Intelligent carrier control method, device and system and storage medium

Abstract

The invention discloses an intelligent carrier control method, device and system and a storage medium, and relates to the technical field of carrier control, a carrier comprises a plurality of clamping arms, a front driving mechanism and a rear driving mechanism, each clamping arm is provided with a wheel detection switch, the front driving mechanism is provided with a walking positioning switch, and the rear driving mechanism is provided with a walking positioning switch; a chassis detection switch and a clamping positioning switch are installed on the rear driving mechanism, the front driving mechanism and the rear driving mechanism are connected through a stay wire encoder, and the method comprises the steps that a control instruction sent by a dispatching system is obtained; analyzing the control instruction, and determining a target operation according to the control instruction; when the target operation is the vehicle storage operation, the carrier is controlled to advance to the entrance and exit platform to clamp the to-be-stored vehicle, so that the vehicle storage operation is completed; and when the target operation is the vehicle taking operation, the carrier is controlled to advance to the target parking space to clamp the to-be-taken vehicle, so that the vehicle taking operation is completed. Safety and reliability of three-dimensional parking equipment are improved, equipment faults are reduced, and control cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of carrier control technology, and in particular to a method, device, system, and storage medium for controlling an intelligent carrier. Background Art

[0002] The problem of having nowhere to park is a result of a city's social, economic, and transportation development reaching a certain level. It seriously affects people's convenience and happiness, and poses a huge challenge to the orderly and safe management of the city. The advent of multi-story parking systems has effectively solved this parking problem.

[0003] With the improvement of people's living standards and the increase in consumption capacity, the demand for storage and retrieval efficiency of three-dimensional parking has greatly increased, and we are committed to pursuing safer, more stable, efficient, reliable and comfortable three-dimensional parking equipment.

[0004] Current intelligent transporters have low efficiency in accessing vehicles and are unable to accurately identify abnormal vehicle conditions, resulting in reduced safety. Summary of the Invention

[0005] The main purpose of this application is to provide an intelligent transporter control method, device, system and storage medium, aiming to solve the technical problem of how to improve the storage and access efficiency and safety of three-dimensional parking equipment.

[0006] To achieve the above objectives, the present application proposes a control method for an intelligent carrier, the carrier comprising: a plurality of clamping arms, a front drive mechanism, and a rear drive mechanism, each clamping arm being provided with a wheel detection switch, the front drive mechanism being provided with a travel positioning switch, the rear drive mechanism being provided with a chassis detection switch and a gripping positioning switch, the front drive mechanism and the rear drive mechanism being connected via a cable encoder; The intelligent carrier control method includes: Obtain control instructions sent by the scheduling system; Analyzing the control instruction and determining a target operation according to the control instruction; When the target operation is a parking operation, controlling the carrier to advance to the import / export platform to clamp the vehicle to be stored, thereby completing the parking operation; When the target operation is a vehicle picking operation, the carrier is controlled to advance to the target parking space to clamp the vehicle to be picked up, so as to complete the vehicle picking operation.

[0007] In one embodiment, when the target operation is a parking operation, the step of controlling the carrier to advance to the import / export platform to clamp the vehicle to complete the parking operation includes: When the target operation is a parking operation, the carrier is controlled to advance to the import / export platform, and the chassis height of the vehicle to be stored is detected by the chassis detection switch; When it is detected that the chassis height of the vehicle to be stored is greater than a preset height threshold, the front drive mechanism of the transporter is controlled to reach the front wheel positioning position of the vehicle to be stored, and the rear drive mechanism is controlled to move backward to detect the rear wheel position of the vehicle to be stored; Clamping the wheel of the vehicle to be stored by the clamping arm and recording the current vehicle wheelbase data; After the wheels are all clamped, the carrier is controlled to retreat to the transverse platform, and after the carrier reaches the target parking space through the transverse platform, the vehicle to be stored is parked.

[0008] In one embodiment, after all wheels are clamped, controlling the transporter to retreat to the transverse platform, and parking the vehicle to be parked after the transporter reaches the target parking space via the transverse platform includes: After the wheels are all clamped, controlling the carrier to retreat to the transverse platform; detecting the width of the vehicle to be stored by means of the wheel detection switch; When the width does not exceed a preset width threshold, controlling the carrier to reach the transverse platform and transversely move to the target parking space via the transverse platform; After the carrier reaches the target parking space via the transverse platform, the clamping arm is controlled to be retracted, and the clamping positioning switch is used to detect whether the clamping arm is retracted to a preset position; When the clamping arm is retracted to a preset position, the carrier is controlled to retreat to the initial position of the transverse platform, completing the parking operation of the vehicle to be stored.

[0009] In one embodiment, when the target operation is a parking operation, the step of controlling the transporter to advance to the import / export platform and detecting the chassis height of the vehicle to be stored by using the chassis detection switch includes: When the target operation is a parking operation, controlling the carrier to advance to an import / export platform; Detecting the chassis height of the vehicle to be stored by using the chassis detection switch; When the chassis of the vehicle to be stored contacts the chassis detection switch, determining that the chassis height is less than or equal to a preset height threshold; When the chassis of the vehicle to be stored does not contact the chassis detection switch, it is determined that the chassis height is greater than a preset height threshold.

[0010] In one embodiment, the method further comprises: When the chassis height is less than or equal to the preset height threshold, the chassis low abnormality processing flow is entered; Controlling the carrier to stop moving forward and retreat to the initial position of the transverse platform; The transporter is controlled to send a vehicle chassis too low signal to the dispatching system, so that the dispatching system dispatches the import and export platform to lift the vehicle to be stored to the import and export based on the vehicle chassis too low signal, and generates a prompt message to prompt the user to drive the vehicle to be stored out of the vehicle hall.

[0011] In one embodiment, when the target operation is a vehicle pickup operation, the step of controlling the transporter to advance to the target parking space to pick up the vehicle to be picked up, thereby completing the vehicle pickup operation, includes: When the target operation is a vehicle pickup operation, obtaining vehicle wheelbase data of the vehicle to be picked up; Controlling the transporter to advance to the target parking space and adjusting the positions of the front and rear clamp arms according to the vehicle wheelbase data; Controlling the front drive mechanism to reach the front wheel position of the vehicle to be picked up, controlling the rear drive mechanism to reach the rear wheel position of the vehicle to be picked up, and controlling the front and rear clamping arms to clamp the tires of the vehicle to be picked up; Detecting whether the clamping arm is clamped by the clamping positioning switch; When it is detected that the clamping arm is clamped, the carrier is controlled to return to the transverse platform to complete the vehicle picking operation.

