[0186] The X axis running relative distance is: X_RelativePos (Relative Position), that is, the aforementioned Xr.

[0187] The absolute target value of the X-axis movement is X_AbsPos (Absolute Position), which is the aforementioned Xa.

[0188] 1. The relative distance of the X-axis movement of the device is calculated as:

[0189] X_RelativePos = TAN(3) * (2745 + 3050) = 304.

[0190] 2. The absolute position of the X-axis movement of the device is calculated as X_AbsPos = 1829 - 304 = 1525.

[0191] The calculation principles of the moving stroke of the carrier (Y-axis stroke), the moving stroke of the turntable (B-axis angle), and the moving stroke of the clamping slide (W1, W2-axis stroke) are as follows. It should be noted that the Y-axis is a double-stroke speed structure, so the stroke of the Y-axis drive motor is 1 / 2 of the Y-axis stroke.

[0192] The relative distance of the Y-axis movement is Y_RelativePos (Relative Position), which is Yr.

[0193] The absolute target value of the Y-axis movement is Y_AbsPos (Absolute Position), which is Ya.

[0194] The limit target value of the Y-axis movement is Y_AbsMax (Absolute Maximum), which is Y

[0195] Assuming that the limit angle of the carrier that can be connected to the vehicle is θ = ±10°, the limit target value of the Y-axis drive motor when the B-axis is 0° is 2940, i.e., Y0 = 2940.

[0196] Assuming that the limit target value of the Y-axis drive motor when the B-axis is ±10° is 2865, i.e., Y θ = 2865.

[0197] The relative movement distance of the W-axis is W_RelativePos.

[0198] The absolute target value of the W-axis movement is W_AbsPos.

[0199] The initial position value of the W-axis is equal to W1_InitialPos (the W-axis is a synchronous axis, and the initial position value of the W-axis is the initial position value of the main shaft W1).

[0200] The relative distance of the Y-axis movement of the device is calculated as:

[0201] Y_RelativePos = (2745 + 3050) / COS 3 = 5800.

[0202] Fig. 18 is a schematic diagram of the limit size of the X-axis direction to the Y-axis drive motor under the limit parking angle provided by the embodiments of the application. Referring to Fig. 18 , the limit size X of the X-axis direction to the Y-axis drive motor under the limit parking angle θ is calculated as:

[0203] X θ = 2 x (2940 / cos 10° - 2865) / tan 10° = 1365.13.

[0204] Referring to Fig. 18 , the limit distance value of the current angle of the device Y-axis is:

[0205] Y_AbsMax = 2940 / cos 3° - 1365.13 / 2 x tan 3° = 2908.26.

[0206] The absolute position of the device Y-axis is calculated as:

[0207] When the relative distance is less than or equal to the limit of the device Y-axis stroke, 5800 / 2 = 2900 < 2908.26, then it is indicated that the Y-axis drive motor does not need to run to the limit position, only to the position of the relative distance 2900, the Y-axis can reach the bottom of the vehicle, and the carrier center is aligned with the vehicle center point coordinate position, Y_AbsPos = 2900.

[0208] When the relative distance is greater than the limit of the device Y-axis stroke, the Y-axis drive motor runs to the limit position, at this time, the carrier center has not reached the vehicle center point coordinate position, and the distance between the two is compensated by the clamping slide to make the clamping slide reach the corresponding wheel center position. Fig. 19 is a schematic diagram of the compensation stroke provided by the embodiments of the application. Referring to Fig. 19 , the dashed box is formed by the four wheel centers of the vehicle, and the arrow direction is the advancing direction of the carrier Y-axis. The distance between the carrier center and the vehicle center point coordinate position is Yr-2Ya.

[0209] The initial position value of the W1 axis is W1_IinitialPos (the calculated value of the initial position of the W1 axis), that is, W1.

[0210] The initial position value of the W2 axis is W2_IinitialPos (the calculated value of the initial position of the W2 axis), that is, W2.

