An inclined anti-collision monitoring and warning system and method for a multi-layer tower library

Abstract

The present application relates to the technical field of three-dimensional parking, and in particular to an inclined anti-collision monitoring and warning system and method for a multi-layer tower warehouse, which includes: a laser module composed of a transmitter and a reflector at the bottom of a lifting mechanism; an anti-collision monitoring module that determines whether the transmitter can receive the reflected laser on the reflector, calculates the occlusion time based on the judgment result, and determines whether anti-collision warning is required based on the duration of the occlusion time; an inclination monitoring module that calculates the current height of the lifting mechanism based on the travel time of the laser, and calculates the dynamic speed change rate of the left and right lifting mechanisms based on the change in the current height during a preset time period; the inclination monitoring module is used to perform absolute distance analysis based on the current height and dynamic speed analysis based on the dynamic speed change rate to determine whether inclination warning is required; a warning module that issues an alarm according to the anti-collision warning or the inclination warning. The present application has the effect of realizing anti-collision and inclination monitoring and warning at 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 respectively arranged on the left and right sides sometimes have a height deviation between the two sides due to problems such as the breakage of the chain corresponding to one side's lifting mechanism or the increase in aging friction, which may cause the vehicle to tilt due to different heights on the left and right sides when transporting vehicles. This will accelerate the damage of the lifting mechanism, and at the same time, the tilted vehicle body may also collide with other steel structure positions of the tower library or even tilt and fall, posing a greater safety hazard. Summary of the Invention

[0008] In order to achieve 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-layer tower library.

[0009] In a first aspect, the present application provides a multi-modal based energy consumption prediction and energy-saving solution generation method, adopting the following technical solutions:

[0010] A tilt anti-collision monitoring and early warning system for a multi-layer tower library, comprising:

[0011] A laser module, composed of transmitters arranged at the bottom of the conveying column and divided into left and right sides, and reflectors respectively arranged at the bottoms of the lifting mechanisms on the left and right sides;

[0012] An anti-collision monitoring module, electrically connected to the transmitter, determines whether the transmitter can receive the reflected laser on the reflector, calculates the occlusion time based on the judgment result, and determines whether anti-collision early warning is required based on the duration of the occlusion time;

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

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

[0015] An early warning module, electrically connected to the anti-collision monitoring module and the tilt monitoring module, alarms according to the anti-collision early warning or the tilt early warning.

[0016] In some of these 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 traversing speed of the traversing mechanism and the steel frame width of the traversing mechanism;

[0018] The occlusion time calculation module calculates the occlusion time constant based on the traversing speed and the steel frame width;

[0019] The occlusion time calculation module is further configured to select the corresponding laser module on one side according to the position of the target parking space and start timing at the moment when the transmitter cannot receive the reflected laser to obtain the occlusion time;

[0020] The anti-collision analysis module is configured 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, and the occlusion time constant is preset based on the corresponding working conditions.

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

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

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

[0024] In the automatic correction mode, the vacant 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 the mirror position symmetric to the relative position and controls the transverse movement mechanism at the mirror position to perform a transverse movement to re-determine 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 vacant space selection module is further configured to record the number of corrections and select a vacant space selection logic based on the number of corrections, where the number of corrections is characterized by the number of times the anti-collision warning is triggered.

[0026] In some embodiments, the vacant space selection module is specifically further configured to:

[0027] Obtain the number of floors m and the number of parking spaces n on each floor, 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 + 1)-th floor to re-find the target parking space, 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, control the anti-collision analysis module to issue the anti-collision warning.

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

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

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

[0034] Compare the left tilt dynamic rate and the right tilt dynamic rate with the reference change rate respectively. When the difference between the left tilt dynamic rate or the right tilt dynamic rate and the reference change rate is greater than a preset value, a tilt warning is generated.

[0035] In some of these embodiments, there is further an access vehicle mode selection module. The access vehicle mode selection module selects a parking mode and a vehicle retrieval mode based on the obtained selection instruction, and issues corresponding horizontal movement trigger conditions to the horizontal movement mechanism based on the parking mode or the vehicle retrieval mode. Among them,

[0036] In the parking mode, the horizontal movement trigger condition is that the current left height and the current right height are both greater than , which is characterized as the top height of the layer corresponding to the layer where the target parking space is located;

[0037] In the vehicle retrieval mode, the horizontal movement trigger condition is that the current left height and the current right height are both less than ', where, is characterized as the top height of the layer corresponding to the lower layer where the target parking space is located, ' is characterized as the structural height of the lifting mechanism.

[0038] In some of these embodiments, a shutdown instruction issuing module is further included, which is configured to issue a shutdown instruction to control the lifting motor corresponding to the lifting mechanism to shut down when the anti-collision warning or the tilt warning occurs, and is further configured to issue a shutdown instruction to control the lifting motor to shut down when the current height on the left side and the current height on the right side are equal to during the parking mode and when the current height on the left side and the current height on the right side are equal to ' during the car retrieval mode.