[0012] In one embodiment, when the clamping arm is detected to be clamped, the step of controlling the carrier to return to the transverse platform to complete the vehicle picking operation includes: When the clamping arm is detected to be clamped, the carrier is controlled to return to the transverse platform and wait for the transverse platform to move transversely to the import and export platform; Upon receiving a vehicle release instruction, the carrier is controlled to advance to the import / export platform and the clamping arm is controlled to retract; Detecting whether the clamping arm is retracted to a preset position by the clamping positioning switch; When the clamping arm is retracted to a preset position, the carrier is controlled to retreat to the initial position of the transverse platform, completing the vehicle picking operation.

[0013] In addition, to achieve the above-mentioned purpose, the present application also proposes an intelligent carrier control device, the intelligent carrier control device comprising: An acquisition module is used to obtain control instructions sent by the scheduling system; An analysis module, configured to analyze the control instruction and determine a target operation according to the control instruction; a control module, configured to control the carrier to advance to the import / export platform to pick up the vehicle to be stored, so as to complete the storage operation, when the target operation is a storage operation; The control module is further configured to control the transporter to advance to the target parking space to clamp the vehicle to be picked up when the target operation is a vehicle picking operation, so as to complete the vehicle picking operation.

[0014] Furthermore, to achieve the aforementioned objectives, the present application also proposes an intelligent carrier control system comprising an import / export control cabinet, a translation vehicle control cabinet, and a carrier. The import / export control cabinet includes a lifting mechanism, a rotation mechanism, a centering mechanism, a jacking mechanism, an entrance door mechanism, and a latch mechanism. The translation vehicle control cabinet includes a transverse movement mechanism. The steps of the intelligent carrier control method described above are performed on the carrier.

[0015] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the steps of the intelligent transporter control method described above are implemented.

[0016] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the intelligent carrier control method described above are implemented.

[0017] One or more technical solutions proposed in this application have at least the following technical effects: 1) Through the coordinated action of the travel positioning switch of the front drive mechanism, the gripping positioning switch of the rear drive mechanism, and the pull-wire encoder, the carrier can be accurately positioned between the import and export platforms and the target parking space. Combined with the PLC controller, the automated scheduling of the storage / retrieval process reduces manual intervention, significantly shortens vehicle storage and retrieval time, and improves the turnover efficiency of the three-dimensional parking garage.

[0018] 2) The wheel detection switch on the clamping arm and the chassis detection switch on the rear drive mechanism provide real-time identification of vehicle chassis height, wheel position, and over-width conditions, preventing the risk of equipment jamming or damage due to vehicle size anomalies. In scenarios such as under-low chassis or over-width, the system automatically triggers reverse, platform linkage, and prompts, ensuring rapid response to abnormal situations and reducing the risk of safety incidents.

[0019] 3) During the vehicle pickup process, the clamp arm position can be automatically adjusted based on the vehicle wheelbase data in the dispatch instruction, adapting to the wheelbase requirements of different vehicle models (such as sedans and SUVs), improving the device's versatility. Real-time notifications (such as "Chassis too low, please move") are provided to the vehicle owner in the event of an abnormality, reducing user wait time and improving the convenience and user-friendliness of parking operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 A flowchart of the first embodiment of the intelligent transporter control method of the present application is provided; Figure 2 This is a schematic diagram of the structure of the carrier for this application; Figure 3 A schematic diagram of an import and export platform provided in accordance with an embodiment of the intelligent transporter control method of this application; Figure 4 A flow chart of the second embodiment of the intelligent transporter control method of the present application; Figure 5 A schematic diagram of a vehicle chassis too low abnormality processing flow diagram provided in an embodiment of the intelligent transporter control method of the present application; Figure 6 A schematic diagram of the vehicle over-width exception handling process provided in an embodiment of the intelligent transporter control method of the present application; Figure 7 A schematic diagram of a parking process provided in accordance with an embodiment of the intelligent transporter control method of the present application; Figure 8 A flowchart of the third embodiment of the intelligent transporter control method of this application is provided; Figure 9 A schematic diagram of a vehicle retrieval process provided in accordance with an embodiment of the intelligent transporter control method of the present application; Figure 10 This is a schematic diagram of the module structure of the intelligent carrier control device according to an embodiment of the present application; Figure 11 This is a network system block diagram of the PLC communication system of the intelligent transporter control system of this application; Figure 12 This is a structural diagram of the intelligent transporter control system of this application.

[0023] Description of Figure Numbers: Clamping arm 10, front drive mechanism 20, rear drive mechanism 30, wheel detection switch 1, travel positioning switch 2, wire encoder 3, clamping positioning switch 4, chassis detection switch 5 and control electrical box 6.

[0024] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0025] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0026] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0027] The main solution of the embodiment of the present application is: the carrier includes: multiple clamping arms, a front drive mechanism and a rear drive mechanism, each clamping arm is provided with a wheel detection switch, the front drive mechanism is installed with a travel positioning switch, the rear drive mechanism is installed with a chassis detection switch and a clamping positioning switch, and the front drive mechanism and the rear drive mechanism are connected via a pull-wire encoder; the intelligent carrier control method includes: obtaining a control instruction sent by a scheduling system; analyzing the control instruction and determining a target operation according to the control instruction; when the target operation is a parking operation, controlling the carrier to advance to the import and export platform to clamp the vehicle to be stored to complete the parking operation; when the target operation is a pick-up operation, controlling the carrier to advance to the target parking space to clamp the vehicle to be picked up to complete the pick-up operation.

[0028] Because the smart transporters in the existing technology have low efficiency in accessing vehicles and cannot accurately identify abnormal vehicle conditions, safety is reduced.

[0029] The present application provides a solution, an intelligent carrier control system and method for use in a multi-story parking garage, which improves the safety, stability, efficiency, and reliability of multi-story parking equipment, reduces equipment failures, and lowers equipment control costs.

[0030] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication, and program execution capabilities, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of implementing the aforementioned functions, such as an intelligent transporter control system. This embodiment and the following embodiments will be described below using the intelligent transporter control system as an example.

[0031] Based on this, the embodiment of the present application provides a method for controlling an intelligent carrier, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the intelligent carrier control method of the present application.

