Inclined anti-collision monitoring and early warning system and method for multi-layer tower garage

Abstract

The invention relates to the technical field of three-dimensional parking, in particular to an inclined anti-collision monitoring and early warning system and method for a multi-layer tower garage, and the system comprises a laser module which is composed of an emitter and a reflecting plate at the bottom of a lifting mechanism; the anti-collision monitoring module is used for judging whether the emitter can receive the reflected laser on the reflecting plate or not, calculating shielding time based on a judgment result, and judging whether anti-collision early warning is needed or not based on the duration of the shielding time; the inclination monitoring module is used for calculating the current height of the lifting mechanisms based on the travel time of the laser and calculating the dynamic speed change rate of the lifting mechanisms on the left side and the right side based on the change of the current height in a preset time period; the inclination monitoring module is used for carrying out absolute distance analysis according to the current height and carrying out dynamic speed analysis according to the dynamic speed change rate so as to judge whether inclination early warning is needed; and the early warning module is used for giving an alarm according to anti-collision early warning or inclination early warning. The method has the effect of realizing anti-collision and inclination monitoring and early warning with low cost.

Description

Technical Field

[0001] The present application relates to the technical field of three-dimensional parking, and in particular to a tilt anti-collision monitoring and early warning system and method for multi-story tower garages. Background Art

[0002] In recent years, with the continuous increase in the number of cars, it has been difficult for flat garages above or below the ground to meet the parking needs of a large number of vehicles. In order to improve the space utilization of the garage, many parking lots are currently beginning to use three-dimensional tower garages to cope with the needs of a large number of vehicles.

[0003] Most of the current towers are three-dimensional combinations of n layers and m spaces. There are n parking planes in total, and each layer has m parking spaces in the horizontal direction. Among them, one column is used as a conveying column, and there are several parking columns on both sides of the conveying column. After the vehicle is parked in the bottom layer of the conveying column, the lifting motor on the top of the conveying column drives the lifting mechanism on both sides of the vehicle to move up and down along the conveying column. When it reaches the target layer, the transverse motor in the target layer drives the transverse mechanism to move to the bottom of the vehicle and connects with the lifting mechanism. After the handover is completed, the lifting motor drives the left and right lifting mechanisms to move to the original position (the bottom layer of the conveying column) to wait for the next vehicle to enter the warehouse, and the transverse motor drives the transverse mechanism and the vehicle on the transverse mechanism to move to the target parking space to complete the entry into the warehouse.

[0004] The outbound process is the opposite of the inbound process. First, the transverse mechanism drives the vehicle that needs to be outbound to move horizontally to the conveyor column. The lifting mechanism moves upward from the bottom until it completes the handover with the transverse mechanism. After the handover, the transverse mechanism moves in the opposite direction to the initial position, and the lifting mechanism drives the vehicle to move to the bottom of the conveyor column to complete the outbound.

[0005] The above tower storage has certain defects:

[0006] First, when the transverse mechanism moves horizontally to connect with the lifting mechanism, it is necessary to ensure that there are no parked vehicles on the transverse mechanism. If there are parked vehicles, the transverse mechanism will drive the vehicles to move together, so that when the handover is carried out, the vehicles to be stored will collide with the vehicles on the transverse mechanism. In the current technology, whether there is a vehicle stored on the transverse mechanism is generally determined by setting a photoelectric sensor or a weight sensor on the parking space corresponding to the transverse mechanism to determine whether there is a vehicle on the transverse mechanism. However, this method requires that the transverse mechanism on each parking space is equipped with a sensor, which costs a lot and requires a lot of data to be monitored and analyzed.

[0007] Secondly, the lifting mechanisms installed on the left and right sides may sometimes deviate in height due to the breakage of the chain corresponding to one side of the lifting mechanism or the increase in aging friction. When the vehicle is transported, the left and right sides of the vehicle will have different heights and tilt, which will accelerate the damage of the lifting mechanism. At the same time, the tilted vehicle body will collide with other steel structures of the tower library or even tilt and fall, posing a great safety hazard. Summary of the invention

[0008] In order to realize anti-collision and tilt monitoring and early warning at low cost, the present application provides a tilt anti-collision monitoring and early warning system and method for a multi-story tower.

[0009] In the first aspect, the present application provides a method for energy consumption prediction and energy-saving scheme generation based on multi-modality, which adopts the following technical scheme:

[0010] A tilt anti-collision monitoring and early warning system for multi-story towers, comprising:

[0011] The laser module is composed of a transmitter arranged at the bottom of the conveying column and on the left and right sides of the column, and a reflector plate arranged at the bottom of the lifting mechanism on the left and right sides respectively;

[0012] An anti-collision monitoring module, electrically connected to the transmitter and determining whether the transmitter can receive the reflected laser on the reflector, and calculating the shielding time based on the determination result, and determining whether an anti-collision warning is required based on the duration of the shielding time;

[0013] A tilt monitoring module, electrically connected to the transmitter and calculating the current height of the lifting mechanisms on the left and right sides based on the travel time of the laser, and calculating the dynamic speed change rate of the lifting mechanisms on the left and right sides based on the change of the current height in a preset time period;

[0014] The tilt monitoring module is used to perform absolute distance analysis according to the current height and dynamic speed analysis according to the dynamic speed change rate to determine whether a tilt warning is required;

[0015] The early warning module is electrically connected to the anti-collision monitoring module and the tilt monitoring module to give an alarm according to the anti-collision early warning or the tilt early warning.

[0016] In some of the embodiments, the anti-collision monitoring module specifically includes a first data acquisition module, an occlusion time calculation module and an anti-collision analysis module;

[0017] The first data acquisition module is used to acquire the lateral movement speed of the lateral movement mechanism and the steel frame width of the lateral movement mechanism;

[0018] The shielding time calculation module calculates the shielding time constant based on the lateral movement speed and the steel frame width;

[0019] The blocking time calculation module is also used to select the laser module on the corresponding side according to the position of the target parking space and to count the moment when the transmitter cannot receive the reflected laser to obtain the blocking time;

[0020] The anti-collision analysis module is used to compare the occlusion time with the occlusion time constant. When the occlusion time is greater than the occlusion time constant, an anti-collision warning is generated and sent to the warning module. The occlusion time constant is preset based on the corresponding working condition.