[0039] In some of these embodiments, a shutdown precision optimization module electrically connected to the shutdown instruction issuing module is further included, which is configured to continuously obtain the actual speed of the lifting mechanism from the left calculation module and the right calculation module when the shutdown instruction issuing module issues the shutdown instruction;

[0040] obtain the current shutdown height after the actual speed becomes zero, and calculate the difference between the shutdown height and or ' to obtain the difference to be optimized;

[0041] calculate the shutdown advance amount based on the difference to be optimized to adjust or ' and send it to the shutdown instruction issuing module.

[0042] The technical solutions provided by the embodiments of the present application have the following technical effects:

[0043] By using the laser device provided at the bottom of the lifting mechanism to analyze distance, occlusion, speed, etc., and analyzing whether there is a potential impact hazard through the laser occlusion time between the transmitter and the reflector, and calculating information such as the height and speed of the lifting mechanism through the laser between the transmitter and the reflector to dynamically judge whether there are abnormal differences in the left and right lifting mechanisms to determine whether there is a tilt hazard. This method no longer requires independent installation of photoelectric sensors, weight sensors, etc. at each parking space, and only one set of laser modules on the left and right sides can be used to achieve non-vehicle anti-collision warehousing and transportation tilt monitoring, while improving the prevention effect of various potential safety hazards and reducing the supporting hardware cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is the overall structural schematic diagram of the tower library and the tilt anti-collision monitoring and warning system in the embodiments of the present application.

[0045] Figure 2 is Figure 1 the enlarged schematic diagram of part A in

[0046] Figure 3 is the top view of the lifting mechanism in the embodiments of the present application with no vehicle and with 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] Figure 9 It is a schematic diagram of a scene corresponding to a tilt warning in an embodiment of the present application.

[0053] Figure 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] Figure 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 here that the descriptions of these embodiments are used to help understand the present invention, but do not constitute a limitation to the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0058] In the description of the present application, the meaning of several is one or more, the meaning of multiple is more than two, understandings such as greater than, less than, exceeding, etc. do not include the present number, and understandings such as above, below, within, etc. include the present number. If there is a description of first and second, it is only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0059] In the description of the present application, the descriptions with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a combined manner.

[0060] As Figure 1 and Figure 2 shown, first, the structure of the tower warehouse in the embodiment of the present application is described. It is integrally built by steel structure and has several parking floors. Functionally distinguished in the vertical direction, the tower warehouse consists of a conveying column in the central column and parking columns on both sides of the conveying column. Each parking column corresponds to several parking spaces, while the conveying column is mainly responsible for the vehicle conveying work during vehicle retrieval and storage, and it cannot park vehicles itself. At the same time, the bottom layer of the conveying column contains a conversion position. When storing a vehicle, the vehicle needs to drive into the conversion position to achieve the three-dimensional parking action. When retrieving a vehicle, the vehicle is taken out from a certain parking space and moved to the conversion position to drive out. The conversion position does not correspond to the floors of the tower warehouse. In the subsequent examples of the embodiment of the present application, the conversion position is defined as the 0th floor.

[0061] As Figure 3 shown, a lifting mechanism that moves in the vertical direction is provided in the tower warehouse. It is driven by a lifting motor. The lifting mechanism and the lifting motor are both in the conveying column. It is used to drive the vehicle to move vertically on the conveying column. The lifting mechanism includes a left mechanism and a right mechanism. There is one lifting motor. The lifting motor drives the lifting rod to rotate. Both ends of the lifting rod are connected to the left and right lifting mechanisms through chains or traction connections. Then, when the lifting rod rotates, it will change the length of the chain to drive the lifting mechanism.

[0062] As Figure 4As shown in the figure, a plurality of transverse movement mechanisms and corresponding transverse movement motors are also arranged in the magazine. The transverse movement motors drive the transverse movement mechanisms to move horizontally along the horizontal direction, and each parking space in the magazine corresponds to a transverse movement mechanism.

[0063] Secondly, as Figure 5 and Figure 6 shown, the vehicle storage process in this application is as follows: The vehicle drives into the conversion position to correspond to Figure 6 the A state in; the lifting mechanism on the conversion position drives the vehicle to be lifted to a certain height to correspond to Figure 6 the B state in, where, because it is necessary to wait for the transverse movement mechanism on the target parking space to move below the vehicle, the lifting mechanism needs to lift the vehicle above the layer where the target parking space is located when lifting the vehicle; the transverse movement mechanism on the target parking space moves horizontally to the conveying column and is located at the bottom of the vehicle, and the lifting mechanism drives the vehicle to descend and complete the vehicle handover with the transverse movement mechanism after reaching the layer height corresponding to the target parking space to correspond to Figure 6 the C state in; the transverse movement mechanism finally moves the vehicle horizontally to the target parking space for parking, and the lifting mechanism descends to the conversion area to complete a vehicle storage process, which corresponds to Figure 6 the D state in at this time.