[0032] like Figure 2 As shown, Figure 2This is a schematic diagram of the transporter's structure. The transporter includes: multiple clamping arms 10, a front drive mechanism 20, and a rear drive mechanism 30. Each clamping arm 10 is equipped with a wheel detection switch 1. The front drive mechanism 20 is equipped with a travel positioning switch 2, and the rear drive mechanism 30 is equipped with a chassis detection switch 5 and a gripping positioning switch 4. The front drive mechanism 20 and the rear drive mechanism 30 are connected via a cable encoder 3. The clamping arms 10 are equipped with wheel detection switches 1 for four wheels. The wheel detection switches 1 are photoelectric detection switches that detect whether the width of a vehicle exceeds a preset width threshold, thereby determining whether the vehicle is overwidth. The travel positioning switch 2 is used to detect the position of the transporter during travel, ensuring that the transporter can accurately reach the designated location. The chassis detection switch 5 is used to detect the chassis height of the vehicle to be stored to determine whether the vehicle chassis is too low. The gripping positioning switch 4 is used to detect whether the clamping arms are clamping the vehicle tires or retracting to the preset position, ensuring the accuracy and safety of the transporter when gripping and placing vehicles. The wire encoder 3 connects the front drive mechanism 20 and the rear drive mechanism 30 to monitor the moving distance and direction of the transporter in real time, enabling precise control. The control box 6 receives instructions from the dispatching system to control the transporter.

[0033] The power output control of the carrier in this embodiment is mainly achieved by the frequency converter, which adopts a one-to-many mode. The travel and clamping arm control are controlled by one frequency converter, which effectively saves costs, reduces control lines, and reduces failure rates.

[0034] In this embodiment, the intelligent carrier control method includes steps S10 to S40: Step S10: Obtain the control instruction sent by the scheduling system.

[0035] It's important to note that the dispatch system is a central control system responsible for managing and scheduling vehicle access tasks. It generates control instructions based on user needs or pre-set rules and sends these instructions to the intelligent transporter control system. Upon receiving the instructions, the intelligent transporter control system executes the corresponding vehicle access operations based on the instructions.

[0036] The control instructions may include instructions for parking the vehicle, instructions for picking up the vehicle, instructions for stopping the parking or picking up task, instructions for suspending operation, etc., and may also include other instructions, which are not limited in this embodiment.

[0037] Step S20: Analyze the control instruction and determine the target operation according to the control instruction.

[0038] It's important to note that the transporter has a built-in analysis module that parses and identifies received control commands, determining whether the user is requesting a parking or retrieval operation. This step is the prerequisite and foundation for the intelligent transporter to correctly execute subsequent actions.

[0039] Step S30: When the target operation is a parking operation, the carrier is controlled to advance to the import / export platform to pick up the vehicle to be stored, thereby completing the parking operation.

[0040] In specific implementation, when it is determined that the target operation is a parking operation, the control system will immediately start the transporter and control it to move forward to the import and export platform. Figure 3 As shown, Figure 3 This is a schematic diagram of the import and export platform, where transport vehicles can enter or exit the import and export platform.

[0041] On the platform, the transporter uses its gripper arms to pick up the vehicle to be stored. During this process, sensors such as wheel detection switches, chassis detection switches, and gripper positioning switches work together to ensure the safety and accuracy of the gripping action. Once the gripper is complete, the transporter retreats with the vehicle to the transverse platform, where it is transported to the desired parking space for storage.

[0042] The horizontally movable platform is used to transfer vehicles between the entry and exit platforms and the target parking space. After the transporter picks up the vehicle and moves it back to the platform, it activates and moves to the target parking space. The transporter then places the vehicle on the platform, which then transports it to the target parking space, completing the parking operation. During the parking process, the intelligent transporter control system monitors the operating status of the transporter and platform in real time to ensure smooth operation. The system also records relevant information about the parking operation, such as the parking time and parking space number, for subsequent management and query.

[0043] Step S40: When the target operation is a vehicle pickup operation, the carrier is controlled to advance to the target parking space to pick up the vehicle to be picked up, thereby completing the vehicle pickup operation.

[0044] In practice, similar to parking, when the target operation is to retrieve a vehicle, the control system activates the transporter and directs it to the target parking space. There, the transporter uses its gripper arms to grasp the vehicle. Various sensors are also utilized during the gripping process to ensure safety and accuracy. Once the vehicle is retrieved, the transporter retreats with the vehicle to the transverse platform, where it is transported to the entry / exit platform for pickup.

[0045] This embodiment provides a method for controlling an intelligent transporter, wherein the transporter includes: a plurality of clamping arms, a front drive mechanism, and a rear drive mechanism, each clamping arm is provided with a wheel detection switch, the front drive mechanism is provided with a travel positioning switch, the rear drive mechanism is provided with a chassis detection switch and a gripping positioning switch, and the front drive mechanism and the rear drive mechanism are connected via a cable encoder; the method for controlling the intelligent transporter includes: obtaining a control instruction sent by a scheduling system; analyzing the control instruction and determining a target operation according to the control instruction; when the target operation is a parking operation, controlling the transporter to advance to an import and export platform to grip the vehicle to be stored, thereby completing the parking operation; when the target operation is a pickup operation, controlling the transporter to advance to a target parking space to grip the vehicle to be picked up, thereby completing the pickup operation. Through the coordinated action of the travel positioning switch of the front drive mechanism, the gripping positioning switch of the rear drive mechanism, and the cable encoder, the transporter is accurately positioned between the import and export platform and the target parking space. Combined with the automatic scheduling of the parking / retrieval process by the PLC controller, manual intervention is reduced, the vehicle parking and retrieval time is significantly shortened, and the turnover efficiency of the stereo parking garage is improved. The wheel detection switch of the clamping arm and the chassis detection switch of the rear drive mechanism can identify the vehicle chassis height, wheel position and over-width status in real time, avoiding the risk of equipment jamming or damage due to abnormal vehicle size.

[0046] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 4 , step S30 includes steps S301 to S304: Step S301: When the target operation is a parking operation, the transporter is controlled to advance to an import / export platform, and the chassis height of the vehicle to be stored is detected by the chassis detection switch.

[0047] In the specific implementation, if the target operation is a parking operation, the transporter can be controlled to advance to the import and export platform, waiting to clamp the vehicle that needs to be stored in the garage. In order to improve the efficiency and safety of clamping, the chassis height of the vehicle to be stored can be detected through the chassis detection switch first.

[0048] If the chassis height of the vehicle to be stored meets the preset conditions (for example, not less than the preset minimum chassis height threshold), the next step is executed; if not, a chassis-too-low prompt message is issued, and the transporter is controlled to retreat to a safe position to avoid parking operations, thereby preventing equipment damage or safety accidents caused by the chassis being too low.