[0021] In some of the embodiments, the anti-collision monitoring module further includes a mode switching module and a vacancy selection module;

[0022] The mode switching module is adjusted to a normal mode and an automatic correction mode based on user selection;

[0023] Wherein, in the normal mode, if the anti-collision analysis module determines that the shielding time is greater than the shielding time constant, the early warning module is directly controlled to give an alarm;

[0024] In the automatic correction mode, the space selection module obtains the relative position of the current target parking space, and when the anti-collision analysis module generates an anti-collision warning, selects a mirror position symmetrical to the relative position, and controls the transverse movement mechanism at the mirror position to move transversely to re-judge whether the anti-collision warning will be generated. If the anti-collision warning does not occur, the mirror position is used as the new target parking space;

[0025] The vacancy selection module is further configured to record a correction number and select a vacancy selection logic based on the correction number, wherein the correction number is characterized by the number of times the anti-collision warning is triggered.

[0026] In some of the embodiments, the vacancy selection module is further used to:

[0027] Get the number of floors m and the number of parking spaces on each floor n, generate a first limit number based on n-1, and generate a second limit number based on nm-1;

[0028] If the number of corrections is greater than the first limit number, select the m+1th floor to search for the target parking space again, add the value corresponding to the number of corrections to the number pool and set the current number of corrections to zero;

[0029] If the value in the number pool is greater than the second limit number, the anti-collision analysis module is controlled to issue the anti-collision warning.

[0030] In some embodiments, the tilt monitoring module includes a left calculation module and a right calculation module, the left calculation module obtains the time difference from the laser emission to the return and calculates the left current height of the lifting mechanism on the left side in combination with the speed of light, and the right calculation module obtains the time difference from the laser emission to the return and calculates the right current height of the lifting mechanism on the right side in combination with the speed of light;

[0031] The tilt monitoring module also includes an absolute distance analysis module, which is used to calculate whether the absolute value of the difference between the current height on the left side and the current height on the right side is greater than a preset value. If so, a tilt warning is generated.

[0032] In some of the embodiments, the left side calculation module is further used to intercept a test time period and obtain the left side actual speed difference at the time points at both ends of the test time period, and calculate the left side tilt dynamic rate in combination with the duration of the test time period; the right side calculation module is further used to intercept the right side actual speed difference at the time points at both ends of the test time period, and calculate the right side tilt dynamic rate in combination with the duration of the test time period;

[0033] The tilt monitoring module further includes a dynamic speed analysis module, which is used to obtain a reference speed difference at time points at both ends of the test time period, and calculate a reference change rate in combination with the duration of the test time period;

[0034] The left side tilt dynamic rate and the right side tilt dynamic rate are compared with the reference change rate respectively, and when the difference between the left side tilt dynamic rate or the right side tilt dynamic rate and the reference change rate is greater than a preset value, a tilt warning is generated.

[0035] In some embodiments, a parking and retrieval mode selection module is further included, wherein the parking and retrieval mode selection module selects a parking mode and a retrieval mode based on the obtained selection instruction, and issues a corresponding lateral movement action trigger condition based on the parking mode or the retrieval mode and sends it to the lateral movement mechanism, wherein:

[0036] In parking mode, the trigger condition for the lateral movement is that the current height of the left side and the current height of the right side are both greater than , It is represented by the floor top height corresponding to the floor number where the target parking space is located;

[0037] In the vehicle pickup mode, the trigger condition for the lateral movement action is that the current height of the left side and the current height of the right side are both less than ',in, It is represented by the floor top height corresponding to the floor number below the target parking space. ' Characterized by the structural height of the lifting mechanism.

[0038] In some of the embodiments, a shutdown issuing module is further included, which is used to issue a shutdown command to control the lifting motor corresponding to the lifting mechanism to stop when the anti-collision warning or the tilt warning appears, and is also used to stop the current height of the left side and the current height of the right side in the parking mode. and in the vehicle pickup mode when the left current height and the right current height are equal 'When the shutdown command is issued, the lifting motor is controlled to stop.

[0039] In some of the embodiments, a stop accuracy optimization module is further included which is electrically connected to the stop issuing module and is used to continuously obtain the actual speed of the lifting mechanism from the left calculation module and the right calculation module when the stop issuing module issues the stop command;

[0040] After the actual speed becomes zero, the current parking height is obtained, and the parking height is compared with or 'Perform difference calculation to obtain the difference to be optimized;

[0041] The shutdown advance amount is calculated based on the difference to be optimized. or 'Make adjustments and send them to the shutdown sending module.

[0042] The technical solution provided by the embodiment of the present application has the following technical effects:

[0043] The laser device installed at the bottom of the lifting mechanism is used to analyze distance, obstruction, speed, etc. The laser obstruction time between the transmitter and the reflector is used to analyze whether there is a collision hazard. The laser between the transmitter and the reflector calculates the height, speed and other information of the lifting mechanism to dynamically determine whether there is an abnormal difference between the left and right lifting mechanisms to determine whether there is a tilt hazard. This method no longer requires the independent installation of photoelectric sensors, weight sensors, etc. in each parking space. Only a set of laser modules on the left and right sides is needed to realize the monitoring of non-car collision-free warehousing and transportation tilt, which improves the prevention effect of various safety hazards while reducing the cost of supporting hardware. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic diagram of the overall structure of the tower warehouse and the tilt anti-collision monitoring and early warning system in the embodiment of the present application.

[0045] Figure 2 yes Figure 1 An enlarged schematic diagram of part A in FIG.

[0046] Figure 3 It is a top view of the lifting mechanism in the embodiment of the present application with and without a vehicle.

[0047] Figure 4 It is a top view of the transverse movement mechanism in the embodiment of the present application with and without a vehicle.

[0048] Figure 5 It is a top view of the connection between the lifting mechanism and the transverse movement mechanism in the embodiment of the present application.

[0049] Figure 6 It is a schematic diagram of the parking process in an embodiment of the present application.

[0050] Figure 7 It is a schematic diagram of the vehicle picking process in an embodiment of the present application.

[0051] Figure 8 It is a schematic diagram of a scene corresponding to the anti-collision warning in the embodiment of the present application.

[0052] Fig. 9 It is a schematic diagram of a scene corresponding to a tilt warning in an embodiment of the present application.

[0053] Fig.10 It is a schematic diagram of the overall workflow of the tilt anti-collision monitoring and warning system in the embodiment of the present application.

[0054] Fig.11 It is a schematic diagram of the steps of the tilt anti-collision monitoring and early warning method in an embodiment of the present application.

[0055] Explanation of the reference numerals: 1. Transmitter; 2. Reflector; 3. Lifting mechanism; 4. Transverse movement mechanism; 5. Lifting motor; 6. Transverse movement motor. DETAILED DESCRIPTION

[0056] To more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. However, it should be understood by those of ordinary skill in the art that the present application can be implemented without these details. In some cases, in order to avoid unnecessary descriptions that make various aspects of the present application obscure, the well-known methods, processes, systems, components and circuits that have been described at a higher level will not be described in detail. For those of ordinary skill in the art, it is obvious that various changes can be made to the embodiments disclosed in the present application, and without departing from the principles and scope of the present application, the general principles defined in the present application can be applied to other embodiments and application scenarios. Therefore, the present application is not limited to the embodiments shown, but conforms to the broadest scope consistent with the scope claimed for protection of the present application.