[0064] As Figure 5 and Figure 7 shown, the vehicle retrieval process in this application is as follows: When retrieving a vehicle, first, the transverse movement mechanism on the target parking space in the A state in drives the vehicle to move horizontally towards the conveying column, and at the same time, the lifting mechanism rises below the transverse movement mechanism and waits for the transverse movement mechanism to completely move out to correspond to Figure 7 the B state in; the lifting mechanism rises to the vehicle retrieval height to complete the vehicle handover with the transverse movement mechanism, and the transverse movement mechanism moves horizontally back to the corresponding parking space to correspond to Figure 7 the C state in; the lifting mechanism drives the vehicle to descend to the conversion area to complete a vehicle retrieval process, which corresponds to Figure 7 the D state in at this time. Figure 7

[0065] The embodiment of the present application discloses an inclined anti-collision monitoring and warning system for a multi-layer magazine, including:

[0066] A laser module, which is composed of a transmitter arranged at the bottom of the conveying column and divided into left and right sides and a reflector respectively arranged at the bottom of the lifting mechanisms on the left and right sides.

[0067] As Figure 2 shown, two transmitters are arranged at the bottom of the conveying column. The transmitters are used to emit laser light in the vertically upward direction. At the same time, reflectors are arranged at the bottoms of the lifting mechanisms on the left and right sides. Each reflector on one side corresponds to the two transmitters below to reflect the laser light emitted by the transmitters.

[0068] ​In this way, through the travel time of the laser emitted by the transmitter and returned by the reflector, as well as the passing condition of the laser, subsequent anti-collision monitoring and tilt monitoring can be achieved.

[0069] An anti-collision monitoring module, electrically connected to the transmitter, determines whether the transmitter can receive the reflected laser on the reflector, calculates the occlusion time based on the judgment result, and determines whether anti-collision warning is required based on the duration of the occlusion time;

[0070] Such as Figure 8 and Figure 10 As shown, the anti-collision monitoring module is mainly used to determine whether, during the vehicle storage process, there is a vehicle on the lateral transfer mechanism of a certain parking space, resulting in a collision between the vehicle to be stored and the vehicle on the lateral transfer mechanism. Therefore, the anti-collision monitoring module is used to determine whether there is a vehicle on the lateral transporter.

[0071] Its monitoring principle is to judge by whether the transmitter can obtain the laser it emits and reflected by the reflector. During vehicle storage, since the lifting mechanism will move above the layer where the target parking space is located, when the lateral transfer mechanism moves horizontally, it will block the laser between the transmitter and the reflector, resulting in the transmitter being unable to obtain the reflected laser for some time. And because the structure of the lateral transfer mechanism consists of a steel structure frame combined with several rolling frames corresponding to the vehicle tires, there is a difference in the laser occlusion time when there is a vehicle or no vehicle on the lateral transfer mechanism. Then, anti-collision monitoring can be carried out based on this difference.

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

[0073] Such as Figure 9 and Figure 10 As shown, at the same time, for tilt monitoring, this application also includes a tilt monitoring module, which judges the real-time heights of the left and right lifting mechanisms by judging the travel time required for the transmitter to emit the laser and the laser to return, and calculates the dynamic speed change rate through the change in the current height of the lifting mechanism. The dynamic speed change rate characterizes the change in 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 height and dynamic speed analysis based on the dynamic speed change rate to determine whether tilt warning is required.

[0075] Perform absolute distance analysis through the height difference between the left and right sides, perform dynamic speed analysis through the dynamic speed change rate of the left and right lifting mechanisms to judge the speed change difference between the two, and combine the above two analysis results to determine whether tilt warning is required.

[0076] An early warning module, electrically connected to the anti-collision monitoring module and the tilt monitoring module, alarms according to anti-collision warnings or tilt warnings.

[0077] The early warning module is divided into two parts. One part serves as the current alarm device, using an audible and visual alarm, which emits an audible and visual alarm when there is an anti-collision warning or a tilt warning 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 this application, both the anti-collision monitoring module and the tilt monitoring module are integrated into a PLC controller and a network switch. The PLC controller is used to control the operation of the lifting mechanism and the transverse movement mechanism, and the network switch is used to realize the network topology. The laser modules on the left and right are both electrically connected to the PLC controller, and the PLC controller reads the corresponding data on the laser module for processor calculation. After the calculation, it controls the operation of the corresponding object through remote control methods such as PROFINET and RS485.

[0079] In the above manner, the analysis of distance, occlusion, speed, etc. is realized through the laser device arranged at the bottom of the lifting mechanism. Whether there is a collision hazard is analyzed through the laser occlusion time between the transmitter and the reflector. The height, speed, etc. of the lifting mechanism are calculated through the laser between the transmitter and the reflector, and whether there are abnormal differences in the left and right lifting mechanisms is dynamically judged to determine whether there is a tilt hazard. This method no longer requires the independent setting of photoelectric sensors, weight sensors, etc. in each parking space. Only a set of laser modules on both sides can realize the monitoring of anti-collision when there is no vehicle and the tilt during transportation, while improving the prevention effect of various safety hazards and reducing the supporting hardware cost.