[0049] In a feasible implementation, step S301 may include steps A11 to A14: Step A11: When the target operation is a parking operation, controlling the carrier to advance to an import / export platform; When a user requests to store a vehicle, the intelligent transporter control system receives the instruction and activates the transporter. The transporter then follows a pre-set path to the access platform, where it prepares to pick up the vehicle. The access platform is where vehicles enter and exit the parking garage and serves as the primary location for the transporter to access and store vehicles.

[0050] Imagine a user drives a car to a parking garage. Upon receiving the parking instruction, the intelligent transporter control system activates the transporter and drives it to the access platform. At this point, the transporter is on standby, ready to pick up the car.

[0051] Step A12: Detecting the chassis height of the vehicle to be stored by using the chassis detection switch; Before a carrier is ready to pick up a vehicle, it must first detect the vehicle's chassis height. A chassis detection switch is typically installed at or near the bottom of the carrier. When the vehicle's chassis contacts the detection switch, it triggers, thereby detecting the vehicle's chassis height.

[0052] When a car enters the access platform and stops, the transporter begins to check the car's chassis height through the chassis detection switch. If the car's chassis height is appropriate and does not touch the chassis detection switch, the transporter will determine that the chassis height meets the parking conditions.

[0053] Step A13: When the chassis of the vehicle to be stored contacts the chassis detection switch, determining that the chassis height is less than or equal to a preset height threshold; If the vehicle's chassis contacts the chassis detection switch, it indicates the vehicle's chassis is too low to meet the carrier's gripping requirements. The carrier will then determine if the chassis height is below or equal to the preset height threshold and take appropriate action, such as issuing a chassis-too-low warning message and controlling the carrier to retreat to a safe position.

[0054] Step A14: When the chassis of the vehicle to be stored does not contact the chassis detection switch, determining that the chassis height is greater than a preset height threshold.

[0055] If the vehicle's chassis does not contact the chassis detection switch, it indicates that the vehicle's chassis height is moderate or high enough to meet the carrier's gripping requirements. The carrier will then determine that the chassis height is greater than the preset height threshold and proceed with the subsequent parking operation.

[0056] In a feasible embodiment, if the chassis of the vehicle to be stored contacts the chassis detection switch, it means that the chassis of the vehicle is low and it is necessary to enter the vehicle chassis too low abnormality handling process. Therefore, after step A13, it also includes: when the chassis height is less than or equal to the preset height threshold, entering the chassis too low abnormality handling process; controlling the transporter to stop moving forward and retreat to the initial position of the transverse platform; controlling the transporter to send a vehicle chassis too low signal to the dispatching system, so that the dispatching system dispatches the import and export platform to lift the vehicle to be stored to the import and export based on the vehicle chassis too low signal, and generates a prompt message to prompt the user to drive the vehicle to be stored out of the vehicle hall.

[0057] The process for handling chassis-too-low exceptions can include a series of preset operating steps to ensure that when a vehicle chassis is detected to be too low, the abnormal situation can be handled promptly and safely. Specifically, when the transporter determines that the vehicle chassis height is less than or equal to the preset height threshold, it immediately stops moving forward and retreats to the initial position of the transverse platform to avoid collision with low-chassis vehicles. At the same time, the transporter can send a vehicle chassis-too-low signal to the dispatching system. After receiving the signal, the dispatching system can dispatch the lifting mechanism of the import and export platform to lift the vehicle to be stored to a suitable height so that the user can drive the vehicle out of the garage. In addition, the dispatching system can also generate a prompt message, prompting the user through a display screen or voice broadcast that the vehicle chassis is too low and the parking operation cannot be completed, and the user is asked to drive the vehicle away from the import and export platform.

[0058] During the chassis-low exception handling process, the intelligent transporter control system also records relevant data, including the time of occurrence and vehicle information, to facilitate subsequent analysis and improvement. Furthermore, the system can adjust vehicle access strategies based on the frequency and cause of chassis-low events to reduce similar incidents and improve the operational efficiency and safety of the parking garage.

[0059] like Figure 5 As shown, Figure 5 This is a diagram of the vehicle undercarriage low exception handling process. The process checks whether the undercarriage is too low. If so, the next step is taken: the transporter stops and retreats to the initial position of the transverse platform. The transporter sends a vehicle undercarriage low signal to the dispatching system, which dispatches the entry / exit platform to the entry / exit point. The entry / exit platform is raised and lowered to the entry / exit point. The exterior door of the parking hall opens and starts. The OA screen prompts "Vehicle undercarriage is too low, please exit the parking hall." The driver drives the vehicle out of the parking hall, and the exception handling process is complete. Safety measures such as the undercarriage low exception handling process further improve the safety and reliability of the parking garage, prevent equipment damage or safety accidents caused by a low undercarriage, and provide users with a more convenient and efficient vehicle storage and retrieval experience.

[0060] Step S302: When it is detected that the chassis height of the vehicle to be stored is greater than a preset height threshold, the front drive mechanism of the transporter is controlled to reach the front wheel positioning position of the vehicle to be stored, and the rear drive mechanism is controlled to move backward to detect the rear wheel position of the vehicle to be stored.

[0061] It should be noted that if the chassis of the vehicle to be stored meets the requirements, the front drive mechanism and the rear drive mechanism of the carrier will be controlled to work together to accurately position the vehicle to be stored. The front drive mechanism will reach the front wheel positioning position of the vehicle to be stored. Specifically, the travel positioning switch can be used to detect whether the front drive mechanism has reached the front wheel positioning position of the vehicle to be stored, ensuring that the carrier can accurately align the front wheels when clamping the vehicle. At the same time, the rear drive mechanism will move backward to detect the rear wheel position of the vehicle to be stored to obtain the overall length information of the vehicle and provide data support for subsequent clamping operations. The implementation of this step depends on the precise coordination of the travel positioning switch of the front drive mechanism and the clamping positioning switch of the rear drive mechanism, as well as the automated scheduling of the PLC controller, thereby ensuring the accuracy and safety of the carrier when clamping the vehicle. After the precise positioning is completed, the carrier will clamp the vehicle to be stored through the clamping arm according to the preset clamping process, and prepare to transport it to the designated parking space for storage.

[0062] Step S303: clamping the wheels of the vehicle to be stored by the clamping arms and recording the current vehicle wheelbase data.