[0057] It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in each embodiment of the present invention described below can be combined with each other as long as there is no conflict between them.

[0058] In the description of this application, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0059] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples.

[0060] like Figure 1 and Figure 2 As shown, first of all, the tower library structure in the embodiment of the present application is explained, which is built of a steel structure as a whole and has several parking floors. From the vertical direction, the tower library is composed of a conveying column in the center column and parking columns on both sides of the conveying column. Each parking column corresponds to a number of parking spaces, and the conveying column mainly carries the vehicle transportation work during the process of picking up and parking, and it cannot park itself. At the same time, the bottom layer of the conveying column contains a conversion position. When parking, the vehicle needs to enter the conversion position to achieve a three-dimensional parking action. When picking up the vehicle, the vehicle is taken out of a parking space and moved to the conversion position to drive out. The conversion position does not correspond to the number of floors of the tower library. In the subsequent examples of the embodiments of the present application, the conversion position is defined as the 0th floor.

[0061] like Figure 3 As shown, a lifting mechanism moving in the vertical direction is provided in the tower library, which is driven by a lifting motor. The lifting mechanism and the lifting motor are both in the conveying column, which are used to drive the vehicle to move in the vertical direction on the conveying column. The lifting mechanism includes a left mechanism and a right mechanism. The lifting motor is provided with one, and the lifting motor drives the lifting rod to rotate. The two ends of the lifting rod are respectively connected to the lifting mechanisms on the left and right sides by chains or traction. Then, when the lifting rod rotates, the length of the chain will change to realize the driving of the lifting mechanism.

[0062] like Figure 4As shown, a plurality of transverse movement mechanisms and corresponding transverse movement motors are also provided in the tower garage. The transverse movement motor drives the transverse movement mechanism to move laterally along the horizontal direction. Each parking space in the tower garage corresponds to a transverse movement mechanism.

[0063] Secondly, if Figure 5 and Figure 6 As shown, the parking process in this application is: the vehicle enters the conversion position corresponding to Figure 6 The lifting mechanism on the conversion position drives the vehicle to a certain height to correspond to the A state. Figure 6 In the B state, because it is necessary to wait for the transverse mechanism on the target parking space to move to the bottom of the vehicle, the lifting mechanism needs to lift the vehicle to the top of the layer where the target parking space is located; the transverse mechanism on the target parking space moves horizontally to the conveying column and is at the bottom of the vehicle, and the lifting mechanism drives the vehicle down and reaches the layer height corresponding to the target parking space to complete the vehicle handover with the transverse mechanism to correspond to Figure 6 The C state in the middle; the lateral movement mechanism finally moves the vehicle to the target parking space for parking, and the lifting mechanism descends to the conversion area to complete a parking process. Figure 6 The D state in .

[0064] like Figure 5 and Figure 7 As shown, the process of picking up a car in this application is as follows: when picking up a car, first go through Figure 7 The transverse mechanism on the target parking space in the middle A state drives the vehicle to move transversely to the conveyor column. At the same time, the lifting mechanism rises to the bottom of the transverse mechanism and waits for the transverse mechanism to move out completely to correspond to the Figure 7 The lifting mechanism rises to the vehicle picking height to complete the vehicle handover with the transverse mechanism, and the transverse mechanism moves back to the corresponding parking space to correspond to Figure 7 The lifting mechanism drives the vehicle down to the transfer area to complete a vehicle pickup process. This corresponds to the C state. Figure 7 The D state in .

[0065] The present application embodiment discloses a tilt anti-collision monitoring and early warning system for a multi-story tower, comprising:

[0066] The laser module is composed of a transmitter arranged at the bottom of the conveying column and on the left and right sides thereof, and a reflector plate arranged at the bottom of the lifting mechanism on the left and right sides thereof.

[0067] like Figure 2 As shown, two emitters are arranged at the bottom of the conveying column, and the emitters are used to emit laser in the vertical upward direction. At the same time, reflective plates are arranged at the bottom of the lifting mechanisms on the left and right sides, and the reflective plates on each side correspond to the two emitters below one by one to reflect the laser emitted by the emitters.

[0068] In this way, the subsequent anti-collision monitoring and tilt monitoring can be realized through the laser travel time emitted by the transmitter and returned by the reflector and the laser passage conditions.

[0069] The anti-collision monitoring module is electrically connected to the transmitter and determines whether the transmitter can receive the reflected laser on the reflector, calculates the shielding time based on the determination result, and determines whether an anti-collision warning is needed based on the length of the shielding time;

[0070] like Figure 8 and Fig.10 As shown, the anti-collision monitoring module is mainly used to determine whether there will be a vehicle on the transverse movement mechanism of a certain parking space during the parking process, causing a collision between the vehicle to be stored and the vehicle on the transverse movement mechanism. Therefore, the anti-collision monitoring module is used to determine whether there is a vehicle on the transverse transporter.

[0071] The monitoring principle is to judge whether the transmitter can obtain the laser it emits and reflected by the reflector. When parking, the lifting mechanism will move to the upper layer of the target parking space. Therefore, when the lateral movement mechanism moves horizontally, it will block the laser between the transmitter and the reflector, resulting in the transmitter end being unable to obtain the reflected laser for some time. Since the structure of the lateral movement mechanism is composed of a steel structure frame combined with several rolling frames corresponding to vehicle tires, there is a difference in the blocking time of the laser when there is a car or no car on the lateral movement mechanism, so anti-collision monitoring can be performed based on this difference.

[0072] The tilt monitoring module is electrically connected to the transmitter and calculates the current height of the lifting mechanisms on the left and right sides based on the travel time of the laser, and calculates the dynamic speed change rate of the lifting mechanisms on the left and right sides based on the change of the current height in a preset time period.

[0073] like Fig. 9 and Fig.10 As shown, at the same time, in order to perform tilt monitoring, the present application also includes a tilt monitoring module, which determines the real-time height of the lifting mechanisms on the left and right sides by judging the travel time required for the transmitter to emit laser and the laser to return, and calculates the dynamic speed change rate through the change of the current height of the lifting mechanism. The dynamic speed change rate is characterized by the change of the movement speed of each lifting mechanism when it moves left and right based on the lifting motor.

[0074] The tilt monitoring module is used to perform absolute distance analysis based on the current altitude and dynamic speed analysis based on the dynamic speed change rate to determine whether a tilt warning is required.

