Stereo garage chassis detection system and detection method

Abstract

The invention relates to the technical field of stereo garages, in particular to a stereo garage chassis detection system and method. Firstly, reference data are obtained through a ground chassis detection assembly, then chassis height change information is continuously collected through a detection assembly on a carrier, a vehicle is guided to enter according to a specified route and speed through an identification guiding system, and a central control system analyzes the data in real time and makes a corresponding control decision; based on a multi-protection detection scheme, the problem that single-point detection cannot cope with dynamic anomalies is solved, and the accuracy and reliability of detection are improved through systematic data analysis.

Description

Technical Field

[0001] The present application relates to the technical field of stereoscopic garages, and in particular to a stereoscopic garage chassis detection system and detection method. Background Art

[0002] Stereoscopic parking garages are an important solution to the parking problem in modern cities. Through mechanized and automated parking and retrieval systems, stereoscopic parking garages can achieve multi-level parking in limited spaces, greatly improving land utilization. Among them, plane-moving and vertical-lifting stereoscopic parking garages are widely used because of their reasonable structure and stable operation.

[0003] In the prior art, the intelligent transporter lifts the vehicle for storage and retrieval through the bottom load-bearing device. To avoid collision accidents caused by vehicles with too low chassis, some garages use photoelectric sensors to detect the chassis height, or use mechanical touch switches to perform single-point detection before entering the warehouse. These detection devices are generally set at the entrance channel.

[0004] The existing technology is unable to monitor the changes in chassis height during the process of storing and retrieving the car in real time, and the detection method is single and lacks a systematic detection method, resulting in insufficient detection accuracy and reliability; this situation needs to be further improved. Summary of the invention

[0005] In order to solve the problem that the existing detection method is single and lacks a systematic detection method, resulting in insufficient detection accuracy and reliability, the present application provides a three-dimensional parking garage chassis detection system and detection method, which adopts the following technical solutions: In a first aspect, the present application provides a chassis detection system for a stereo garage, comprising: A ground chassis detection component disposed in front of the garage entrance is used to obtain initial chassis height data of the vehicle; The walking chassis detection components installed at the front and rear ends of the transporter are used to obtain the vehicle chassis height change data in real time; The sign guidance system installed in front of the garage entrance is used to guide vehicles to enter according to the specified route and speed; The central control system is used to control the vehicle entry process according to the vehicle initial chassis height data and the vehicle chassis height change data.

[0006] By adopting the above technical scheme, in order to avoid collision accidents caused by the low vehicle chassis during the storage and retrieval process in the three-dimensional parking garage; the present application first obtains the baseline data through the ground chassis detection component, and then the detection component on the transporter continuously collects the chassis height change information. Since the car's brake shock absorber will sink, the car chassis height will be reduced, affecting the measurement accuracy. Therefore, the identification guidance system guides the vehicle to enter at the specified route and speed to avoid braking. The central control system analyzes the data in real time and makes corresponding control decisions. The detection scheme based on multiple protections not only solves the problem that single-point detection cannot cope with dynamic anomalies, but also improves the accuracy and reliability of detection through systematic data analysis.

[0007] Optionally, the walking chassis detection component includes: The main body of the pole; Two-way hinge structure; Fixed shaft; the yoke body is connected to the fixed shaft through the bidirectional hinge structure; Signal detection mechanism, including: A signal switch is fixedly arranged on the carrier; A trigger sheet, fixed on the yoke body, for triggering the signal switch; Wherein, the yoke body can realize left rotation and right rotation through the bidirectional hinge structure.

[0008] By adopting the above technical scheme, the single-rod detection structure in the prior art often has the risk of detection blind spots and mechanical jamming; the present application realizes flexible left and right rotation movement through the combination of the yoke body and the two-way hinge structure, and the entire mechanism is installed on the carrier through a fixed axis. At the same time, a trigger plate is provided on the yoke body to cooperate with the signal switch on the carrier. It not only solves the problem that the traditional single-rod structure is easy to jam, but also provides a larger detection range and more sensitive response characteristics through multi-degree-of-freedom movement.

[0009] Optionally, the central control system includes: A vehicle type identification module is used to determine the vehicle type identification according to the vehicle appearance characteristics; A passing frequency module is used to count the number of vehicle passing times according to the vehicle type identification to obtain a vehicle type characteristic coefficient; The operating condition analysis module is used to calculate the environmental correction value based on the temperature, humidity and vehicle speed parameters; A threshold setting module, used for calculating an adaptive trigger threshold according to the vehicle type characteristic coefficient and the environmental correction value; A state judgment module, used for judging the trigger signals of the ground chassis detection component and the walking chassis detection component based on the adaptive trigger threshold to obtain a chassis state result; A control execution module is used to determine a control instruction according to the chassis status result.