[0211] Suppose the maximum stroke value of the W1 axis is 1350, that is, W1max = 1350.

[0212] Assume the maximum stroke of W2 axis is: 1350, i.e. W2max=1350.

[0213] Assume the length of the middle section of the four-way vehicle is: 960, L1=960.

[0214] Assume the length of the clamping frame is: 840, L2=840.

[0215] Referring to Fig. 13 , the zero point of the W1 axis is located at the boundary of the middle section, and the zero point of the W2 axis is farthest from the boundary of the middle section.

[0216] The intermediate calculation position value is: RelativePos1, i.e. RP.

[0217] RelativePos1=(2676-960-840) / 2=438.

[0218] When the relative distance is less than or equal to the stroke limit of the Y axis of the device, W'=0:

[0219] W1_IinitialPos=438.

[0220] W2_IinitialPos=1350-438=912.

[0221] When Yr / 2≤Yα, Ya=Yr / 2, the movement of the W axis can be adjusted in the garage to a position equal to the wheelbase of the front and rear wheels of the vehicle and symmetrical on the carrier before the carrier moves Ya, so as to align the corresponding wheel centers after the carrier moves Ya.

[0222] When Yr / 2>Yα, Ya=Yα, the movement of the W axis can be adjusted in the garage to a position equal to the wheelbase of the front and rear wheels of the vehicle and symmetrical on the carrier before the carrier moves Ya, and after the carrier moves Ya, the synchronous movement compensates for the distance of Yr-2Ya, so that the clamping rod of the W axis reaches the center of the front and rear tires of the vehicle (see Fig. 19 ).

[0223] Correspondingly, S103 can include steps S103a-S103c.

[0224] S103a: according to the determined approach of the corresponding handling unit, control the carrier to approach the vehicle to be stored on the four-way vehicle.

[0225] S103a can include the following steps.

[0226] First, control the corresponding large car to move to the bottom floor; simultaneously, adjust the angle of the corresponding turntable according to the parking angle, so that the corresponding carrier is parallel to the length direction of the vehicle to be stored.

[0227] Secondly, according to the moving stroke of the four-direction vehicle on the horizontal track, the moving stroke of the carrier and the moving stroke of the two clamping slides, the four-direction vehicle, the carrier and the clamping slides are controlled to move respectively, so that the carrier carries the vehicle to be stored.

[0228] Specifically, according to the calculated moving stroke of the four-direction vehicle on the horizontal track, the corresponding four-direction vehicle is controlled to move horizontally, so that the corresponding carrier is aligned with the center position of the vehicle to be stored; according to the calculated moving stroke of the carrier, the corresponding carrier is controlled to move, so that the corresponding carrier enters the parking lot and moves to the bottom of the vehicle to be stored; according to the calculated moving stroke of the two clamping slides, the two clamping slides are controlled to move respectively, so that each clamping slide moves to the center position of the corresponding wheel; after each clamping slide moves to the center position of the corresponding wheel, each clamping slide is controlled to clamp the corresponding wheel.

[0229] Finally, the carrier is retracted to the four-direction vehicle, and the angle of the rotating table is adjusted to 0.

[0230] Optionally, S103a can further include: obtaining vehicle parking lot image information obtained by the camera device. According to the vehicle parking lot image information, it is determined whether there is a living thing in the corresponding vehicle parking lot and the parked vehicle to be stored; when there is a living thing in the corresponding vehicle parking lot and the parked vehicle to be stored, stop the carrier unit from moving and issue a warning. When there is no living thing in the corresponding vehicle parking lot and the parked vehicle to be stored, continue to determine whether there is a living thing in the corresponding vehicle parking lot and the parked vehicle to be stored according to the vehicle parking lot image information until the carrier unit stores the vehicle to be stored on the four-direction vehicle.