[0080] Such as Figure 4 and Figure 10 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 movement speed of the transverse movement mechanism and the steel frame width of the transverse movement mechanism.

[0082] The two sides of the transverse transporter are of steel frame structure, and there are several rolling rods between the two steel frames to form a tire placement area. Then, in actual use, when there is no vehicle on the transverse movement mechanism, when it occludes the laser on the left or right during transverse movement, the occluding object is the steel frame, and the distance occluded by one occlusion is the width of the steel frame.

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

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

[0085] After the occlusion time calculation module obtains the transverse movement speed and the width of the steel frame from the first data acquisition module, according to: to calculate the occlusion time constant. X is the width of the steel frame, is the ideal transverse movement speed.

[0086] The occlusion time constant is characterized as the theoretical occlusion time of the laser during one occlusion action when the transverse movement mechanism has no vehicle during transverse movement.

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

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

[0089] The anti-collision analysis module is used to compare the occlusion time with the occlusion time constant, and generate an anti-collision warning and send it to the warning module when the occlusion time is greater than the occlusion time constant.

[0090] When there is no vehicle, the occlusion distance of the transverse movement mechanism is Y. When there is a vehicle, the occlusion distance of the transverse movement mechanism is Z. And Y is the width of the steel frame of the transverse movement mechanism. Z includes most of the width of the vehicle, so Z is greater than Y.

[0091] Then, on the premise that the transverse movement speed remains unchanged or changes little, the occlusion time when there is a vehicle must be greater than the occlusion time when there is no vehicle. Then, when the occlusion time is greater than the occlusion time constant, it can be judged that there is a vehicle on the transverse movement mechanism. At this time, an anti-collision warning needs to be issued to remind the on-site personnel. And when the occlusion time is less than or equal to the occlusion time constant, it is judged that there is no vehicle on the transverse movement mechanism.

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

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

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

[0095] The mode to be selected is determined by the staff of Tacu themselves.

[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 warning module to give an alarm.

[0097] In the normal mode, if the anti-collision warning is triggered by the traversing mechanism on the target parking space for the vehicle to be stored, it indicates that there is a vehicle on the traversing mechanism. At this time, an alarm is directly issued and the machine is stopped.

[0098] In this mode, the traversing mechanisms on other parking spaces are not tested to select other empty spaces, but an alarm is directly given and the machine is stopped when the anti-collision warning appears.

[0099] This mode can be used in test scenarios or for parking scenarios of high-value vehicles. In these scenarios, although the intelligent re-selection of empty spaces cannot be achieved using the conventional countermeasure mode, the risk of potential safety hazards is relatively low.

[0100] In the automatic correction mode, the empty 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 the mirror position symmetric to the relative position, and controls the traversing mechanism on the mirror position to traverse to re-determine whether an anti-collision warning will be generated. If no anti-collision warning occurs, the mirror position is used as the new target parking space.

[0101] In the automatic correction mode, when the anti-collision warning is triggered by the target parking space A, it indicates that there is a vehicle on the traversing 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 re-determine whether it is an empty space.

[0102] At this time, first traverse the traversing mechanism that triggers the anti-collision warning and the vehicle on it back to the target parking space A, select the parking space B on the mirror position corresponding to the target parking space A, and control the traversing mechanism on the parking space B to traverse towards the transfer column again to re-determine whether an anti-collision warning will occur.

[0103] If no anti-collision warning is triggered, it indicates that the parking space B is an empty parking space. At this time, the parking space B is used as the new target parking space, and the traversing action of the traversing mechanism of this parking space is continued until it moves to the matching position directly below the lifting mechanism, and the lifting mechanism is controlled to drive the vehicle to move downward to complete the vehicle handover with the traversing mechanism.

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

[0105] The automatic correction mode is applicable to high-traffic parking scenarios. In these scenarios, a large number of vehicles are waiting for parking spaces, so it is not allowed for the storage tower to alarm and stop too many times. At the same time, it is necessary to ensure the rapid entry and parking of a large number of vehicles.

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

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

[0108] In some other embodiments, the vacant space selection module is specifically further used for:

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

[0110] Generate two threshold numbers through the number of floors of the storage tower and the number of parking spaces on each floor. The first limit number is the number of parking spaces on each floor minus one, which is used to subsequently determine whether each floor is full of vehicles to further analyze whether it is necessary to change to another floor for the vehicle storage operation; the second limit number is the total number of parking spaces in the entire storage tower minus one, which is used to subsequently determine whether the storage tower can still accommodate vehicles for storage without collision.