[0010] By adopting the above technical scheme, in order to solve the problem of insufficient detection accuracy of the chassis detection system of the stereo garage under different vehicle models and different environmental conditions, the existing technology usually adopts a fixed threshold for judgment, which cannot adapt to the complex and changeable actual working conditions; the present application first determines the vehicle type identification through the vehicle type recognition module, and calculates the vehicle type characteristic coefficient in combination with the historical data statistically calculated by the traffic frequency module. At the same time, the working condition analysis module calculates the environmental correction value according to the real-time temperature, humidity and vehicle speed parameters, and the threshold setting module calculates the adaptive trigger threshold based on these factors. Finally, the state judgment module and the control execution module complete the judgment of the chassis state and the execution of the control command; it not only solves the problem that the fixed threshold cannot adapt to complex working conditions, but also realizes the continuous optimization of the system through the accumulation of historical data, improves the system's adaptability to different vehicle models, enhances the ability to adapt to the environment, and significantly improves the accuracy and reliability of detection.

[0011] Optionally, the operating condition analysis module includes: A temperature compensation unit is used to calculate the temperature influence coefficient according to the ambient temperature; Humidity compensation unit, used to calculate humidity influence coefficient according to ambient humidity; A speed compensation unit, used to calculate the dynamic influence coefficient according to the real-time speed of the vehicle; A comprehensive processing unit is used to calculate the environmental correction value based on the temperature influence coefficient, the humidity influence coefficient and the dynamic influence coefficient.

[0012] By adopting the above technical scheme, when the garage is in hot summer weather, the metal parts of the detection device will affect the detection accuracy due to thermal expansion and contraction; in the rainy season, the damp ground will cause the wheels to slip, and the unstable vehicle speed will cause the detection signal to fluctuate; the temperature compensation unit of the present application calculates the influence coefficient brought by the change of material properties according to the real-time temperature, the humidity compensation unit analyzes the influence of humidity on the ground friction coefficient, and the speed compensation unit evaluates the dynamic influence of the vehicle's motion state on the detection signal. Finally, the comprehensive processing unit integrates these three influencing factors through a specific algorithm model to calculate the accurate environmental correction value; it realizes accurate compensation for multiple environmental factors, improves the adaptability of the system under various weather conditions, ensures the stability and reliability of the detection results, and greatly improves the operation safety of the three-dimensional parking garage.

[0013] Optionally, the central control system further includes: A failure statistics module is used to calculate the failure rate of the detection component based on the historical trigger signal; A sensitivity analysis module, used for obtaining a sensitivity parameter of a detection component based on the failure rate; The compensation adjustment module is used to dynamically compensate the adaptive trigger threshold according to the sensitivity parameter to obtain a corrected trigger threshold.

[0014] By adopting the above technical scheme, in order to solve the problem of reduced detection accuracy caused by performance degradation of the chassis detection components of the multi-story parking garage after long-term use; the failure statistics module of this application calculates the failure rate index of the detection component by analyzing the abnormal conditions of the historical trigger signal, the sensitivity analysis module evaluates the current performance status of the detection component according to the failure rate, and the compensation adjustment module makes real-time corrections to the adaptive trigger threshold based on the sensitivity parameter; the problems caused by performance degradation of the detection component are reduced, and adaptive optimization of system performance is achieved through continuous data analysis, thereby extending the effective service life of the detection component and ensuring detection accuracy during long-term use.

[0015] Optionally, the sensitivity analysis module includes: A trigger signal feature acquisition unit, used to acquire the historical trigger signal waveform features and trigger timing features of the detection component; A reference parameter acquisition unit, used to acquire standard trigger characteristic parameters and usage duration parameters of the detection component; A sensitivity deviation calculation unit, used to calculate a trigger sensitivity deviation value according to the historical trigger signal waveform characteristics and the standard trigger characteristic parameters; The sensitivity parameter acquisition unit is used to obtain the sensitivity parameter of the detection component according to the trigger sensitivity deviation value and the usage time parameter.

[0016] By adopting the above technical scheme, the existing technology usually only focuses on simple trigger count statistics, which cannot reflect the specific characteristics and laws of the performance degradation of the detection component; the present application collects the waveform and timing characteristics of the historical trigger data through the trigger signal feature acquisition unit, the benchmark parameter acquisition unit provides the standard trigger characteristics and usage time information, and the sensitivity deviation calculation unit obtains the difference between the actual performance and the standard performance through comparative analysis. Finally, the sensitivity parameter acquisition unit comprehensively considers various factors and calculates the accurate sensitivity parameters; it realizes the accurate evaluation of the performance of the detection component, provides an early warning mechanism for performance degradation, and improves the reliability and maintenance efficiency of the detection system.