[0075] The absolute distance analysis is performed through the height difference between the left and right sides, and the dynamic speed analysis is performed through the dynamic speed change rate of the lifting mechanism on the left and right sides to determine the speed change difference between the two. The above two analysis results are combined to determine whether a tilt warning is needed.

[0076] The early warning module is electrically connected to the anti-collision monitoring module and the tilt monitoring module to give an alarm according to the anti-collision early warning or the tilt early warning.

[0077] The early warning module is divided into two parts. One part is used as the current alarm device, which adopts an audible and visual alarm. When there is an anti-collision warning or a tilt warning, it will send out an audible and visual alarm to remind the current staff. The other part includes an alarm command sending device connected to the main control, which is used to send the corresponding warning information to the background when an anti-collision warning or a tilt warning occurs.

[0078] Furthermore, in the system of the present application, the anti-collision monitoring module and the tilt monitoring module are integrated into a PLC controller and a network switch. The operation of the lifting mechanism and the lateral movement mechanism is controlled by the PLC controller, and the network switch is used to realize the network topology. The laser modules separated on the left and right are electrically connected to the PLC controller, and the PLC controller reads the corresponding data on the laser module to perform processor calculations, and after the calculations, the corresponding object operation is controlled through remote control methods such as PROFINET and RS485.

[0079] In the above manner, the laser device set at the bottom of the lifting mechanism is used to analyze distance, obstruction, speed, etc., and the laser obstruction time between the transmitter and the reflector is used to analyze whether there is a collision hazard. The laser between the transmitter and the reflector is used to calculate the height, speed and other information of the lifting mechanism to dynamically determine whether there is an abnormal difference between the left and right lifting mechanisms to determine whether there is a tilt hazard. This method no longer requires the independent installation of photoelectric sensors, weight sensors, etc. in each parking space. Only a set of laser modules on the left and right sides is needed to realize the monitoring of non-vehicle collision-free warehousing and transportation tilt, which improves the prevention effect of various safety hazards while reducing the cost of supporting hardware.

[0080] like Figure 4 and Fig.10 As shown, in some other embodiments, the anti-collision monitoring module specifically includes a first data acquisition module, an occlusion time calculation module and an anti-collision analysis module.

[0081] The first data acquisition module is used to acquire the transverse speed of the transverse mechanism and the steel frame width of the transverse mechanism.

[0082] There are steel frame structures on both sides of the transverse transporter. There is a tire placement area composed of several rollers between the two steel frames. In actual use, if there is no vehicle on the transverse movement mechanism, when it blocks the laser on the left or right side during the transverse movement, the blocked object is the steel frame, and the distance blocked by one blocking is the width of the steel frame.

[0083] Secondly, the first data acquisition module is electrically connected to the transverse motor to calculate the transverse speed of the transverse mechanism according to the rotation speed of the transverse motor.

[0084] The occlusion time calculation module calculates the occlusion time constant based on the traverse speed and the steel frame width.

[0085] After the occlusion time calculation module obtains the lateral speed and steel frame width from the first data acquisition module, it calculates the lateral speed and steel frame width according to: To calculate the occlusion time constant. X is the width of the steel frame, The ideal traverse speed.

[0086] The blocking time constant is characterized by the theoretical blocking time of the laser in a blocking action during the lateral movement when there is no vehicle on the lateral movement mechanism.

[0087] The blocking time calculation module is also used to select the laser module on the corresponding side according to the position of the target parking space and to time the moment when the transmitter cannot receive the reflected laser to obtain the blocking time.

[0088] After obtaining the occlusion time constant, the corresponding left or right laser module is selected according to whether the target parking space is on the left or right side of the conveying column and the orientation of the target parking space, and the time when the transmitter of the laser module cannot receive the reflected laser is obtained as the occlusion time. The failure to receive the reflected laser indicates that the transverse movement mechanism with or without a car has moved to the bottom of the lifting mechanism.

[0089] The anti-collision analysis module is used to compare the occlusion time with the occlusion time constant. When the occlusion time is greater than the occlusion time constant, an anti-collision warning is generated and sent to the warning module.

[0090] When there is no vehicle, the shielding distance of the transverse mechanism is Y, and when there is a vehicle, the shielding distance of the transverse mechanism is Z. Y is the width of the steel frame of the transverse mechanism, and Z includes most of the width of the vehicle, so Z must be greater than Y.

[0091] Then, under the premise that the lateral movement speed remains unchanged or changes slightly, the blocking time when there is a car must be greater than the blocking time when there is no car. Then, when the blocking time is greater than the blocking time constant, it can be judged that there is a vehicle on the lateral movement mechanism. At this time, it is necessary to issue an anti-collision warning to remind on-site personnel. When the blocking time is less than or equal to the blocking time constant, it is judged that there is no vehicle on the lateral movement mechanism.

[0092] In some other embodiments, the anti-collision monitoring module further includes a mode switching module and a vacancy selection module;

[0093] The mode switching module is adjusted to a normal mode and an automatic correction mode based on user selection.

[0094] According to different actual scenarios, different modes can be selected through the mode switching module, and different modes correspond to different response measures when an anti-collision warning occurs.

[0095] The choice of which mode to choose is at the discretion of the Taku staff.

[0096] Among them, in the normal mode, if the anti-collision analysis module determines that the occlusion time is greater than the occlusion time constant, it directly controls the early warning module to alarm.

[0097] In normal mode, if the transverse movement mechanism on the target parking space to be parked triggers the anti-collision warning, it indicates that there is a vehicle on the transverse movement mechanism. At this time, an alarm is directly issued and the machine is shut down.

[0098] In this mode, the lateral movement mechanism on other parking spaces is not tested to select other empty spaces. Instead, an alarm and shutdown are directly issued when an anti-collision warning occurs.

[0099] This mode can be used in test scenarios or for high-value vehicle parking scenarios. In these scenarios, although the use of conventional countermeasures cannot achieve intelligent reselection of empty spaces, the risk of safety hazards is low.

[0100] In the automatic correction mode, the space selection module obtains the relative position of the current target parking space. When the anti-collision analysis module generates an anti-collision warning, it selects a mirror position that is symmetrical to the relative position and controls the transverse movement mechanism at the mirror position to move transversely to re-judge whether an anti-collision warning will be generated. If no anti-collision warning occurs, the mirror position will be used as the new target parking space.

[0101] In the automatic correction mode, when the target parking space A triggers the anti-collision warning, it means that there is a vehicle on the lateral movement mechanism of the target parking space A. At this time, the alarm is not triggered first, but other positions are selected through automatic correction to determine again whether it is an empty space.