[0111] If the number of corrections is greater than the first limit number, select the (m + 1)th floor to re-look for the target parking space, add the value corresponding to the number of corrections to the number pool, and set the current number of corrections to zero.

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

[0113] For example, if there are 2 parking spaces on the first floor, then the first limit number is 1. When there is a vehicle parked in each parking space, when the anti-collision warning is triggered for the first time, it means there is a vehicle in the first parking space. At this time, it is necessary to determine the occlusion time of the lateral movement mechanism on the symmetric second parking space. If there is no vehicle in the second parking space, then no anti-collision warning will be issued this time, so the number of corrections is 1, which is less than the first limit number, and normal vehicle storage can be carried out; if there is a vehicle in the second parking space, then the anti-collision warning will be triggered once again. At this time, the number of corrections is 2, which is greater than the first limit number. Therefore, it means that there are no vacant parking spaces on this floor.

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

[0115] Meanwhile, when selecting other floors, first, the value corresponding to the current calibration count needs to be added to the overall count pool, and the current calibration count is reset to zero. Taking the above example, that is, when parking cannot be performed on the mth floor, the (m + 1)th floor is selected to continue searching for an empty space. At the same time, the value "2" of the calibration count is added to the count pool. When searching for an empty space on the (m + 1)th floor, the calibration count starts over from 0.

[0116] Before each vehicle starts parking, the count pool corresponding to that vehicle is 0. Then, the value in the count pool represents the total number of anti-collision warnings triggered from the start to the end of parking for that vehicle.

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

[0118] Further, it is determined whether the value in the count pool is greater than the second limit count. When it is greater, it indicates that there are no empty spaces in this tower warehouse. If the vehicle to be parked parks in this tower warehouse, a collision will definitely occur. Only then will an anti-collision warning be issued.

[0119] Through the above solution, the selection logic for finding empty parking spaces is further optimized in the automatic calibration mode. By analyzing the number of warnings, it is determined whether there are effective empty spaces on this floor that will not cause collisions and whether there are effective empty spaces in the entire tower warehouse that will not cause collisions.

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

[0121] The tilt monitoring module calculates the current heights of the left and right lifting mechanisms by calculating the time differences from laser emission to return on the left and right sides respectively and the speed of light.

[0122] For example, 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 further 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 it is greater, 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 side and the current height of the lifting mechanism on the right side. Under ideal conditions, 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 chain corresponding to a certain lifting mechanism ages and the friction increases or breaks, it will cause the movement speed of one side of the lifting mechanism to slow down, resulting in a height difference between the two lifting motors on both sides.

[0126] In actual situations, due to different maintenance states of the chains on both sides, weight differences between the left and right sides of the vehicle, etc., there may be a certain height difference when the lifting mechanisms on both sides move. However, a very small height difference will not cause the vehicle to tilt significantly. When this height difference is greater than a preset value, that is, the value defined as 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.

[0128] In the above embodiment, it is absolute distance analysis. The monitoring method of this method is relatively simple and intuitive, and can cope with tilt determination in any scenario. However, the above analysis through height difference can only give a warning when a large tilt has already occurred, and cannot be used as a predictive analysis of potential tilt trends. Then in some environments with higher safety requirements, more detailed dynamic speed analysis is also required.

[0129] In some other embodiments, the left calculation module is further 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 tilt dynamic rate in combination with the duration of the test time period. The right calculation module is further 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 tilt dynamic rate in combination with the duration of the test time period.

[0130] During the movement of the lifting mechanism, intercept a time period as the test time period, such as T1 - T2, and obtain the actual speed of the lifting mechanism at each time point in real time. Subtract the speed at T1 from the speed at T2 to obtain the speed change of the lifting mechanism during this test time and define it as the actual speed difference.

[0131] Dividing the actual speed difference by the duration of the test time gives a slope value, which is defined in this application as the tilt dynamic rate. The tilt dynamic rate specifically characterizes the amplitude ratio of the speed change per unit time.

[0132] Specifically, define variable parameters:

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

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

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

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

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

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

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

[0140] The tilt monitoring module further includes a dynamic speed analysis module. The dynamic speed analysis module is used to obtain the reference speed difference at the time points at both ends of the test time period and calculate the 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 whole process line segment from slowly accelerating to stable movement and finally slowly decelerating to zero under the ideal working state of the lifting mechanism.

[0142] At the same time, based on the two time points T1 and T2 of the test time period, obtain the reference speed difference in this time period, and calculate the reference change rate in combination with the duration of the test time period. The reference change rate characterizes the amplitude ratio of the ideal speed change per unit time.

[0143] Specifically, define parameters:

[0144] v_TS(t1): The 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] Compare the left tilt dynamic rate and the right tilt dynamic rate with the reference change rate respectively. When the difference between the left tilt dynamic rate or the right 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 there is a tilt based on the magnitude relationship between the result and the preset allowable dynamic error value.