[0017] Optionally, the compensation adjustment module includes: A reference threshold value acquisition unit, used to acquire a reference trigger threshold value corresponding to the sensitivity parameter; A compensation coefficient calculation unit, used to calculate a threshold compensation coefficient according to the sensitivity parameter and the use environment parameter; A modified threshold value calculation unit, used to calculate a modified trigger threshold value according to the reference trigger threshold value and the threshold value compensation coefficient; The use environment parameters include installation position parameters, working environment parameters and maintenance status parameters of the detection component.

[0018] By adopting the above technical solution, the detection components at the garage entrance are exposed to the outdoors and are affected by factors such as rain, snow, and direct sunlight. Their performance decays significantly faster than that of the detection components at indoor locations. The present application determines the reference value according to the current sensitivity parameter through the reference threshold acquisition unit, and the compensation coefficient calculation unit comprehensively analyzes the specific installation location, environmental conditions, and maintenance status of the detection components to calculate the compensation coefficient. Finally, the correction threshold calculation unit obtains the final trigger threshold. Accurate compensation of the detection threshold is achieved, the consistency of detection components at different locations is improved, and the system's adaptability to complex environments is enhanced.

[0019] In a second aspect, the present application provides a method for detecting a chassis of a stereo garage, comprising the following steps: Obtaining the initial chassis height data of the vehicle collected by the ground chassis detection component in front of the garage entrance; The vehicle chassis height change data is obtained in real time through the walking chassis detection components at the front and rear ends of the transporter; Guide vehicles to enter according to the specified route and speed based on the sign guidance system; The central control system controls the vehicle entry process according to the vehicle initial chassis height data and the vehicle chassis height change data.

[0020] Optionally, the vehicle entry process is controlled, including the following steps: Determine the vehicle type identification based on the vehicle appearance characteristics; Counting the number of vehicle passes according to the vehicle type identifier to obtain a vehicle type characteristic coefficient; Calculate environmental correction values ​​based on temperature, humidity and vehicle speed parameters; Calculating an adaptive trigger threshold according to the vehicle type characteristic coefficient and the environmental correction value; The trigger signals of the ground chassis detection component and the walking chassis detection component are judged based on the adaptive trigger threshold to obtain a chassis status result; A control instruction is determined according to the chassis status result.

[0021] Optionally, the method further comprises the following steps: Calculate the failure rate of the detection component based on the historical trigger signal; Obtaining a sensitivity parameter of a detection component based on the failure rate; The adaptive trigger threshold is dynamically compensated according to the sensitivity parameter to obtain a corrected trigger threshold.

[0022] In summary, the present application includes at least one of the following beneficial technical effects: 1. This application first obtains the baseline data through the ground chassis detection component, and then the detection component on the carrier continuously collects the chassis height change information, guides the vehicle to enter according to the specified route and speed through the identification guidance system, and the central control system analyzes the data in real time and makes corresponding control decisions; the detection scheme based on multiple protections not only solves the problem that single-point detection cannot cope with dynamic anomalies, but also improves the accuracy and reliability of detection through systematic data analysis; 2. The single-rod detection structure in the prior art often has the risk of detection blind spots and mechanical jamming; the present application realizes flexible left-right rotation movement through the combination of the yoke body and the two-way hinge structure, and the entire mechanism is installed on the carrier through a fixed axis. At the same time, a trigger plate is arranged on the yoke body to cooperate with the signal switch on the carrier, which not only solves the problem of easy jamming of the traditional single-rod structure, but also provides a larger detection range and more sensitive response characteristics through multi-degree-of-freedom movement; 3. In order to solve the problem of insufficient detection accuracy of the chassis detection system of the stereo garage under different vehicle models and different environmental conditions, the existing technology usually uses a fixed threshold for judgment, which cannot adapt to the complex and changeable actual working conditions; the present application first determines the vehicle type identification through the vehicle type recognition module, and calculates the vehicle type characteristic coefficient in combination with the historical data counted by the traffic frequency module. At the same time, the working condition analysis module calculates the environmental correction value according to the real-time temperature, humidity and vehicle speed parameters. The threshold setting module calculates the adaptive trigger threshold based on these factors, and finally the state judgment module and the control execution module complete the judgment of the chassis state and the execution of the control command; it not only solves the problem that the fixed threshold cannot adapt to complex working conditions, but also realizes the continuous optimization of the system through the accumulation of historical data, improves the system's adaptability to different vehicle models, enhances the ability to adapt to the environment, and significantly improves the accuracy and reliability of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of a chassis detection system for a three-dimensional parking garage according to an embodiment of the present application; Figure 2 It is a structural schematic diagram of a carrier in a chassis detection system of a stereo garage according to an embodiment of the present application; Figure 3 It is a structural schematic diagram of a yoke in a chassis detection system of a three-dimensional parking garage according to an embodiment of the present application; Figure 4 This is a schematic diagram of the module of the central control system of the embodiment of the present application. Figure 1 ; Figure 5 This is a schematic diagram of the module of the central control system of the embodiment of the present application. Figure 2 ; Figure 6 It is a unit schematic diagram of the sensitivity analysis module of the embodiment of the present application; Figure 7 It is a unit schematic diagram of the compensation and adjustment module of the embodiment of the present application; Figure 8 This is a schematic diagram of the process of a three-dimensional parking garage chassis detection method in the embodiment of the present application. Figure 1 ; Fig. 9 It is a flow chart of step S140 in a method for detecting a chassis of a stereo garage according to an embodiment of the present application; Fig.10 This is a schematic diagram of the process of a three-dimensional parking garage chassis detection method in the embodiment of the present application. Figure 2 ; Fig.11 It is a flow chart of step S220 in a method for detecting a chassis of a stereo garage according to an embodiment of the present application; Fig.12 It is a flow chart of step S230 in a method for detecting a chassis of a stereoscopic car park according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification and appended claims of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear indication to the contrary in the context. It should also be understood that the term "and / or" used in the present application refers to any or all possible combinations comprising one or more listed items.