[0102] At this time, the transverse movement mechanism that triggered the anti-collision warning and the vehicle on it are first moved back to the target parking space A, and then the parking space B at the mirror position corresponding to the target parking space A is selected, and the transverse movement mechanism on the parking space B is controlled to move laterally toward the transmission column again, and it is re-determined whether the anti-collision warning will appear.

[0103] If the anti-collision warning is not triggered, it indicates that parking space B is empty. At this time, parking space B is used as the new target parking space. At the same time, the lateral movement of the lateral movement mechanism of the parking space is continued until it moves to the matching position directly below the lifting mechanism. The lifting mechanism is controlled to drive the vehicle to move downward to complete the vehicle handover with the lateral movement mechanism.

[0104] Through the above steps, after a target parking space fails to pass the anti-collision monitoring, another parking space at a symmetrical position is selected for anti-collision monitoring again, until an empty space where no collision will occur is selected to complete parking.

[0105] The automatic correction mode should be used for high-traffic parking scenarios. In these scenarios, a large number of vehicles are waiting for parking spaces, so the tower is not allowed to have too many alarm shutdowns, while ensuring that a large number of vehicles can park quickly.

[0106] The vacancy selection module is further used to record the number of corrections and select the vacancy selection logic based on the number of corrections, wherein the number of corrections is characterized by the number of times the anti-collision warning is triggered.

[0107] At the same time, the vacancy selection module is also used to record the number of times the anti-collision warning is triggered, and to perform different vacancy selection logics according to the number of corrections. The vacancy selection logic includes the logic when there is a vacancy and the logic when there is no vacancy.

[0108] In some other embodiments, the vacancy selection module is further used to:

[0109] Get the number of floors m and the number of parking spaces on each floor n, generate a first limit number based on n-1, and generate a second limit number based on nm-1.

[0110] Two number thresholds are generated based on the number of floors of the tower and the number of parking spaces on each floor. The first number limit is the number of parking spaces on each floor minus one, which is used to determine whether each floor is fully parked to further analyze whether it is necessary to change to another floor for parking. The second number limit is the total number of parking spaces in the entire tower minus one, which is used to determine whether the tower can still accommodate vehicles for parking without collision.

[0111] If the number of corrections is greater than the first limit, the m+1 layer is selected to search for the target parking space again, the value corresponding to the number of corrections is added to the number pool and the current number of corrections is set to zero.

[0112] Each time an anti-collision warning occurs, the number of corrections is increased by one and compared with the first limit number in real time. If the number of corrections before successful parking is greater than the first limit number, it means that all parking spaces on this floor cannot meet the requirements of anti-collision parking.

[0113] If there are two parking spaces on one floor, the first limit number is 1. When there is a vehicle parked in each parking space, the first time the anti-collision warning is triggered, it means that there is a car in the first parking space. At this time, it is necessary to determine the blocking time of the transverse movement mechanism on the second parking space in the symmetrical position. When there is no car in the second parking space, no anti-collision warning will be issued this time. Therefore, the correction number is 1, which is less than the first limit number, and the car can be parked normally. If there is a car in the second parking space, an anti-collision warning will be triggered again. At this time, the correction number is 2, which is greater than the first limit number. Therefore, it is characterized by no empty parking spaces on this floor.

[0114] In this case, it is necessary to select an empty space on other floors for parking, so the floor number m corresponding to the target parking space needs to be increased by one, and the occlusion time analysis of the transverse movement mechanism needs to be repeated on a higher floor.

[0115] At the same time, when selecting other layers, first you need to add the value corresponding to the current number of corrections to the overall number pool, and reset the current number of corrections to 0. In the above example, when the m layer cannot park, the m+1 layer is selected to continue looking for an empty space, and the value of the number of corrections "2" is added to the number pool. When looking for an empty space on the m+1 layer, the number of corrections starts again from 0.

[0116] Before each vehicle starts to park, the number pool corresponding to the vehicle is 0. The value in the number pool represents the number of all anti-collision warnings triggered by the vehicle from the beginning to the end of parking.

[0117] If the value in the number pool is greater than the second limit number, the anti-collision analysis module is controlled to issue an anti-collision warning.

[0118] It is further determined whether the value in the number pool is greater than the second limit number. If it is greater than, it indicates that there is no vacant space in the tower. If the vehicle to be parked is parked in the tower, a collision will definitely occur. Only then will an anti-collision warning be issued.

[0119] Through the above scheme, the selection logic of finding empty parking spaces is further optimized in the automatic correction mode, and the number of warnings is used to analyze whether there are valid spaces on this floor where collisions will not occur, and whether there are valid spaces in the entire tower where collisions will not occur.

[0120] like Fig. 9 and Fig.10 As shown, in other embodiments, the tilt monitoring module includes a left-side calculation module and a right-side calculation module. The left-side calculation module obtains the time difference from laser emission to return and calculates the current left height corresponding to the left lifting mechanism in combination with the speed of light. The right-side calculation module obtains the time difference from laser emission to return and calculates the current right height corresponding to the right lifting mechanism in combination with the speed of light.

[0121] The tilt monitoring module calculates the current height of the lifting mechanism on the left and right sides by calculating the time difference from the emission to the return of the laser on the left and right sides and the speed of light through the left and right calculation modules.

[0122] If the laser is emitted at T1 and returns to the emission position at T2, then T2-T1 is the travel time of the laser.

[0123] Then according to the formula: The current height of the lifting mechanism can be calculated.

[0124] The tilt monitoring module also includes an absolute distance analysis module, which is used to calculate whether the absolute value of the difference between the current height on the left and the current height on the right is greater than a preset value. If so, a tilt warning is generated.

[0125] The absolute distance analysis module is used to determine whether there is a height difference between the current height of the lifting mechanism on the left and the current height of the lifting mechanism on the right. Ideally, when a lifting motor drives the lifting mechanisms on both sides to lift, the two lifting mechanisms should maintain the same operating height. However, when the corresponding chains of some lifting mechanisms age and the friction increases or breaks, the movement speed of the lifting mechanism on one side will slow down, resulting in a height difference between the lifting motors on both sides.

[0126] In actual situations, due to the different maintenance conditions of the chains on both sides and the weight difference between the left and right sides of the vehicle, there may be a certain height difference between the lifting mechanisms on both sides when moving. However, a very small height difference will not cause the vehicle to tilt significantly. When the height difference is greater than a preset value, which is defined as the value of the equipment tilt constant in this application, it indicates that there is a large height difference that will cause the vehicle to tilt and pose a safety hazard. At this time, a tilt alarm needs to be generated.