[0149] When |error_L - error_TS| > error_Set or |error_R - error_TS| > error_Set, it indicates that the speed dynamic change rate of the lifting mechanism on the left or right side is greater than the reference change rate under ideal conditions. At this time, it means that the speed change of the lifting mechanism on the left or right side is too large or too small and 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. And the greater the gap from the ideal speed change, the more difficult it is to control the operating state of the lifting mechanism, and the greater the possibility of a large height difference between it and the other lifting mechanism. 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 currently.

[0150] In some other embodiments, it further includes a vehicle access mode selection module.

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

[0152] The user can select whether to retrieve or park the vehicle on the device near the conversion position according to their own needs. In the case of vehicle retrieval or parking, the cooperation mode between the lifting mechanism and the traversing mechanism is different. At the same time, when the traversing mechanism moves and when the lifting mechanism moves will be determined differently according to different selections of the vehicle access mode.

[0153] In different vehicle access modes, the vehicle access mode selection module issues corresponding traversing action trigger conditions based on the parking mode or the vehicle retrieval mode and issues them to the traversing mechanism to control the traversing mechanism to perform traversing actions at the required time, avoiding the situation of collision when the traversing mechanism and the lifting mechanism move to the same position.

[0154] In the parking mode, the trigger condition for the lateral movement is that the current height on the left and the current height on the right are greater than , which is characterized as the top height of the layer corresponding to the floor where the target parking space is located.

[0155] First of all, when parking, the lifting mechanism needs to first move the vehicle above the lateral transfer mechanism. Because if the lateral transfer mechanism moves to the conveying column when the lifting mechanism has not been lifted to the appropriate position, it will cause the vehicle on the lifting mechanism to collide with the lateral transfer mechanism during the lifting process.

[0156] Therefore, in the parking mode, the trigger condition for the lateral movement is that it is detected by the laser that both the left and right lifting mechanisms have moved to a position higher than the height of the floor where the target parking space is located.

[0157] For example, if the target parking space is on the 3rd floor and the height of each floor in the tower warehouse is 3 meters, then it is 9 meters. And when it is determined that the current height exceeds 9 meters after detecting the height of the bottom of the lifting mechanism, the lateral transfer mechanism can move horizontally towards the conveying column without colliding with the lifting mechanism.

[0158] In the vehicle retrieval mode, the trigger condition for the lateral movement is that the current height on the left and the current height on the right are less than ', where is characterized as the top height of the layer corresponding to the floor below the target parking space, ' is characterized as the structural height of the lifting mechanism.

[0159] When retrieving the vehicle, the lifting mechanism needs to be below the lateral transfer 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 lateral transfer mechanism, the lifting mechanism will collide with the vehicle when descending because it cannot pass through the vehicle body.

[0160] Therefore, in the vehicle retrieval mode, the trigger condition for the lateral movement is that the lifting mechanism has moved to a position lower than the height of one floor below the floor where the target parking space is located. At the same time, because some lifting mechanisms have support arms in the vertical direction, in order to avoid the support arms from colliding with the horizontal transporter, it is also necessary to subtract the structural height of a lifting mechanism from the height to ensure that the entire lifting mechanism is below the lateral transfer mechanism.

[0161] For example, if the target parking space is on the 3rd floor and the height of each floor in the tower warehouse is 3 meters, then it is 6 meters. At the same time, it is known that the overall structural height of the lifting mechanism is 1 meter. Then when it is determined that the current height is lower than 5 meters after detecting the height of the bottom of the lifting mechanism, the lateral transfer mechanism can move horizontally towards the conveying column without colliding with the lifting mechanism.

[0162] In some other embodiments, it further includes a shutdown instruction issuing module, which is used to issue a shutdown instruction to control the lifting motor corresponding to the lifting mechanism to shut down when a collision warning or a tilt warning occurs, and is also used to issue a shutdown instruction to control the lifting motor to shut down when the current height on the left side and the current height on the right side are equal in the vehicle storage mode and when the current height on the left side and the current height on the right side are equal in the vehicle retrieval mode. and when ' in the vehicle retrieval mode.

[0163] The shutdown instruction issuing module is mainly used to issue a shutdown instruction 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 for the trigger of the shutdown instruction:

[0165] One is when a collision warning or a tilt warning occurs. In order to avoid potential safety hazards such as vehicle collisions or vehicle falls, it is necessary to timely control the shutdown of the lifting mechanism.

[0166] The other is in the vehicle storage or retrieval mode, controlling the lifting mechanism to move to the most suitable position to wait for the start of the transverse movement of the transverse movement mechanism. Because in the above embodiments, when the lifting mechanism moves to match the trigger condition of the transverse movement action, the transverse movement mechanism will move. Then, when the transverse movement mechanism moves while ensuring no collision, if the lifting mechanism continues to move, the distance between the lifting mechanism and the transverse movement mechanism will become larger or smaller. Therefore, in order to ensure that the lifting mechanism stops at the optimal position after reaching it, the shutdown instruction issuing module needs to control the lifting motor to shut down when reaching or '.