[0025] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0026] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.

[0027] In the first aspect, the present application provides a three-dimensional parking garage chassis detection system, referring to Figure 1The system includes a ground chassis detection component, a walking chassis detection component, a marking guidance system and a central control system (not shown in the figure). The ground chassis detection component is arranged in front of the garage entrance to obtain the initial chassis height data of the vehicle; the walking chassis detection component is arranged at the front and rear ends of the carrier to obtain the vehicle chassis height change data in real time; the marking guidance system is arranged in front of the garage entrance. Since the car brake shock absorber will sink, the car chassis height will be reduced, which affects the measurement accuracy. Therefore, the marking guidance system is used to guide the vehicle to enter according to the specified route and speed to avoid braking; the central control system is used to control the vehicle entry process according to the vehicle initial chassis height data and the vehicle chassis height change data.

[0028] Reference Figure 2 and Figure 3 The walking chassis detection assembly includes a pole body, a two-way hinge structure, a fixed shaft and a signal detection mechanism (not shown in the figure); the pole body is connected to the fixed shaft through a two-way hinge structure; the signal detection mechanism includes a signal switch and a trigger sheet, and the signal switch is fixedly arranged on the carrier; the trigger sheet is fixed on the pole body and is used to trigger the signal switch; wherein the pole body realizes left rotation and right rotation through a two-way hinge structure. By using a double-sided hinge to design a pole structure that can be reversed, the height of the vehicle chassis can be detected in all directions in both forward and reverse directions.

[0029] In one embodiment, referring to Figure 4 , the central control system includes: The vehicle type recognition module is used to determine the vehicle type identification based on the vehicle appearance characteristics.

[0030] In this embodiment, the vehicle type recognition module recognizes the vehicle type based on visual detection technology and feature matching algorithm. The vehicle appearance features include feature data such as vehicle length, width, wheelbase, and contour shape, which are collected by multiple visual sensors installed at the entrance. The system has pre-established feature template libraries for different models such as sedans, SUVs, and MPVs, and each model has a unique type identification code.

[0031] Specifically, the system uses a deep learning algorithm to extract and match features from the collected vehicle images. First, the image is preprocessed, including denoising, illumination compensation, and image correction; then the convolutional neural network is used to extract the key feature points of the vehicle and calculate the similarity with the feature template library; finally, the vehicle type identification is determined based on the template with the highest matching degree.

[0032] The passage frequency module is used to count the number of vehicle passages according to the vehicle type identification and obtain the vehicle type characteristic coefficient.

[0033] In this embodiment, the traffic frequency module realizes automatic calculation of vehicle type characteristic coefficients through data statistical analysis. The system records the traffic conditions of each type of vehicle, including the traffic time, frequency and cumulative number of times, and establishes a vehicle type usage frequency database.