[0127] That is to say, when or A tilt alarm is generated when

[0128] The above embodiment is an absolute distance analysis, which is a relatively simple and intuitive monitoring method and can be used to determine tilt in any scenario. However, the above analysis of height difference can only provide an early warning when a large tilt has occurred, and cannot be used as a predictive analysis of potential tilt trends. In some environments with higher safety requirements, a more detailed dynamic speed analysis is required.

[0129] In other embodiments, the left-side calculation module is also used to intercept a test time period and obtain the actual speed difference on the left side at the time points at both ends of the test time period, and calculate the left-side tilt dynamic rate in combination with the duration of the test time period. The right-side calculation module is also used to intercept the actual speed difference on the right side at the time points at both ends of the test time period, and calculate the right-side tilt dynamic rate in combination with the duration of the test time period.

[0130] During the movement of the lifting mechanism, a time period is intercepted as a test time period, such as T1-T2, and the actual speed of the lifting mechanism at each time point is obtained in real time. The speed at T2 is subtracted from the speed at T1 to obtain the speed change of the lifting mechanism during this test time and defined as the actual speed difference.

[0131] A slope value can be obtained by dividing the actual speed difference by the test time, which is defined in this application as the tilt dynamic rate. The tilt dynamic rate is specifically characterized by the ratio of the amplitude of the speed change per unit time.

[0132] Specifically, define variable parameters:

[0133] vL_AV(t1): actual speed value of the left lifting mechanism at time t1;

[0134] vR_AV(t1): actual speed value of the right lifting mechanism at time t1;

[0135] vL_AV(t2): actual speed value of the left lifting mechanism at time t2;

[0136] vR_AV(t2): actual speed value of the right lifting mechanism at time t2;

[0137] error_L: left tilt dynamic rate, where error_L=|vL_AV(t2)-vL_AV(t1)| / |T2-T1|;

[0138] error_R: right tilt dynamic rate, where error_R=|vR_AV(t2)-vR_AV(t1)| / |T2-T1|.

[0139] The larger the tilt dynamic rate, the larger the speed change amplitude of the lifting mechanism during this period of time. Conversely, the smaller the tilt dynamic rate, the smaller the speed amplitude of the lifting mechanism during this period of time.

[0140] The tilt monitoring module also includes a dynamic speed analysis module, which is used to obtain a reference speed difference at time points at both ends of a test time period, and calculate a reference change rate in combination with the duration of the test time period.

[0141] The dynamic speed analysis module first obtains the preset uploaded reference speed trend, which is characterized by the entire process line segment from slowly accelerating to smoothly moving and finally slowly decelerating to zero under the ideal working state of the lifting mechanism.

[0142] At the same time, the reference speed difference in the test time period is obtained based on the two time points T1 and T2 of the test time period, and the reference change rate is calculated in combination with the duration of the test time period. The reference change rate is characterized by the amplitude ratio of the ideal speed change in each unit time.

[0143] Specifically, define the parameters:

[0144] v_TS(t1): reference speed value at time t1;

[0145] v_TS(t2): reference speed value at time t2;

[0146] error_TS: reference change rate, where error_TS=|v_TS(t2)-v_TS(t1)| / |T2-T1|.

[0147] The left side tilt dynamic rate and the right side tilt dynamic rate are compared with the reference change rate respectively. When the difference between the left side tilt dynamic rate or the right side tilt dynamic rate and the reference change rate is greater than a preset value, a tilt warning is generated.

[0148] Calculate |error_L-error_TS| and |error_R-error_TS|, and determine whether tilt occurs based on the relationship between the results and the preset dynamic error allowable value.

[0149] When |error_L-error_TS|>error_Set or |error_R-error_TS|>error_Set, it means that the dynamic speed change rate of the lifting mechanism on the left or right side is greater than the reference change rate under ideal conditions. This means that the speed change of the lifting mechanism on the left or right side is too large or too small and is in an abnormal situation. The closer the actual speed change is to the ideal speed change, the better the operating state of the lifting mechanism. When the difference from the ideal speed change is greater, the operating state of the lifting mechanism is more uncontrollable, and the possibility of a large height difference between it and the other lifting mechanism is greater. Therefore, a tilt warning is generated at this time, so that the abnormality of the lifting mechanism can be predicted and determined when the height difference between the left and right lifting mechanisms is not very large.

[0150] In some other embodiments, a vehicle storage and access mode selection module is also included.

[0151] The parking and retrieval mode selection module selects the parking mode and the retrieval mode based on the obtained selection instruction.

[0152] Users can choose whether to pick up or store the car on the equipment near the conversion position according to their needs. In the scenarios of picking up or storing the car, the coordination between the lifting mechanism and the transverse mechanism is different. At the same time, when the transverse mechanism moves and when the lifting mechanism moves will be determined differently according to different choices of the storage and retrieval mode.

[0153] Under different parking and retrieval modes, the parking and retrieval mode selection module sends the corresponding lateral movement action trigger conditions based on the parking mode or the retrieval mode and sends them to the lateral movement mechanism to control the lateral movement mechanism to perform lateral movement within the required time to avoid the lateral movement mechanism and the lifting mechanism moving to the same position and colliding.

[0154] In parking mode, the trigger condition for lateral movement is that the current height on the left and the current height on the right are greater than , It is represented by the floor top height corresponding to the floor number where the target parking space is located.

[0155] First of all, when parking a vehicle, the lifting mechanism needs to first move the vehicle to the top of the transverse mechanism. If the transverse mechanism moves to the conveying column before the lifting mechanism is lifted to the appropriate position, the vehicle on the lifting mechanism will collide with the transverse mechanism during the lifting process.

[0156] Therefore, in the parking mode, the condition for triggering the lateral movement action is that the laser detects that the lifting mechanisms on the left and right sides have moved to a position higher than the height of the layer where the target parking space is located.

[0157] If the target parking space is on the 3rd floor, and the height of each floor in the tower is 3 meters, then That is 9 meters. When the height of the bottom of the lifting mechanism is detected and it is determined that the current height exceeds 9 meters, the transverse movement mechanism can move laterally in the direction of the conveying column without colliding with the lifting mechanism.

[0158] In the vehicle pickup mode, the lateral movement is triggered when the current height on the left and the current height on the right are less than ',in, It is represented by the floor top height corresponding to the number of floors below the target parking space. 'Characterized as the structural height of the lifting mechanism.

[0159] When picking up the vehicle, the lifting mechanism needs to be below the transverse mechanism to ensure that it can contact and abut against the tires and chassis of the vehicle when moving upward. If the lifting mechanism is above the transverse mechanism, the lifting mechanism will not be able to pass through the body of the vehicle when descending and will collide with the vehicle.