[0167] In some other embodiments, it further includes a shutdown precision optimization module electrically connected to the shutdown instruction 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 shutdown instruction issuing module issues a shutdown instruction.

[0168] After the actual speed becomes zero, obtain the current shutdown height, and calculate the difference between the shutdown height and or ' to obtain the difference to be optimized.

[0169] Calculate the shutdown advance amount based on the difference to be optimized and adjust or ' and send it to the shutdown instruction issuing module.

[0170] When the motor stops, since the motor is a linear device and its deceleration from the current speed to 0 is linear and requires a certain amount of time, during this time, although the lifting motor stops, the lifting mechanism will still rise or fall a small distance. Therefore, in order to optimize this ineffective movement distance after stopping, it is necessary to detect the change in height after the speed of the lifting mechanism completely becomes 0 from the issuance of the stop instruction through the stop precision optimization module.

[0171] For example, if the current height when the stop instruction is issued is 6 meters and the stop height after the actual speed of the lifting mechanism drops to 0 is 6.2 meters, and at the same time because 6 meters is actually or the triggering requirement height corresponding to '', then the height difference of 0.2 meters between the two heights is the height that needs to be optimized.

[0172] Based on the height to be optimized obtained, combined with the change rate corresponding to the speed change monitored during the stopping process, a stopping advance amount can be calculated. Then, through this stopping advance amount, the or value of '' is adjusted. In this way, when the stopping operation is performed subsequently after adjustment, the lifting mechanism can issue the stop instruction in advance to reduce or eliminate the ineffective movement distance and improve the position accuracy of the lifting mechanism after stopping.

[0173] As Figure 11 shown, the present application also discloses an anti - collision monitoring and warning method for a multi - layer tower warehouse, which is realized based on a transmitter arranged at the bottom of the conveying column and divided into left and right sides and reflector plates respectively arranged at the bottoms of the lifting mechanisms on the left and right sides, and includes the following steps:

[0174] S100, determine whether the transmitter can receive the reflected laser on the reflector plate, calculate the occlusion time based on the judgment result, and judge whether anti - collision warning is required based on the duration of the occlusion time;

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

[0176] S300, perform absolute distance analysis based on the current height and dynamic speed analysis based on the dynamic speed change rate to judge whether tilt warning is required;

[0177] S400, alarm according to the anti - collision warning or the tilt warning.

[0178] Implementation principle:

[0179] The analysis of distance, occlusion, speed, etc. is achieved through a laser device arranged at the bottom of the lifting mechanism. Whether there is a risk of impact is analyzed through the laser occlusion time between the emitter and the reflector. Information such as the height and speed of the lifting mechanism is calculated through the laser between the emitter and the reflector to dynamically determine whether there are abnormal differences in the left and right lifting mechanisms to determine whether there is a risk of tilt. This method no longer requires the independent setting of photoelectric sensors, weight sensors, etc. at each parking space. Only a set of laser modules on both sides is needed to achieve collision-free parking and transportation tilt monitoring without vehicles, while improving the preventive effect on various safety hazards and 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 indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order restriction and can be executed in other orders.

[0181] The above are all preferred embodiments of the present application, and do not limit the protection scope of the present application accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. An inclined anti-collision monitoring and warning system for a multi-layer tower storage, characterized in that, Including: A laser module, which is composed of emitters arranged at the bottom of the conveying column and divided into left and right sides, and reflectors respectively arranged at the bottoms of the lifting mechanisms on the left and right sides; An anti-collision monitoring module, electrically connected to the emitter, judging whether the emitter can receive the reflected laser on the reflector, calculating the occlusion time based on the judgment result, and judging whether anti-collision warning is needed based on the duration of the occlusion time; The anti-collision monitoring module includes a mode switching module and a vacant position 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 occlusion time is greater than the occlusion time constant, it directly controls the warning module to give an alarm; In the automatic correction mode, the vacant position 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 the mirror position symmetric 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 vacant position selection module is also used to record the correction times and select the vacant position selection logic based on the correction times, where the correction times represent the number of times the anti-collision warning is triggered; An inclination monitoring module, electrically connected to the emitter, calculating the current heights of the left and right lifting mechanisms based on the travel time of the laser, and calculating the dynamic speed change rate of the left and right lifting mechanisms based on the change of the current height in a preset time period; The inclination monitoring module is used to perform absolute distance analysis based on the current height and dynamic speed analysis based on the dynamic speed change rate to judge whether inclination warning is needed; A warning module, electrically connected to the anti-collision monitoring module and the inclination monitoring module to give an alarm according to the anti-collision warning or the inclination warning.