[0034] Specifically, the system counts the number of times each type of vehicle passes once an hour and calculates the frequency distribution within 24 hours. If the frequency of a certain type of vehicle passes significantly higher than the average level during a specific period of time, its characteristic coefficient will be increased accordingly. For example, if the average daily number of passes of medium-sized cars accounts for 60% of the total traffic, its characteristic coefficient can be set to 1.2; if the number of passes of a certain type of vehicle is relatively small, the characteristic coefficient can be appropriately reduced, such as to 0.8.

[0035] The operating condition analysis module is used to calculate the environmental correction value based on temperature, humidity and vehicle speed parameters.

[0036] The working condition analysis module uses multi-sensor collaboration to monitor environmental parameters in real time. The system inputs these parameters into the compensation model to calculate the impact of the environment on the detection performance.

[0037] In this embodiment, the operating condition analysis module includes a temperature compensation unit, a humidity compensation unit, a speed compensation unit and a comprehensive processing unit. The temperature compensation unit is used to calculate the temperature influence coefficient according to the ambient temperature; the humidity compensation unit is used to calculate the humidity influence coefficient according to the ambient humidity; the speed compensation unit is used to calculate the dynamic influence coefficient according to the real-time speed of the vehicle; the comprehensive processing unit is used to calculate the environmental correction value based on the temperature influence coefficient, the humidity influence coefficient and the dynamic influence coefficient.

[0038] Specifically, the comprehensive processing unit calculates the temperature correction coefficient α(t)=1+k1*(t-t_ref) / 100, where t is the current temperature, t_ref is the standard temperature of 20°C, k1 is the temperature correction coefficient, the humidity influence function β(h)=1+k2·(h-h_ref) / h_ref, where h is the current humidity, h_ref is the standard humidity of 60%, and k2 is the humidity influence coefficient; the speed dynamic factor γ(v)=1+k3·(v / v_ref)², where v is the current speed, v_ref is the standard speed of 5km / h, and k3 is the speed coefficient; then the comprehensive environmental correction value M=α(t)·β(h)·γ(v) is obtained, 0.5≤α(t)≤1.5, 0.7≤β(h)≤1.3, and γ(v)=1 when v=0. It can be understood that the effective range of the correction coefficient can be modified as needed.

[0039] The threshold setting module is used to calculate the adaptive trigger threshold according to the vehicle model characteristic coefficient and the environmental correction value.

[0040] In this embodiment, the threshold setting module realizes dynamic adjustment of the detection threshold based on the vehicle model characteristics and environmental conditions. The system sets a reference trigger threshold, which is a reference value determined under standard conditions. In actual operation, the system uses the vehicle model characteristic coefficient and the environmental correction value as adjustment factors to correct the reference threshold.

[0041] Specifically, the adaptive trigger threshold is calculated by multiplying the reference value by the correction coefficient. For example, if the reference trigger threshold is 100 pulse counts, the vehicle characteristic coefficient is 1.2, and the environmental correction value is 0.9, the actual trigger threshold is 108 pulse counts. The system updates the threshold every 1 minute to ensure that the detection parameters can adapt to environmental changes in a timely manner.

[0042] The state judgment module is used to judge the trigger signals of the ground chassis detection component and the walking chassis detection component based on the adaptive trigger threshold to obtain the chassis state result.

[0043] Specifically, when the detection signal exceeds the adaptive trigger threshold, the system starts the signal analysis program. First, the validity of the signal is verified to eliminate the influence of interference and noise; then the signal is feature extracted, including peak value, duration, etc.; finally, the chassis status is determined according to the preset judgment rules.

[0044] The control execution module is used to determine the control instructions according to the chassis status results.

[0045] The control execution module selects the corresponding control strategy according to the different chassis status results. The system pre-sets a variety of control schemes, including normal passage, deceleration, pause waiting and alarm processing. The control instructions are sent to the actuator through the fieldbus network to achieve real-time control of vehicle passage.

[0046] Specifically, when the test result is normal, the system issues a green light to go command; when a minor abnormality is detected, a yellow light to slow down command is issued; when a serious abnormality is found, a red light to stop command is immediately issued and an alarm is triggered. For example, if the degree of chassis abnormality exceeds the warning value, the system will simultaneously activate the sound and light alarm, the display screen will prompt specific abnormal information, and record relevant data for subsequent analysis.

[0047] In one embodiment, referring to Figure 5 , the central control system also includes: The failure statistics module is used to calculate the failure rate of the detection component based on the historical trigger signal.

[0048] In this embodiment, the failure statistics module uses an intelligent analysis algorithm to evaluate the reliability of the historical trigger signals of the detection components. The system records the trigger signal characteristics of each detection component, including signal amplitude, waveform characteristics, trigger time and other parameters, and identifies failures such as signal anomalies, missed detections and false triggers through comparative analysis.