[0160] Therefore, in the vehicle pickup mode, the trigger condition for the lateral movement action is that the lifting mechanism moves to a position lower than the floor height of the target parking space. At the same time, since some lifting mechanisms have vertical support arms, in order to avoid collision between the support arms and the horizontal transporter, The height of the lifting mechanism is subtracted from the height of the lifting mechanism to ensure that the entire lifting mechanism is located below the transverse movement mechanism.

[0161] If the target parking space is on the 3rd floor, and the height of each floor in the tower is 3 meters, then That is 6 meters. At the same time, it is known that the overall structural height of the lifting mechanism is 1 meter. Then when the height of the bottom of the lifting mechanism is detected and it is determined that the current height is lower than 5 meters, the transverse movement mechanism can move laterally in the direction of the conveying column without colliding with the lifting mechanism.

[0162] In other embodiments, a shutdown issuing module is further included, which is used to issue a shutdown command to control the corresponding lifting motor of the lifting mechanism to stop when an anti-collision warning or a tilt warning occurs, and is also used to stop the current height of the left side and the current height of the right side in the parking mode. When the current height on the left and the current height on the right are equal in the vehicle pickup mode 'When the shutdown command is issued, the lifting motor is stopped.

[0163] The shutdown sending module is mainly used to send a shutdown command to the lifting motor to stop the lifting motor from rotating, and the lifting mechanism will no longer move in the vertical direction.

[0164] There are two situations in which the shutdown command is triggered:

[0165] First, when an anti-collision warning or a tilt warning occurs, the lifting mechanism needs to be stopped in time to avoid the potential safety hazards of vehicle collision or vehicle falling.

[0166] Secondly, in the mode of parking or picking up a car, the lifting mechanism is controlled to move to the most suitable position to wait for the lateral movement of the lateral movement mechanism to start. Because in the above embodiment, when the lifting mechanism moves to match the trigger condition of the lateral movement, the lateral movement mechanism will move. If the lateral movement mechanism moves without collision, if the lifting mechanism continues to move, the distance between the lifting mechanism and the lateral movement mechanism will become larger or smaller. Therefore, in order to ensure that the lifting mechanism stops at the optimal position after reaching the optimal position, the shutdown sending module needs to be stopped when reaching the optimal position. or 'Control the lifting motor to stop.

[0167] In other embodiments, a shutdown accuracy optimization module is also included which is electrically connected to the shutdown issuing module and is used to continuously obtain the actual speed of the lifting mechanism from the left calculation module and the right calculation module when the shutdown issuing module issues a shutdown command.

[0168] After the actual speed becomes zero, obtain the current parking height and compare it with the or 'Perform difference calculation to obtain the difference to be optimized.

[0169] Calculate the shutdown advance amount based on the difference to be optimized or 'Make adjustments and send to the shutdown delivery module.

[0170] When the motor stops, because the motor is a linear device, it takes a certain amount of time to reduce its speed from the current speed to 0. During this time, although the lifting motor stops, the lifting mechanism will still rise or fall a short distance. In order to optimize the invalid movement distance after this period of shutdown, the shutdown accuracy optimization module is needed to detect the change in height from the time the shutdown command is issued to the time the speed of the lifting mechanism completely becomes 0.

[0171] If the current height when the stop command is issued is 6 meters, the actual speed of the lifting mechanism will drop to 0 and the stop height will be 6.2 meters. or 'The corresponding trigger requires height, so the difference between the two heights, 0.2 meters, is the height that needs to be optimized.

[0172] By combining the obtained height to be optimized with the speed change rate monitored during the shutdown process, a shutdown advance can be calculated. or ' is adjusted. In this way, when the shutdown operation is performed later, the lifting mechanism can issue a shutdown command in advance to reduce or eliminate the invalid moving distance and provide the position accuracy of the lifting mechanism after shutdown.

[0173] like Fig.11 As shown, the present application also discloses a tilt anti-collision monitoring and early warning method for a multi-story tower warehouse, which is based on a transmitter arranged at the bottom of a conveying column and on the left and right sides of the column and a reflector plate arranged at the bottom of a lifting mechanism on the left and right sides, respectively, and includes the following steps:

[0174] S100, determining whether the transmitter can receive the reflected laser on the reflector, calculating the shielding time based on the determination result, and determining whether an anti-collision warning is required based on the duration of the shielding time;

[0175] S200, calculating the current heights of the lifting mechanisms on the left and right sides based on the travel time of the laser, and calculating the dynamic speed change rates of the lifting mechanisms on the left and right sides based on the changes of the current heights in a preset time period;

[0176] S300, performing an absolute distance analysis according to the current height and a dynamic speed analysis according to the dynamic speed change rate to determine whether a tilt warning is required;

[0177] S400: issuing an alarm according to the anti-collision warning or the tilt warning.

[0178] Implementation principle:

[0179] The laser device installed at the bottom of the lifting mechanism is used to analyze distance, obstruction, speed, etc. The laser obstruction time between the transmitter and the reflector is used to analyze whether there is a collision hazard. The laser between the transmitter and the reflector calculates the height, speed and other information of the lifting mechanism to dynamically determine whether there is an abnormal difference between the left and right lifting mechanisms to determine whether there is a tilt hazard. This method no longer requires the independent installation of photoelectric sensors, weight sensors, etc. in each parking space. Only a set of laser modules on the left and right sides is needed to realize the monitoring of non-car collision-free warehousing and transportation tilt, which improves the prevention effect of various safety hazards while reducing the cost of supporting hardware.

[0180] It should be understood that although the steps in the flowchart of the accompanying drawings are shown in sequence according to the instructions of the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise clearly stated in this document, the execution of these steps is not strictly limited in order and can be performed in other orders.

[0181] 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 tilt anti-collision monitoring and early warning system for multi-story towers, characterized in that: include: The laser module is composed of a transmitter arranged at the bottom of the conveying column and on the left and right sides of the column, and a reflector plate arranged at the bottom of the lifting mechanism on the left and right sides respectively; An anti-collision monitoring module, electrically connected to the transmitter and determining whether the transmitter can receive the reflected laser on the reflector, and calculating the shielding time based on the determination result, and determining whether an anti-collision warning is required based on the duration of the shielding time; A tilt monitoring module, electrically connected to the transmitter and calculating the current height of the lifting mechanisms on the left and right sides based on the travel time of the laser, and calculating the dynamic speed change rate of the lifting mechanisms on the left and right sides based on the change of the current height in a preset time period; The tilt monitoring module is used to perform absolute distance analysis according to the current height and dynamic speed analysis according to the dynamic speed change rate to determine whether a tilt warning is required; The early warning module is electrically connected to the anti-collision monitoring module and the tilt monitoring module to give an alarm according to the anti-collision early warning or the tilt early warning.