[0231] By using the living thing monitoring technology of the camera device in S100 and S103a, unlike the traditional physical isolation of man and vehicle in a closed parking area, in the vehicle taking method, once a living thing is detected during the movement of the carrier unit in the vertical channel and the movement of the vehicle to be stored, the operation will be stopped immediately, which eliminates the risk of man-machine interaction and improves the safety of taking the vehicle.

[0232] S103b: determining an idle parking space in the parking space area corresponding to the vertical channel, and allocating an idle parking space to the vehicle to be stored.

[0233] It should be noted that the execution order of step S103b is not limited in this embodiment, and S103b can be performed before or after S102.

[0234] S103c: controlling the corresponding carrier unit to deliver the vehicle to be stored to the allocated idle parking space for parking.

[0235] S103c can include the following steps.

[0236] First, according to the current position of the clamping slide, the delivery stroke of the carrier and the clamping slide is calculated.

[0237] The delivery stroke Ya' of the carrier is calculated as follows.

[0238] When Yr' / 2 is less than or equal to Y0, Ya' = Yr' / 2.

[0239] When Yr' / 2 is greater than Y0, Ya' = Y0.

[0240] Yr' is the relative delivery stroke of the Y axis. Y0 is the zero-degree receiving stroke (the receiving stroke of the carrier when the rotary table angle is 0°).

[0241] Yr' is calculated according to the following formula (11).

[0242] Yr' = L + D1 - D2 - L2 / 2 - W2 (11)

[0243] L is the length of the four-way vehicle; D1 is the distance from the end face of the four-way vehicle to the center of the rear wheel positioning plate of the parking space; D2 is the distance of the mechanical fixed size at the tail end of the four-way vehicle; L2 is the length of the clamping slide; and W2 is the moving stroke of the other clamping slide (in the receiving process).

[0244] The delivery strokes W1' and W2' of the clamping slides are calculated as follows.

[0245] When Yr' / 2 is less than or equal to Y0, W1' = W2' = 0.

[0246] When Yr' / 2 is greater than Y0, W1' = W2' = Yr' - 2Ya'.

[0247] Fig. 20 is a schematic diagram of the delivery stroke provided by the embodiment of the present application. The following describes the calculation principle of the delivery stroke of the carrier and the clamping slide in combination with Fig. 20 .

[0248] Presets:

[0249] The total length of the four-way vehicle: L = 6100.

[0250] The distance from the end face of the four-way vehicle to the center of the rear wheel positioning plate: D1 = 1500.

[0251] The distance of the mechanical fixed size at the tail end of the four-way vehicle: D2 = 380.

[0252] The total length of the clamping slide: L2 = 840.

[0253] The relative distance of the Y axis running is Y_RelativePos (Relative Position), that is, Yr'.

[0254] The absolute target value of the Y axis running is Y_AbsPos (Absolute Position), that is, Ya'.

[0255] The Y-axis running limit target value is Y_AbsMax (Absolute Maximum).

[0256] When the B-axis is 0°, the Y-axis running limit target value Y0 is 2940.

[0257] The W1-axis initial position value is equal to 438.

[0258] The W2-axis initial position value is equal to 912.

[0259] Y_RelativePos = 6100 + 1500 - 380 - 840 / 2 - 912 = 5888.

[0260] Determine whether the current Y-axis relative distance value meets the Y-axis zero-degree running stroke limit value:

[0261] When the Y-axis relative distance is greater than the Y-axis zero-degree running stroke limit value, that is, 5888 / 2 = 2944 > 2940, Y_AbsPos = 2940. Accordingly, W1' = W2' = 5888 - 2940*2 = 8.

[0262] Secondly, move the large car to the floor where the allocated free parking space is located, and then move the four-way car horizontally to align the center position of the allocated free parking space.

[0263] Thirdly, according to the car delivery stroke of the carrier and the clamping slide, control the carrier and the clamping slide to deliver the vehicle to be stored to the allocated free parking space for parking.