[0049] Specifically, the system counts the failure of detection components every 24 hours. For example, it records the number of abnormal signal amplitudes, the time period of signal loss, the frequency of false triggers, etc. If a detection component has 5 abnormal signals in 1,000 triggers, its failure rate is 0.5%; if there is continuous signal amplitude attenuation, the system will also include this trend change in the failure statistics. By establishing a failure database, the system can track the performance change history of detection components.

[0050] The sensitivity analysis module is used to obtain the sensitivity parameters of the detection component based on the failure rate.

[0051] In this embodiment, the sensitivity analysis module establishes a performance evaluation model based on the failure characteristics of the detection component. Considering multiple dimensions such as component failure rate, signal quality and detection reliability, the sensitivity change of the detection component is quantified through mathematical modeling methods. The system determines the calculation method of the sensitivity parameter according to the degree of influence of different failure modes on the detection performance.

[0052] Specifically, the sensitivity parameters are calculated using a weighted scoring method. For example, different types of failure phenomena such as signal amplitude attenuation, response time extension, and noise increase are assigned different weights according to their severity.

[0053] The compensation adjustment module is used to dynamically compensate the adaptive trigger threshold according to the sensitivity parameter to obtain a corrected trigger threshold.

[0054] In this embodiment, the compensation adjustment module realizes dynamic correction of the trigger threshold through an adaptive algorithm. The system performs real-time compensation on the original trigger threshold according to the sensitivity parameters of the detection component to adapt to the dynamic changes in component performance.

[0055] Specifically, the compensation adjustment of the trigger threshold adopts a piecewise linear method. For example, when the sensitivity parameter is in the range of 0.9-1.0, the compensation coefficient of the trigger threshold is linearly related to the sensitivity parameter; when the sensitivity parameter is lower than 0.9, a nonlinear compensation method is used to increase the compensation strength. If the sensitivity parameter of a detection component is 0.85, the system may adjust the original trigger threshold to 80% of the original value and issue a warning message at the same time.

[0056] In one embodiment, referring to Figure 6 , the sensitivity analysis module includes: The trigger signal feature acquisition unit is used to acquire the historical trigger signal waveform features and trigger timing features of the detection component.

[0057] In this embodiment, the trigger signal feature acquisition unit analyzes the historical trigger data of the detection component through digital signal processing technology to extract key characteristic parameters of the signal, including waveform characteristics such as signal amplitude, rise time, duration, waveform distortion, and timing characteristics such as trigger delay and recovery time.

[0058] The benchmark parameter acquisition unit is used to acquire the standard trigger characteristic parameters and usage duration parameters of the detection component.

[0059] In this embodiment, the reference parameter acquisition unit maintains a standard characteristic database of the detection component. The database contains standard trigger characteristic parameters of the detection component in the factory state, such as standard signal amplitude, standard response time, waveform quality requirements, etc. At the same time, the system also records the installation time, cumulative working time, maintenance records and other usage history information of the detection component, which is used to evaluate the service life status of the component.

[0060] The sensitivity deviation calculation unit is used to calculate the trigger sensitivity deviation value according to the historical trigger signal waveform characteristics and standard trigger characteristic parameters.

[0061] In this embodiment, the sensitivity deviation calculation unit uses a multi-dimensional evaluation method to analyze the degree of deviation of the detection performance. The system compares the actual trigger characteristics with the standard parameters, calculates the deviation value of each characteristic parameter, and comprehensively evaluates the deviations of different characteristic parameters to obtain a quantitative index reflecting the sensitivity change of the detection component.

[0062] The sensitivity parameter acquisition unit is used to obtain the sensitivity parameter of the detection component according to the trigger sensitivity deviation value and the usage time parameter.

[0063] In this embodiment, the sensitivity parameter acquisition unit implements sensitivity evaluation based on fuzzy logic algorithm. The system comprehensively considers the trigger sensitivity deviation value and the use time factor, establishes a two-dimensional evaluation model, and calculates the current sensitivity parameter according to the performance degradation degree and service life status of the detection component.

[0064] In one embodiment, referring to Figure 7 , the compensation adjustment module includes: The reference threshold value acquisition unit is used to acquire a reference trigger threshold value corresponding to the sensitivity parameter.

[0065] The system maintains an adaptive threshold database in advance. The database stores reference trigger thresholds at different sensitivity levels, and quickly obtains the reference value corresponding to the current state by looking up the table. The system selects the appropriate reference threshold interval according to the sensitivity parameters of the detection component, providing basic data for subsequent compensation adjustments.