2. The tilt anti-collision monitoring and early warning system for multi-story towers according to claim 1 is characterized in that: The anti-collision monitoring module specifically includes a first data acquisition module, an occlusion time calculation module and an anti-collision analysis module; The first data acquisition module is used to acquire the lateral movement speed of the lateral movement mechanism and the steel frame width of the lateral movement mechanism; The shielding time calculation module calculates the shielding time constant based on the lateral movement speed and the steel frame width; The blocking time calculation module is also used to select the laser module on the corresponding side according to the position of the target parking space and to time the moment when the transmitter cannot receive the reflected laser to obtain the blocking time; The anti-collision analysis module is used to compare the occlusion time with the occlusion time constant. When the occlusion time is greater than the occlusion time constant, an anti-collision warning is generated and sent to the warning module. The occlusion time constant is preset based on the corresponding working condition.

3. The tilt anti-collision monitoring and early warning system for multi-story towers according to claim 2 is characterized in that: The anti-collision monitoring module also includes a mode switching module and a vacancy selection module; The mode switching module is adjusted to a normal mode and an automatic correction mode based on user selection; Wherein, in the normal mode, if the anti-collision analysis module determines that the shielding time is greater than the shielding time constant, the early warning module is directly controlled to give an alarm; In the automatic correction mode, the space selection module obtains the relative position of the current target parking space, and when the anti-collision analysis module generates an anti-collision warning, selects a mirror position symmetrical to the relative position, and controls the transverse movement mechanism at the mirror position to move transversely to re-judge whether the anti-collision warning will be generated. If the anti-collision warning does not occur, the mirror position is used as the new target parking space; The vacancy selection module is further configured to record a correction number and select a vacancy selection logic based on the correction number, wherein the correction number is characterized by the number of times the anti-collision warning is triggered.

4. The tilt anti-collision monitoring and early warning system for multi-story towers according to claim 3 is characterized in that: The vacancy selection module is also specifically used for: Get the number of floors m and the number of parking spaces on each floor n, generate a first limit number based on n-1, and generate a second limit number based on nm-1; If the number of corrections is greater than the first limit number, select the m+1th floor to search for the target parking space again, add the value corresponding to the number of corrections to the number pool and set the current number of corrections to zero; If the value in the number pool is greater than the second limit number, the anti-collision analysis module is controlled to issue the anti-collision warning.

5. The tilt anti-collision monitoring and early warning system for multi-story towers according to claim 1 is characterized in that: The tilt monitoring module includes a left calculation module and a right calculation module. The left calculation module obtains the time difference from the laser emission to the return and calculates the left current height corresponding to the left lifting mechanism in combination with the speed of light. The right calculation module obtains the time difference from the laser emission to the return and calculates the right current height corresponding to the right lifting mechanism in combination with the speed of light. The tilt monitoring module also includes an absolute distance analysis module, which is used to calculate whether the absolute value of the difference between the current height on the left side and the current height on the right side is greater than a preset value. If so, a tilt warning is generated.

6. The tilt anti-collision monitoring and early warning system for multi-story towers according to claim 5 is characterized in that: The left side calculation module is further used to intercept a test time period and obtain the left side actual speed difference at the time points at both ends of the test time period, and calculate the left side tilt dynamic rate in combination with the duration of the test time period; the right side calculation module is further used to intercept the right side actual speed difference at the time points at both ends of the test time period, and calculate the right side tilt dynamic rate in combination with the duration of the test time period; The tilt monitoring module further includes a dynamic speed analysis module, which is used to obtain a reference speed difference at time points at both ends of the test time period, and calculate a reference change rate in combination with the duration of the test time period; The left side tilt dynamic rate and the right side tilt dynamic rate are compared with the reference change rate respectively, and when the difference between the left side tilt dynamic rate or the right side tilt dynamic rate and the reference change rate is greater than a preset value, a tilt warning is generated.

7. The tilt anti-collision monitoring and early warning system for multi-story towers according to claim 5 is characterized in that: It also includes a parking and retrieval mode selection module, which selects a parking mode and a retrieval mode based on the obtained selection instruction, and sends a corresponding lateral movement action trigger condition based on the parking mode or the retrieval mode and sends it to the lateral movement mechanism, wherein: In parking mode, the trigger condition for the lateral movement is that the current height of the left side and the current height of the right side are both greater than , It is represented by the floor top height corresponding to the floor number where the target parking space is located; In the vehicle pickup mode, the trigger condition for the lateral movement action is that the current height of the left side and the current height of the right side are both less than ',in, It is represented by the floor top height corresponding to the number of floors below the target parking space. ' Characterized by the structural height of the lifting mechanism.

8. The tilt anti-collision monitoring and early warning system for multi-story towers according to claim 7 is characterized in that: It also includes a shutdown issuing module, which is used to issue a shutdown command to control the lifting motor corresponding to the lifting mechanism to stop when the anti-collision warning or the tilt warning appears, and is also used to stop the current height of the left side and the current height of the right side in the parking mode. and in the vehicle pickup mode when the left current height and the right current height are equal 'When the shutdown command is issued, the lifting motor is controlled to stop.

9. The tilt anti-collision monitoring and early warning system for multi-story towers according to claim 8 is characterized in that: It also includes a stop accuracy optimization module electrically connected to the stop issuing module, which is used to continuously obtain the actual speed of the lifting mechanism from the left calculation module and the right calculation module when the stop issuing module issues the stop command; After the actual speed becomes zero, the current parking height is obtained, and the parking height is compared with or 'Perform difference calculation to obtain the difference to be optimized; The shutdown advance amount is calculated based on the difference to be optimized. or 'Make adjustments and send them to the shutdown sending module.

10. A tilt anti-collision monitoring and early warning method for a multi-story tower, characterized in that: The method is realized by using a transmitter disposed at the bottom of a conveying column and on the left and right sides of the column and a reflector disposed at the bottom of a lifting mechanism on the left and right sides respectively, and includes the following steps: Determine whether the transmitter can receive the reflected laser on the reflector, calculate the shielding time based on the determination result, and determine whether an anti-collision warning is needed based on the duration of the shielding time; Calculating the current heights of the lifting mechanisms on the left and right sides based on the travel time of the laser, and calculating the dynamic speed change rates of the lifting mechanisms on the left and right sides based on the changes of the current heights in a preset time period; Performing an absolute distance analysis according to the current height and a dynamic speed analysis according to the dynamic speed change rate to determine whether a tilt warning is required; An alarm is issued according to the anti-collision warning or the tilt warning.

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