[0264] Optionally, if the car exit platform and the car entry platform are located in the same platform group, the third step can include: first adjusting the rotary table to rotate 180°, and then according to the car delivery stroke of the carrier, controlling the carrier to deliver the vehicle to be stored to the allocated free parking space for parking.

[0265] If the car exit platform and the car entry platform are located in the same platform group, it indicates that the car entry area and the car exit area are on the same side, and the rotary table is rotated 180°, which can ensure that the vehicle head position is outward when taking the car, facilitating the driver to directly drive the vehicle to leave the parking garage.

[0266] The following describes an example application of the car taking method of the three-dimensional mechanical parking garage, including the following steps 1 and step 2.

[0267] Step 1: When a vehicle enters the parking garage to prepare for parking, the vehicle owner makes a reservation for the parking demand of the parking garage through a mobile phone APP.

[0268] APP according to the vehicle information of the owner, screening out the parking space suitable for this car, if there is a parking space, the owner's reservation is successful, the garage locks the parking space and marks it as occupied, and the owner can go to park, if there is no suitable parking space, the owner's reservation fails, then the APP gives other parking suggestions, such as estimating that there will be a free parking space after XX time, or suggesting to navigate to other garages.

[0269] The parking space in the garage is limited, and in the area with dense traffic flow, the mobile phone can be used to reserve the parking space, so that the owner can reserve the parking space in advance, avoid the problem of being unable to park, and improve the utilization rate and management efficiency of the parking garage.

[0270] For example, the parking garage has an official APP and WeChat public number, and the owner registers his vehicle license plate information and vehicle type information in the program. When the owner needs to reserve parking in the parking garage, he can select the arrival time and parking time. The garage management system (running on the vehicle storage and retrieval device) reserves the corresponding parking space for the owner according to the owner's reservation data and the garage's internal parking space data, binds the owner's reservation information with the garage parking space, and reserves the parking space for the owner during the reservation period to meet the owner's parking needs during the reservation period. When the owner enters the parking garage, the camera installed at the entrance of the garage recognizes the vehicle license plate entering the garage and the parking lot. If it is a parking program reserved vehicle, the sensor assembly automatically assists the owner to park the vehicle in the parking lot, and the reservation parking is completed. If not, the display above the garage entrance displays the number of corresponding free parking spaces in the garage, prompting the owner whether he can park in this parking garage.

[0271] Step 2, after the owner's reservation is successful, he can drive directly into the parking area, the radar in the parking area will feed back the real-time information of the vehicle to the display in front of the door, assist and prompt the driver whether the vehicle position is in place, and prompt the correct operation such as extinguishing the fire, pulling the hand brake, etc. The personnel leave the parking area and click on the vehicle storage at the front operation platform to confirm that the vehicle can be parked in the reserved parking space.

[0272] At this time, the camera confirms that there is no living thing in the parking area and the vehicle, and then issues an instruction, and the equipment in the garage prepares for work. For example, the display above the garage entrance prompts that this parking lot will start the car moving work. The large box is lowered to the first floor, the four-way car rotates, the mover rotates to parallel with the vehicle parking angle, and the four-way car moves to the center position of the vehicle along the X-axis on the large box. After the garage door is completely raised, the mover can move along the horizontal track on the fixed base to enter the parking lot and move to the bottom of the vehicle. According to the radar data, the clamp rod assembly on the mover moves to the center of the wheel, and after reaching the position, it can clamp the vehicle and move back to the four-way car.

[0273] The garage matches the corresponding storage area according to real-time space and vehicle size, the large car will move to the designated floor along the Z axis, and the four-way car will move to the designated parking space on the large car box along the X axis. If the car-out area and the car-in area are located on the same side, the B axis will rotate 180° at the same time to ensure that the vehicle head position is outward.

[0274] Fig. 21 is a flowchart of a vehicle taking method of a three-dimensional mechanical parking garage provided by an embodiment of the present application, Fig. 21 The vehicle storage method shown is applied to Fig. 1-3 The three-dimensional mechanical parking garage shown. Referring to Fig. 21 The method flow includes the following steps.