[0066] The compensation coefficient calculation unit is used to calculate the threshold compensation coefficient according to the sensitivity parameter and the use environment parameter.

[0067] Specifically, the calculation of the compensation coefficient adopts the hierarchical weighting method. For example, when the installation position deviation exceeds the design value by 5mm, the position compensation weight is 0.3; when the ambient temperature exceeds 35°C, the temperature compensation weight is 0.4; when it is more than 3 months since the last maintenance, the state compensation weight is 0.3. If a detection component has these conditions at the same time, the system will calculate the comprehensive compensation coefficient. The compensation coefficient usually fluctuates in the range of 0.8-1.2, and the system updates the compensation parameters every hour.

[0068] The modified threshold value calculation unit is used to calculate the modified trigger threshold value according to the reference trigger threshold value and the threshold value compensation coefficient.

[0069] The use environment parameters include the installation location parameters, working environment parameters and maintenance status parameters of the detection component.

[0070] In the second aspect, the present application provides a method for detecting a chassis of a stereoscopic car park. The stereoscopic car park chassis detection method of the present application is described below in conjunction with the above-mentioned stereoscopic car park chassis detection system.

[0071] Reference Figure 8 A method for detecting a chassis of a stereo garage comprises the following steps: S110, obtaining the vehicle initial chassis height data collected by the ground chassis detection component in front of the garage entrance; S120, obtaining vehicle chassis height change data in real time through the walking chassis detection components at the front and rear ends of the transporter; S130, guiding the vehicle to enter according to the specified route and speed according to the sign guidance system; S140, the central control system controls the vehicle entry process according to the vehicle initial chassis height data and the vehicle chassis height change data.

[0072] In one embodiment, referring to Fig. 9 In step S140, the vehicle entry process is controlled, including the following steps: S141, determining a vehicle type identification according to the vehicle appearance characteristics; S142, counting the number of vehicle passes according to the vehicle type identifier to obtain a vehicle type characteristic coefficient; S143, calculating an environmental correction value according to temperature, humidity and vehicle speed parameters; S144, calculating an adaptive trigger threshold according to the vehicle model characteristic coefficient and the environmental correction value; S145, judging the trigger signals of the ground chassis detection component and the walking chassis detection component based on the adaptive trigger threshold, and obtaining a chassis status result; S146. Determine a control instruction according to the chassis status result.

[0073] In one embodiment, referring to Fig.10 , the method also includes the following steps: S210, calculating the failure rate of the detection component according to the historical trigger signal; S220, obtaining a sensitivity parameter of the detection component based on the failure rate; S230 . Dynamically compensate the adaptive trigger threshold according to the sensitivity parameter to obtain a corrected trigger threshold.

[0074] In one embodiment, referring to Fig.11 In step S220, the sensitivity parameter of the detection component is obtained based on the failure rate, including the following steps: S221, obtaining historical trigger signal waveform characteristics and trigger timing characteristics of the detection component; S222, obtaining standard trigger characteristic parameters and usage duration parameters of the detection component; S223, calculating the trigger sensitivity deviation value according to the historical trigger signal waveform characteristics and the standard trigger characteristic parameters; S224. Obtain a sensitivity parameter of the detection component according to the trigger sensitivity deviation value and the usage duration parameter.

[0075] In one embodiment, referring to Fig.12 In step S230, the adaptive trigger threshold is dynamically compensated according to the sensitivity parameter, including the following steps: S231, obtaining a reference trigger threshold corresponding to the sensitivity parameter; S232: Calculate a threshold compensation coefficient according to the sensitivity parameter and the use environment parameter.

[0076] The use environment parameters include the installation location parameters, working environment parameters and maintenance status parameters of the detection components; S233. Calculate a corrected trigger threshold according to the reference trigger threshold and the threshold compensation coefficient.

[0077] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0078] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A chassis detection system for a stereo garage, characterized in that: include: A ground chassis detection component disposed in front of the garage entrance is used to obtain initial chassis height data of the vehicle; The walking chassis detection components installed at the front and rear ends of the transporter are used to obtain the vehicle chassis height change data in real time; The sign guidance system installed in front of the garage entrance is used to guide vehicles to enter according to the specified route and speed; The central control system is used to control the vehicle entry process according to the vehicle initial chassis height data and the vehicle chassis height change data.

2. The three-dimensional car park chassis detection system according to claim 1 is characterized in that: The walking chassis detection component comprises: The main body of the pole; Two-way hinge structure; A fixed shaft, the yoke body is connected to the fixed shaft through the bidirectional hinge structure; Signal detection mechanism, including: A signal switch is fixedly arranged on the carrier; A trigger sheet, fixed on the yoke body, for triggering the signal switch; Wherein, the yoke body can realize left rotation and right rotation through the bidirectional hinge structure.