[0063] In specific implementation, after the front drive mechanism and the rear drive mechanism have reached the position corresponding to the vehicle tire, each clamping arm can be controlled to start working and clamp the corresponding wheel respectively. At the same time, in order to improve the efficiency of subsequent vehicle retrieval, the current vehicle wheelbase data can be recorded. The wheelbase data refers to the distance from the center of the front wheel to the center of the rear wheel of the vehicle. This data is crucial for accurate positioning and scheduling during vehicle storage and retrieval. While clamping the wheel, the intelligent transporter control system will measure and record the vehicle's wheelbase in real time through sensors to ensure that the same vehicle can be found and clamped quickly and accurately when retrieving the vehicle. The process of recording wheelbase data is completed automatically without manual intervention, which greatly improves the efficiency and accuracy of vehicle storage and retrieval. After the clamping is completed, the transporter will carry the vehicle back to the transverse platform along the preset path to prepare for the next transfer operation.

[0064] Step S304: After all the wheels are clamped, the transporter is controlled to retreat to the transverse platform, and after the transporter reaches the target parking space through the transverse platform, the vehicle to be stored is parked.

[0065] It is understandable that after the wheels are clamped and ensured to be stable, the carrier will start to retreat, gradually leaving the import and export platforms and moving towards the transverse platform. During this process, the intelligent carrier control system will continuously monitor the operating status of the carrier and the clamping force of the clamping arm to ensure the safety of the vehicle during transportation. When the carrier successfully reaches the transverse platform, it will stop and calibrate briefly to ensure that the docking between the carrier and the transverse platform is accurate. Subsequently, the transverse platform will start and move to the corresponding position according to the coordinate information of the target parking space. During the movement of the transverse platform, the intelligent carrier control system will also perform real-time monitoring and adjustment to ensure the smooth operation and precise positioning of the transverse platform. Once the transverse platform reaches the location of the target parking space, the carrier will place the vehicle on the transverse platform and transport the vehicle smoothly to the target parking space through the transverse platform.

[0066] After a vehicle is successfully stored in the target parking space, the intelligent transporter control system records relevant information about the parking operation, including the parking time, parking space number, and vehicle information, for subsequent management and query. The system also provides feedback to the user via a display screen or voice announcement, confirming the successful parking and allowing them to leave. Furthermore, the intelligent transporter control system automatically dispatches transporters and transverse platforms based on current vehicle access needs and the garage's operational status, optimizing the vehicle access process and improving garage efficiency. Through intelligent scheduling and management, the multi-story parking garage can provide users with more convenient and efficient vehicle access services.

[0067] In a feasible implementation, step S304 may include steps B11 to B15: Step B11: After all wheels are clamped, controlling the carrier to retreat to the transverse platform; It's important to note that once the wheels are securely gripped by the clamping arms, the intelligent carrier control system issues a command to control the entire carrier to begin retreating, gradually moving away from the entry / exit platform and toward the transverse platform. To ensure the carrier's stability and safety during the retreat process, the intelligent carrier control system continuously monitors the carrier's operating status, including key parameters such as its speed, direction, and the clamping force of the clamping arms. Furthermore, sensors on the carrier provide real-time feedback, helping the system precisely control the carrier's movements to avoid unexpected situations such as collisions with surrounding objects or loosening of the clamping arms.

[0068] Step B12: detecting the width of the vehicle to be stored by the wheel detection switch; In specific implementations, when the carrier moves backward to the transverse platform, the intelligent carrier control system detects the width of the vehicle to be stored through the wheel detection switches installed on the carrier. The wheel detection switches are usually arranged on both sides of the carrier. When the tires of the vehicle pass through, the switches will be triggered, so that the system can obtain the width information of the vehicle. Figure 3 As shown, when the transporter is transporting a vehicle out of the import and export platform, if the vehicle is too wide, it will block the left and right over-width detection photoelectric switches. Therefore, the wheel width of the vehicle to be stored can be detected by the wheel detection switch.

[0069] It should be noted that the preset width threshold is the distance between the left and right over-width detection photoelectric switches. If the width of a vehicle to be stored exceeds the preset width threshold, it is deemed over-width and cannot fit within the preset parking space width. At this point, the intelligent transporter control system immediately issues an alarm and stops the transporter's reverse motion to avoid collision with the traverse platform or other objects within the garage. Simultaneously, the system transmits a vehicle over-width signal to the dispatching system. Upon receiving this signal, the dispatching system dispatches the lifting mechanism or other auxiliary equipment on the entry and exit platforms to safely raise and lower the over-width vehicle to the entrance and exit, and generates a prompt message to prompt the user to exit the garage. Furthermore, the intelligent transporter control system records relevant data, including the time of occurrence and vehicle information, for subsequent analysis and improvement. Through this series of detection and processing procedures, the intelligent transporter control system ensures that every vehicle to be stored is safely and accurately parked in the designated parking space, avoiding storage and retrieval problems or safety incidents caused by vehicle size issues.

[0070] like Figure 6 As shown, Figure 6 This is a flowchart of the vehicle overwidth exception handling process. The process detects whether the vehicle is overwidth. If so, the process proceeds to the next step: the carrier stops parking the vehicle; the carrier carries the vehicle forward onto the entry / exit platform; the carrier's clamping arm relaxes; when the clamping arm is fully relaxed, the carrier retreats to the initial position of the transverse platform; the carrier sends a vehicle overwidth signal to the dispatching system; the dispatching system dispatches the entry / exit platform to lift the vehicle to the entry / exit; the entry / exit platform lifts and lowers to the entry / exit; the outer door of the hall opens and starts; the OA screen prompts the vehicle overwidth, please exit the hall; the vehicle owner drives the vehicle out of the hall, and the exception handling process is completed.

[0071] Step B13: When the width does not exceed a preset width threshold, controlling the carrier to reach the transverse platform and transversely move to the target parking space via the transverse platform; In practice, if the width of the vehicle to be stored is detected and confirmed to not exceed the preset width threshold, the intelligent carrier control system will continue to direct the carrier to move smoothly to the transverse platform. This process also relies on the precise coordination of the sensors on the carrier and the PLC controller to ensure the stability and accuracy of the carrier during movement. Once the carrier successfully reaches the transverse platform, the transverse platform will start and, based on the precise coordinate information of the target parking space, smoothly and quickly move the carrier and the vehicle it carries to the designated target parking space. During the transverse movement process, the intelligent carrier control system will continuously monitor the operating status of the carrier and the transverse platform, including movement speed, direction, and any possible abnormal conditions, to ensure the safety and efficiency of the entire transfer process.