[0275] S201: According to the position of the parking space where the vehicle to be taken is located and the position of the designated car-out parking lot, determine the vehicle taking journey of the corresponding handling unit.

[0276] S202: According to the determined vehicle taking journey of the corresponding handling unit, control the corresponding handling unit to carry the vehicle to be taken from the vertical channel to the designated car-out parking lot.

[0277] Optionally, before S201, the method flow can further include S200.

[0278] S200: Receive the car-out instruction and determine the position of the parking space where the vehicle to be taken is located and the position of the designated car-out parking lot according to the car-out instruction.

[0279] Exemplarily, the car-out instruction can be sent by the user. The car-out instruction can include the license plate number. In application, when taking the car, the user goes to the operation table to operate, such as clicking to take the car. The operation table provides a two-dimensional code for the user to log in to the garage website. After logging in to the garage website, the user inputs the license plate number of the vehicle to be taken and performs a payment operation. The storage and taking device determines the position of the parking space where the vehicle to be taken is located and the position of the designated car-out parking lot according to the input license plate number of the vehicle to be taken.

[0280] In S201, the vehicle taking journey includes the journey of taking the car from the parking space and the journey of sending the car into the car-out parking lot. Since taking the car from the parking space is the reverse process of sending the car in the car-in process, the journey of taking the car from the parking space can be determined according to the relevant data of the sending car journey in the car-in process. The calculation principle of the journey of sending the car into the car-out parking lot is similar to that of the sending car journey, which will not be described here.

[0281] In S202, the storage and taking device plans the handling unit to reach the parking space of the vehicle to be taken and carries the vehicle to be taken out of the garage according to the vehicle taking journey.

[0282] Optionally, the method flow can further include S203.

[0283] S203: Obtain the detection information of the geomagnetic, when the geomagnetic detects that the vehicle parked in the parking lot has left and the parking lot where the geomagnetic is located is the parking lot for leaving at the current time, end the leaving process.

[0284] In the application, when taking the car, the car owner clicks the operation table to take the car, and the operation table provides a two-dimensional code for the car owner to log in. After logging in, the garage system can determine the vehicle to be taken out. The garage system plans the transportation system to reach the vehicle parking space and moves the vehicle out of the garage. At this time, the lifting safety barrier of the leaving area can be lifted, and the driver can drive the vehicle. When the camera and the geomagnetic of the leaving area confirm that the vehicle has been driven away by the driver, the leaving process is ended.

[0285] In the embodiment, the car storing device and the car taking device of the three-dimensional mechanical parking garage can be computers, which include a processor and a memory for storing executable instructions of the processor. The processor is configured to execute the aforementioned car storing and taking method of the three-dimensional mechanical parking garage by executing the executable instructions. The memory and the processor can be connected through a bus. The storage unit can include a readable medium in the form of a volatile storage unit, such as a random access memory (RAM) and / or a cache storage unit, and can further include a read-only memory (ROM). The computer further includes a display unit connected to the bus. The display unit can display the aforementioned information such as the parking of the vehicle.

[0286] It should be noted that the car storing device and the car taking device can be the same device.

[0287] A computer readable storage medium has a computer program stored thereon, and the computer program is executed by the aforementioned processor to implement the aforementioned car storing and taking method of the three-dimensional mechanical parking garage.

[0288] It should be noted that the car storing device and the car taking device of the three-dimensional mechanical parking garage in the embodiment are the same inventive concept, and the functions of the car storing device and the car taking device of the three-dimensional mechanical parking garage can be seen in the car storing and taking method of the three-dimensional mechanical parking garage.

[0289] The above embodiments are only exemplary, and those skilled in the art should understand that the method and system described in the present application are not limited to the embodiments described in the specific embodiments. Those skilled in the art will easily think of other embodiments after considering the technical solutions of the present application, which also belongs to the technical innovation range of the present application, and the protection scope of the present application is indicated by the claims.