3. The three-dimensional car park chassis detection system according to claim 1 is characterized in that: The central control system comprises: A vehicle type identification module is used to determine the vehicle type identification according to the vehicle appearance characteristics; A passing frequency module is used to count the number of vehicle passing times according to the vehicle type identification to obtain a vehicle type characteristic coefficient; The operating condition analysis module is used to calculate the environmental correction value based on the temperature, humidity and vehicle speed parameters; A threshold setting module, used for calculating an adaptive trigger threshold according to the vehicle type characteristic coefficient and the environmental correction value; A state judgment module, used for judging the trigger signals of the ground chassis detection component and the walking chassis detection component based on the adaptive trigger threshold to obtain a chassis state result; A control execution module is used to determine a control instruction according to the chassis status result.

4. The three-dimensional car park chassis detection system according to claim 3 is characterized in that: The operating condition analysis module includes: A temperature compensation unit is used to calculate the temperature influence coefficient according to the ambient temperature; Humidity compensation unit, used to calculate humidity influence coefficient according to ambient humidity; A speed compensation unit, used to calculate the dynamic influence coefficient according to the real-time speed of the vehicle; A comprehensive processing unit is used to calculate the environmental correction value based on the temperature influence coefficient, the humidity influence coefficient and the dynamic influence coefficient.

5. The three-dimensional car park chassis detection system according to claim 3 is characterized in that: The central control system also includes: A failure statistics module is used to calculate the failure rate of the detection component based on the historical trigger signal; A sensitivity analysis module, used for obtaining a sensitivity parameter of a detection component based on the failure rate; The compensation adjustment module is used to dynamically compensate the adaptive trigger threshold according to the sensitivity parameter to obtain a corrected trigger threshold.

6. The three-dimensional car park chassis detection system according to claim 5 is characterized in that: The sensitivity analysis module includes: A trigger signal feature acquisition unit, used to acquire the historical trigger signal waveform features and trigger timing features of the detection component; A reference parameter acquisition unit, used to acquire standard trigger characteristic parameters and usage duration parameters of the detection component; A sensitivity deviation calculation unit, used to calculate a trigger sensitivity deviation value according to the historical trigger signal waveform characteristics and the standard trigger characteristic parameters; The sensitivity parameter acquisition unit is used to obtain the sensitivity parameter of the detection component according to the trigger sensitivity deviation value and the usage time parameter.

7. The three-dimensional car park chassis detection system according to claim 6 is characterized in that: The compensation adjustment module comprises: A reference threshold value acquisition unit, used to acquire a reference trigger threshold value corresponding to the sensitivity parameter; A compensation coefficient calculation unit, used to calculate a threshold compensation coefficient according to the sensitivity parameter and the use environment parameter; A modified threshold value calculation unit, used to calculate a modified trigger threshold value according to the reference trigger threshold value and the threshold value compensation coefficient; The use environment parameters include installation position parameters, working environment parameters and maintenance status parameters of the detection component.

8. A method for detecting chassis of a stereo garage, characterized in that: The steps include: Obtaining the initial chassis height data of the vehicle collected by the ground chassis detection component in front of the garage entrance; The vehicle chassis height change data is obtained in real time through the walking chassis detection components at the front and rear ends of the transporter; Guide vehicles to enter according to the specified route and speed based on the sign guidance system; The central control system controls the vehicle entry process according to the vehicle initial chassis height data and the vehicle chassis height change data.

9. The method for detecting chassis of a stereo garage according to claim 8, characterized in that: Control the vehicle entry process, including the following steps: Determine the vehicle type identification based on the vehicle appearance characteristics; Counting the number of vehicle passes according to the vehicle type identifier to obtain a vehicle type characteristic coefficient; Calculate environmental correction values ​​based on temperature, humidity and vehicle speed parameters; Calculating an adaptive trigger threshold according to the vehicle type characteristic coefficient and the environmental correction value; The trigger signals of the ground chassis detection component and the walking chassis detection component are judged based on the adaptive trigger threshold to obtain a chassis status result; A control instruction is determined according to the chassis status result.

10. The method for detecting chassis of a three-dimensional parking garage according to claim 9, characterized in that: The method further comprises the steps of: Calculate the failure rate of the detection component based on the historical trigger signal; Obtaining a sensitivity parameter of a detection component based on the failure rate; The adaptive trigger threshold is dynamically compensated according to the sensitivity parameter to obtain a corrected trigger threshold.

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