[0072] Step B14: After the carrier reaches the target parking space via the transverse platform, the clamping arm is controlled to retract, and the clamping positioning switch is used to detect whether the clamping arm has been retracted to a preset position; It's important to note that after the carrier successfully moves the vehicle horizontally to the target parking space, the intelligent carrier control system issues a command to control the carrier's clamping arm to begin retracting. To ensure the clamping arm accurately and safely retracts to the preset position, the system detects the retraction status of the clamping arm using a clamping position switch. The clamping position switch is typically located at the end of the clamping arm. When the clamping arm is fully retracted and touches the switch, it triggers the switch, allowing the system to confirm that the clamping arm has been retracted. This process is completed automatically, without human intervention, greatly improving the efficiency and accuracy of vehicle storage and retrieval.

[0073] Step B15: When the clamping arm is retracted to the preset position, the carrier is controlled to retreat to the initial position of the transverse platform to complete the parking operation of the vehicle to be stored.

[0074] In practice, after the clamp arm retracts, the transporter disconnects from the vehicle and prepares for its next transport task. Once the clamp arm is fully retracted and confirmed to have reached the preset position, the intelligent transporter control system issues another command, instructing the transporter to begin backing up, gradually moving away from the target parking space and toward the initial position of the traversing platform. To ensure the transporter's stability and safety during the backing process, the system continuously monitors its operating status, including key parameters such as speed and direction. Sensors on the transporter also provide real-time feedback, enabling the system to precisely control the transporter's movements and avoid collisions with surrounding objects. Once the transporter successfully backs up to its initial position on the traversing platform, the parking operation is complete. The intelligent transporter control system then records the final status of the parking operation, including the time it took for the transporter to return to its initial position, for subsequent management and analysis. Through this refined operational and control process, the intelligent transporter not only ensures that every vehicle being parked is safely and accurately parked in its designated parking space, but also significantly improves the efficiency and accuracy of vehicle storage and retrieval, providing users with a more convenient and efficient vehicle storage and retrieval experience.

[0075] like Figure 7 As shown, Figure 7 This is a schematic diagram of the parking process. First, the scheduling system gives the transporter a parking instruction; the transporter moves forward and enters the import and export platform; it determines whether the chassis is too low, and if the test is normal, it continues to perform the parking task; if the test is abnormal, it enters the vehicle chassis too low abnormality processing process; the transporter drives forward to reach the front wheel positioning position; the transporter drives backward to detect the rear wheel position; the transporter drives forward and backward to reach the wheel position, the transporter clamping arm clamps the vehicle wheel, and the scheduling system records the current vehicle wheelbase data; the transporter retreats and enters the transverse platform; it dynamically detects whether the vehicle is overwidth, and if the test is normal, it continues to perform the parking task; if the test is abnormal, it enters the vehicle overwidth abnormality processing process; the transporter reaches the transverse platform and waits for the transverse platform to move horizontally to the target parking space; the scheduling system gives the transporter a parking space parking instruction; the transporter moves forward and enters the parking space; when the transporter reaches the parking space position, the transporter clamping arm relaxes; the clamping arm relaxes in place, the transporter retreats and enters the transverse platform; the transporter retreats to the initial position of the transverse platform, and the transporter parking action is completed.

[0076] This embodiment uses a chassis detection switch to detect the chassis height of the vehicle to be stored, ensuring that the transporter can adjust to vehicles of varying heights during operation, thereby improving the accuracy and flexibility of parking operations. When the vehicle's chassis height exceeds a preset threshold, the transporter adjusts the operation of its drive mechanism based on the vehicle's actual conditions, avoiding operational issues caused by differences in vehicle characteristics. By controlling the transporter's front drive mechanism to precisely locate the vehicle's front wheels and its rear drive mechanism to accurately detect the rear wheel positions, the clamping arms can accurately grasp the vehicle's wheels. This precise positioning reduces potential errors during parking and improves handling accuracy. By having the clamping arms grasp the wheels and record the current vehicle's wheelbase data, the system can monitor vehicle dimensions in real time, further ensuring the safety of parking operations and preventing vehicles from being incorrectly stored due to errors. After grasping the wheels, the transporter quickly retreats to the transverse platform and uses the transverse platform to accurately reach the target parking space. This efficient process significantly improves the speed and efficiency of parking, effectively reducing operation time, especially when efficient operation is required in garages or parking facilities.

[0077] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 8 , step S40 includes steps S401 to S405: Step S401: When the target operation is a vehicle pickup operation, the vehicle wheelbase data of the vehicle to be picked up is obtained.

[0078] It's important to note that wheelbase data is a crucial parameter for vehicles during the retrieval process, determining the proper position of the carrier's gripper arms when gripping the vehicle. By accurately capturing this wheelbase data, the system ensures the gripper arms accurately align with the vehicle's front and rear wheels during the gripping process, improving gripping accuracy and safety. Specifically, since each vehicle's wheelbase data is recorded during parking, the system can first identify the vehicle to be retrieved and determine its wheelbase data during retrieval.

[0079] For example, if a vehicle to be picked up has a wheelbase of 2.8 meters, when the system receives the pick-up instruction, it automatically retrieves the vehicle's wheelbase data from the vehicle management system. Based on this data, the system then calculates the position of the clamp arm to ensure that the clamp arm can accurately grasp the vehicle's front and rear tires.

[0080] Step S402: Control the transporter to advance to the target parking space, and adjust the positions of the front and rear clamping arms according to the vehicle wheelbase data.

[0081] As you can see, after acquiring the wheelbase data, the transporter is controlled to advance to the target parking space (i.e., the space where the vehicle to be retrieved is parked), and the positions of the front and rear clamping arms are adjusted based on the wheelbase data. This process requires precise coordination between the sensors on the transporter and the PLC controller to ensure that the clamping arms accurately reach the predetermined position.

[0082] Step S403: Control the front drive mechanism to reach the front wheel position of the vehicle to be picked up, control the rear drive mechanism to reach the rear wheel position of the vehicle to be picked up, and control the front and rear clamping arms to clamp the tires of the vehicle to be picked up.

[0083] It's important to note that the front drive mechanism can be controlled to reach the front wheels of the vehicle being picked up, and the rear drive mechanism can be controlled to reach the rear wheels. The system then issues commands to the front and rear clamping arms to simultaneously grip the vehicle's tires. This process requires precise control of parameters such as the clamping force and movement speed of the clamping arms to ensure stable and safe gripping.

[0084] Step S404: detecting whether the clamping arm is clamped by the clamping positioning switch.