Claims

1. A stereoscopic mechanical parking garage, characterized by, The stereoscopic mechanical parking garage comprises a multi-storey building, a carrying assembly, a radar, a vehicle storing device and a vehicle taking device, The multi-storey building is provided with a vehicle parking area, a vertical passage area and a parking space area, the vehicle parking area is located at the bottom layer of the multi-storey building, the parking space area is located at other layers except the bottom layer, or the parking space area is located at other areas of the bottom layer except the vehicle parking area and other layers except the bottom layer, the vertical passage area is communicated with the vehicle parking area and the parking space area respectively, the vehicle parking area is provided with a plurality of vehicle parking groups, the parking space area of each layer is provided with a plurality of parking space groups, the vertical passage area is provided with a plurality of vertical passages, the vertical passages correspond to the vehicle parking groups and the parking space groups of each layer respectively, the vehicle parking group comprises n vehicle parking areas, the parking space group comprises n parking spaces, and the n vehicle parking areas and the n parking spaces are arranged in parallel in the length direction; The carrying assembly comprises a plurality of carrying units, the carrying units correspond to the vertical passages one by one, and the carrying units are movably arranged in the corresponding vertical passages; The radar is used for detecting position information and size information of a vehicle to be stored on a vehicle parking area; The vehicle storing device is used for determining a vehicle picking-up route of a corresponding carrying unit according to the position information and the size information of the vehicle to be stored on the vehicle parking area detected by the radar, and controlling the corresponding carrying unit to carry the vehicle to be stored from the corresponding vertical passage to a designated parking space according to the determined vehicle picking-up route of the corresponding carrying unit; The vehicle taking device is used for determining a vehicle picking-up route of a corresponding carrying unit according to the position of a vehicle to be taken and the position of a designated vehicle taking area, and controlling the corresponding carrying unit to carry the vehicle to be taken from the corresponding vertical passage to the designated vehicle taking area according to the determined vehicle picking-up route of the corresponding carrying unit.

2. The stereoscopic mechanical parking garage according to claim 1, characterized in that, The carrying unit comprises a large elevator car, a four-way vehicle and a carrier, the vertical passage is provided with a guide column, the large elevator car is movably connected with the guide column, the large elevator car is provided with a horizontal track, the four-way vehicle is movably connected with the horizontal track, the four-way vehicle is provided with a middle vehicle, a rotary table and a fixed base, the rotary table is rotatably connected with the middle vehicle, the fixed base is installed on the rotary table, the carrier is movably installed on the fixed base, the moving direction of the four-way vehicle is the same as the arrangement direction of the vehicle parking area, when the angle of the rotary table is 0, the moving direction of the carrier is perpendicular to the moving direction of the four-way vehicle, the carrier is provided with two clamping slides, the two clamping slides correspond to two pairs of wheels of the vehicle, and the two clamping slides are movably arranged on the carrier in a relative manner; The position information comprises a vehicle center point coordinate and a parking angle, and the size information comprises a front-rear wheel base. Correspondingly, the vehicle storage device is configured to determine an angle of the rotating table according to the parking angle, calculate a moving stroke of the four-way vehicle on the horizontal track according to the vehicle center point coordinate and the parking angle, calculate a moving stroke of the carrier according to the vehicle center point coordinate, a zero-degree vehicle receiving stroke and a limit-angle vehicle receiving stroke, and calculate moving strokes of the two clamping slides according to the front-rear wheel base.

3. The stereoscopic mechanical parking garage according to claim 1, characterized in that, The vehicle storage device is further configured to: determine whether the vehicle to be stored is parked in place according to the position information of the vehicle to be stored on the parking lot detected by the radar; when the vehicle to be stored is not parked in place, determine an adjustment instruction according to the position information of the vehicle to be stored on the parking lot detected by the radar, and display the adjustment instruction on a display screen installed between the parking lot and the corresponding vertical passage; when the vehicle to be stored is parked in place, display vehicle parking-in-place information on the display screen, and determine a vehicle storage stroke of a corresponding carrier unit according to the position information and size information of the vehicle to be stored on the parking lot detected by the radar.