2. The anti-collision monitoring and warning system for the multi-layer tower warehouse according to claim 1, 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 transverse movement speed of the transverse movement mechanism and the steel frame width of the transverse movement mechanism; The occlusion time calculation module calculates the occlusion time constant based on the transverse movement speed and the steel frame width; The occlusion time calculation module is also used to select the corresponding side of the laser module according to the position of the target parking space and start timing at the moment when the emitter cannot receive the reflected laser to obtain the occlusion 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, it generates an anti-collision warning and sends it to the warning module, and the occlusion time constant is preset according to the corresponding working conditions.

3. The anti-tilt collision monitoring and warning system for a multi-layer storage tower according to claim 1, characterized in that The vacant position selection module is specifically further used for: Obtaining the number of layers m and the number of parking spaces n on each layer, generating a first limit number based on n - 1, and generating a second limit number based on nm - 1; If the number of corrections is greater than the first limit number, select the (m + 1)-th layer to re-locate the target parking space, 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, control the anti-collision analysis module to issue the anti-collision warning.

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

5. The anti-collision monitoring and warning system for multi-layer tower storage according to claim 4, characterized in that The left calculation module is further used to intercept a test time period and obtain the actual left speed difference at the time points at both ends of the test time period, and calculate the left tilt dynamic rate in combination with the duration of the test time period. The right calculation module is further used to intercept the actual right speed difference at the time points at both ends of the test time period, and calculate the right 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 the reference speed difference at the time points at both ends of the test time period, and calculate the reference change rate in combination with the duration of the test time period; Compare the left tilt dynamic rate and the right tilt dynamic rate with the reference change rate respectively. When the difference between the left tilt dynamic rate or the right tilt dynamic rate and the reference change rate is greater than the preset value, a tilt warning is generated.

6. The anti-collision monitoring and early warning system for the multi-layer tower warehouse according to claim 5, characterized in that, It further includes a parking / retrieving mode selection module, which selects a parking mode and a retrieving mode based on the obtained selection instruction, and issues corresponding horizontal movement trigger conditions to the traversing mechanism based on the parking mode or the retrieving mode, where, In the parking mode, the triggering condition for the horizontal movement action is that the current height on the left side and the current height on the right side are both greater than , characterized as the top floor height corresponding to the floor where the target parking space is located; In the car-taking mode, the trigger condition for the horizontal movement action is that the current height on the left side and the current height on the right side are both less than ', where is characterized as the top height of the corresponding layer of the lower layer where the target parking space is located, ' is characterized as the structural height of the lifting mechanism.

7. The tilt anti-collision monitoring and warning system for a multi-layer storage tower according to claim 6, characterized in that, It further includes a shutdown instruction issuing module, which is configured to issue a shutdown instruction to control the lifting motor corresponding to the lifting mechanism to shut down when the anti-collision warning or the tilt warning occurs, and is further configured to issue a shutdown instruction to control the lifting motor to shut down when the current left height and the current right height are equal to in the parking mode and when the current left height and the current right height are equal to ' in the car-taking mode.

8. The anti-collision monitoring and warning system for a multi-layer storage tower according to claim 7, characterized in that, It further includes a stop precision optimization module electrically connected to the stop instruction issuing module, which is used to continuously obtain the actual speeds of the lifting mechanisms from the left calculation module and the right calculation module when the stop instruction issuing module issues the stop instruction; Obtain the current shutdown height after the actual speed becomes zero, and perform a difference calculation between the shutdown height and or ' to obtain the difference to be optimized; Based on the calculated early shutdown margin of the difference to be optimized, or make adjustments and send them to the shutdown command issuing module.

9. An inclined anti-collision monitoring and warning method for a multi-layer storage tower, characterized in that, It is realized based on a transmitter arranged at the bottom of the conveying column and divided into left and right sides and a reflector arranged at the bottom of the lifting mechanisms on the left and right sides respectively, and includes the following steps: Judge whether the transmitter can receive the reflected laser on the reflector, calculate the occlusion time based on the judgment result, and judge whether an anti-collision warning is needed based on the duration of the occlusion time. Specifically; Adjust to the normal mode and the automatic correction mode based on the user selection; Among them, in the normal mode, if it is judged that the occlusion time is greater than the occlusion time constant, an alarm is directly issued; In the automatic correction mode, obtain the relative position of the current target parking space. When generating a collision avoidance warning, select the mirror position symmetric to the relative position, and control the lateral movement mechanism at the mirror position to perform lateral movement to re-determine whether the collision avoidance warning will be generated. If the collision avoidance warning does not occur, use the mirror position as the new target parking space; Record the number of corrections, and select a vacant space selection logic based on the number of corrections, where the number of corrections is characterized by the number of times the collision avoidance warning is triggered; Calculate the current heights of the lifting mechanisms on the left and right based on the travel time of the laser, and calculate the dynamic speed change rate of the lifting mechanisms on the left and right based on the change in the current height during a preset time period; Perform absolute distance analysis based on the current height and perform dynamic speed analysis based on the dynamic speed change rate to determine whether a tilt warning is required; Alarm according to the collision avoidance warning or the tilt warning.

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