[0085] After the clamp arm grips the tire, the system uses the gripping position switch to detect whether the clamp arm is clamped tightly. The gripping position switch is usually located at the end of the clamp arm. When the clamp arm fully grips the tire and touches the switch, it triggers the switch, allowing the system to confirm that the clamp arm is clamped in place.

[0086] Continuing with the example of the clamp arm clamping a tire, when the clamp arm fully clamps the tire and touches the clamping positioning switch, the switch will send a signal to the system. After receiving the signal, the system will confirm that the clamp arm has been clamped in place and prepare for the next operation.

[0087] Step S405: When it is detected that the clamping arm is clamped, the carrier is controlled to return to the transverse platform to complete the vehicle picking operation.

[0088] After the gripper arm successfully grasps the tire of the vehicle to be picked up, the intelligent carrier control system will immediately issue a command to accurately control the carrier to start moving backward according to the following formula: Reverse speed V_r = safety factor k × maximum reverse speed V_max × (1 - load factor L) The safety factor k is a preset value used to ensure the stability and safety of the transporter during its reverse movement; the maximum reverse speed V_max is a design parameter for the transporter; and the load factor L is the ratio of the vehicle weight currently being carried by the transporter to the maximum load. Using this formula, the system can dynamically adjust the transporter's reverse speed based on actual conditions, ensuring a smooth and safe transport process.

[0089] In a feasible implementation, step S405 may include steps C11 to C14: Step C11: When it is detected that the clamping arm is clamped, the carrier is controlled to return to the transverse platform and wait for the transverse platform to move transversely to the import / export platform; Once the gripper arm fully grasps the tire and the gripper positioning switch is triggered, the system immediately controls the carrier to begin retreating, safely returning to the traversing platform at the preset speed and path. During this process, the system continuously monitors the carrier's operating status to ensure stable and safe movement. Simultaneously, the traversing platform begins to move laterally, moving the carrier and its vehicle from the target parking area to the access platform, ready for the next step of vehicle placement.

[0090] Step C12: upon receiving the vehicle release instruction, controlling the carrier to advance to the import / export platform and controlling the clamping arm to retract; When the traversing platform moves the transporter near the entry / exit platform, the system receives the vehicle release command. At this point, the system controls the transporter to the designated position on the entry / exit platform, ensuring the vehicle is parked smoothly and accurately on the platform. The system then controls the clamping arm to begin retracting, releasing the gripped tire back onto the vehicle, completing the vehicle release operation. During the retraction process, the system continuously monitors the clamping arm's status and position to ensure it accurately and stably retracts to the pre-set position.

[0091] Step C13: detecting whether the clamping arm is retracted to a preset position through the clamping positioning switch; During the retraction process, the system uses a gripping position switch to detect whether the gripping arm has reached its preset position. This switch is typically located at or near the end of the gripping arm. When the gripping arm is fully retracted and touches the switch, it triggers the switch and sends a signal to the system. The system receives and processes this signal, confirming that the gripping arm has been retracted and is ready for the next operation.

[0092] Step C14: When the clamping arm is retracted to the preset position, the carrier is controlled to retreat to the initial position of the transverse platform, thereby completing the vehicle picking operation.

[0093] Once the clamp arm has successfully retracted to the preset position, the system immediately controls the transporter to begin retreating, returning to its initial position on the traverse platform at the preset speed and path. During the transporter's retreat, the system continuously monitors its operating status and position to ensure a safe and stable return to its initial position. When the transporter successfully returns to its initial position, the vehicle retrieval operation is complete. The intelligent transporter control system then records key information, including the completion time of the retrieval operation, the transporter's status, and the vehicle's wheelbase, to support subsequent management, analysis, and optimization.

[0094] Through the above control, the transporter can not only ensure that each vehicle to be picked up can be safely and accurately taken out of the designated parking space and parked on the import and export platform, but also greatly improve the efficiency and accuracy of vehicle storage and retrieval, providing users with a more convenient and efficient vehicle storage and retrieval experience.

[0095] like Figure 9 As shown, Figure 9 This is a schematic diagram of the vehicle retrieval process. The dispatching system gives the transporter a vehicle retrieval instruction and vehicle wheelbase data; the transporter moves forward to enter the parking space in the warehouse area and automatically adjusts the position of the front and rear clamping arms according to the vehicle wheelbase data; the transporter drives forward to the front wheel position and drives backward to the rear wheel position; the front and rear clamping arms of the transporter clamp the vehicle tires; when the clamping arms clamp the vehicle tires in place, the transporter returns to the transverse platform; wait for the transverse platform to move to the import and export platform position; the dispatching system gives the transporter a vehicle release instruction on the import and export platform; the transporter moves forward to enter the import and export platform, and when the transporter reaches the import and export platform vehicle release position, the transporter clamping arms release; when the clamping arms release in place, the transporter retreats to the initial position of the transverse platform; when the transporter retreats to the initial position of the transverse platform, the transporter vehicle storage action is completed.

[0096] In this embodiment, by obtaining the wheelbase data of the vehicle to be picked up, the transporter can accurately adjust the position of the front and rear clamping arms to ensure that the clamping arms can accurately clamp the front and rear wheels of the vehicle. Adjusting the clamping arm position according to the vehicle's wheelbase data improves the accuracy and adaptability of the operation and can adapt to vehicles of different sizes. By controlling the front drive mechanism to reach the front wheel position of the vehicle to be picked up and controlling the rear drive mechanism to reach the rear wheel position, the clamping arm position can be accurately ensured, and the tires of the vehicle can be accurately clamped, avoiding damage to the vehicle or misoperation caused by improper clamping. The use of the clamping positioning switch can monitor in real time whether the clamping arm is clamping the vehicle tire. Once it is detected that the clamping arm is clamped, the system automatically confirms that the operation is successful, reducing safety hazards caused by improper operation. This process ensures the safety and stability of the vehicle retrieval operation. The precise vehicle retrieval operation allows the vehicle to be taken out efficiently and accurately, reducing the waste of space caused by imprecise operation. This is particularly important in high-density parking environments and can optimize the use of garages or parking spaces.

[0097] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the intelligent transporter control method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0098] This application also provides an intelligent transporter control device, please refer to Figure 10 , the intelligent carrier control device includes: An acquisition module 100 is used to acquire control instructions sent by the scheduling system; An analysis module 200 is configured to analyze the control instruction and determine a target operation according to the control instruction; The control module 300 is used to control the carrier to advance to the import / export platform to pick up the vehicle to be stored, so as to complete the storage operation when the target operation is a storage operation; The control module 300 is further configured to control the transporter to advance to the target parking space to pick up the vehicle to be picked up when the target operation is a vehicle picking operation, so as to complete the vehicle picking operation.