4. The stereoscopic mechanical parking garage according to claim 3, characterized in that, The vehicle storage device is configured to: determine whether the vehicle center point coordinate of the vehicle to be stored is located in a vehicle receiving position range and whether the parking angle of the vehicle to be stored exceeds a vehicle receiving angle of the vehicle receiving position range; when the vehicle center point coordinate of the vehicle to be stored is located in the vehicle receiving position range and the parking angle of the vehicle to be stored does not exceed the vehicle receiving angle of the vehicle receiving position range, determine that the vehicle to be stored is parked in place; when the vehicle center point coordinate of the vehicle to be stored is not located in the vehicle receiving position range or the parking angle of the vehicle to be stored exceeds the vehicle receiving angle of the vehicle receiving position range, determine that the vehicle to be stored is not parked in place.

5. The stereoscopic mechanical parking garage according to claim 1, characterized in that, Each parking lot is provided with a geomagnetic sensor, the geomagnetic sensor is configured to detect whether a vehicle is parked on the parking lot; Correspondingly, the vehicle storage device is further configured to, when the geomagnetic sensor detects that a vehicle is parked on the parking lot and the parking lot where the geomagnetic sensor is located is an entry parking lot at the current time, acquire the position information and size information of the vehicle to be stored on the parking lot detected by the radar.

6. The stereoscopic mechanical parking garage according to claim 5, characterized in that, Each parking lot is provided with a camera device at the top, the camera device is configured to collect an image of the parking lot to obtain parking lot image information; Correspondingly, the vehicle storage device is configured to, when the geomagnetic sensor detects that a vehicle is parked on the parking lot and the parking lot where the geomagnetic sensor is located is an entry parking lot at the current time, acquire the parking lot image information obtained by the camera device, determine whether there is a living thing in the corresponding parking lot and the parked vehicle to be stored according to the parking lot image information, acquire the position information and size information of the vehicle to be stored on the parking lot detected by the radar when there is no living thing in the corresponding parking lot and the parked vehicle to be stored, and issue a warning when there is a living thing in the corresponding parking lot and the parked vehicle to be stored.

7. A method of storing a vehicle in a three-dimensional mechanical parking garage, characterized by The vehicle storage method is applied to the three-dimensional mechanical parking garage of any one of claims 1-6, and the vehicle storage method comprises: acquiring the position information and size information of the vehicle to be stored on the parking lot detected by the radar; determining a vehicle receiving stroke of a corresponding carrier unit according to the position information and size information of the vehicle to be stored on the parking lot detected by the radar; According to the determined taking trip of the corresponding handling unit, the corresponding handling unit is controlled to carry the vehicle to be stored from the vertical channel where the handling unit is located to the designated parking space.

8. A method of taking a vehicle from a stereoscopic mechanical parking garage, characterized by The taking method is applied to the three-dimensional mechanical parking garage according to any one of claims 1-6, and the taking method comprises: According to the position of the parking space where the vehicle to be taken is located and the position of the designated taking apron, the taking trip of the corresponding handling unit is determined; According to the determined taking trip of the corresponding handling unit, the corresponding handling unit is controlled to carry the vehicle to be taken from the vertical channel where the handling unit is located to the designated taking apron.

9. A storage device of a stereoscopic mechanical parking garage, characterized by, Comprise: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the storage method of the three-dimensional mechanical parking garage according to claim 7 via execution of the executable instructions.

10. A vehicle retrieval device for a vertical mechanical parking garage, characterized in that Comprise: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the taking method of the three-dimensional mechanical parking garage according to claim 8 via execution of the executable instructions. Comprise: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the taking method of the three-dimensional mechanical parking garage according to claim 8 via execution of the executable instructions.

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