[0099] The intelligent carrier control device provided in this application, employing the intelligent carrier control method described in the aforementioned embodiments, can address the technical problem of improving the efficiency and safety of access to and from multi-story parking systems. Compared to the prior art, the beneficial effects of the intelligent carrier control device provided in this application are similar to those of the intelligent carrier control method described in the aforementioned embodiments. Other technical features of the intelligent carrier control device are the same as those disclosed in the aforementioned embodiments and are not further elaborated here.

[0100] This application provides an intelligent transporter control system that uses a Siemens S7-1200 PLC as an independent controller for each device. Each device communicates with the master controller via a ProfiNet network, facilitating modularization of the hardware and software components of each device. This control system modularizes the device hardware, separating the control boxes for the device master, import / export elevator, transverse transport vehicle, and transporter. These boxes can be installed near the device based on actual site conditions. Only power cables and communication cables are required to connect the device to the master controller PLC, reducing device cable usage, making wiring more convenient and efficient, and facilitating subsequent maintenance and repair. The control system modularizes the internal mechanisms of each device using the TIA Portal programming software for the Siemens S7-1200 PLC controller. Data exchange between each device and the master controller is achieved via a configured ProfiNet network. Control modes, operating actions, and alarm information within the device are modularized through programming, resulting in a clearer device code structure, easier replication, and more efficient development. The entire system tasks are scheduled by the main controller PLC, which issues tasks and action instructions to each device, and each device controller PLC feeds back the device status and action task completion status to the main control PLC.

[0101] like Figure 11 As shown, Figure 11 This is the network system block diagram of the PLC communication system of the intelligent transporter control system. The intelligent garage network framework consists of four parts: the central control room network system, the import and export network system, the translation vehicle network system, and the transporter network system. The specific contents of each network framework are as follows: (1) Central control room network system: central control room control computer, central control room master control touch screen; (2) Import and export network system: main control PLC, import and export control PLC, LED display, license plate recognition, lobby guide screen and vehicle access terminal; (3) Translocation vehicle network system: translocation vehicle PLC, translocation vehicle control touch screen; (4) Transporter network system: transporter PLC; The central control room and import and export network systems are connected and communicated through Category 5 shielded network cables and data switches, and the import and export translocation vehicles, translocation vehicles and transporters are connected and communicated through Category 5 shielded network cables, data switches and industrial-grade power network bridges. Since each device has an independent PLC system, each device control PLC only needs to be connected through a network cable, and the equipment linkage is completed through data exchange between the devices, thereby improving the equipment operation efficiency. Figure 12 As shown, Figure 12The diagram below is a schematic diagram of the system structure, which includes three parts: import and export control cabinets, trolley control cabinets and transporters (transporter control box). The specific electrical control contents of each part are as follows: (1) Import and export control cabinets: lifting mechanism, rotation mechanism, centering mechanism, jacking mechanism, entrance door mechanism, latch mechanism; (2) trolley control cabinets: transverse mechanism; (3) transporter control box: front and rear walking mechanism, front and rear clamping arm mechanism; The equipment control cabinets are installed nearby according to the actual situation on site. Various detection components and motor lines only need to be connected to the corresponding PLC control system cabinets, which facilitates modular and standardized wiring of various equipment, classifies the electrical control material list, and facilitates changes to different types of projects. The cabinet drawing design and electrical component selection can be completed quickly to improve design and installation efficiency. The electrical software control consists of four parts: the main control program, the import and export control program, the transverse vehicle control program and the transporter control program. The specific software control contents of each part are as follows: (1) Main control program: the storage and retrieval vehicle operation program, the storage and retrieval vehicle scheduling program, the alarm program, the HMI program and the communication program; (2) Import and export control program: the scheduling program, the mechanical component control program, the alarm program and the communication program; (3) Transverse vehicle control program: the mechanical component control program, the alarm program, the HMI program and the communication program; (4) Transporter control program: the mechanical component control program, the alarm program and the communication program; the main control PLC controls the linkage operation between the various devices by sending and receiving data, and provides real-time feedback on the operating status of each device, ensuring that the device can be shut down immediately and the alarm information can be uploaded when a fault occurs, thereby improving the efficiency of equipment debugging and maintenance.In the automatic operation mode, the main control PLC sends a command to pick up the car from the parking space. The action flow is as follows: the entrance and exit elevator rises to the corresponding position and opens the latch -> the transporter completes parking at the entrance and exit -> the entrance and exit elevator opens the latch and rises to the entrance and exit level -> the entrance and exit outer door opens to pick up the car -> the outer door closes after the car is picked up -> the entrance and exit pick up is completed. If the main control PLC receives a command to park the car in the parking space, the action flow is as follows: the entrance and exit outer door, jacking, centering, and rotation are sequentially operated -> the entrance and exit elevator rises to the corresponding position and opens the latch -> jacking, centering, and rotation are sequentially operated -> the transporter completes parking at the entrance and exit -> the entrance and exit elevator opens the latch and rises to the entrance and exit level -> parking is completed. In the manual mode, the central control room touch screen controls the control. In the automatic operation mode, the main control PLC sends a command to pick up the car from the parking space. The action flow is as follows: the corresponding pick-up level moves the horizontal car to the designated parking space -> the transporter completes picking up the car from the parking space and returns the horizontal car -> the horizontal car moves to the corresponding entrance and exit position -> transport The device completes parking at the entrance and exit and returns to the translation vehicle --> the translation vehicle is retrieved; if the main control PLC receives the parking instruction sent to the parking space, the action flow is as follows: the translation vehicle on the corresponding retrieval layer moves to the target entrance and exit position --> the transporter completes parking at the entrance and exit and returns to the translation vehicle --> the translation vehicle moves to the corresponding entrance and exit position --> the translation vehicle moves to the parking space and returns to the translation vehicle --> the translation vehicle is parked, which is controlled by the translation vehicle touch screen in the manual mode; in the automatic operation mode, when the translation vehicle reaches the target parking space and is aligned with the target parking space, the translation vehicle moves to the corresponding entrance and exit position. After the tracks are aligned, the main control PLC sends a command to pick up the car from the parking space. The action flow is as follows: the carrier moves to the front wheel alignment position of the parking space --> the front and rear clamping mechanisms are clamped simultaneously --> the carrier returns to the horizontal transport vehicle --> the carrier picks up the car. If the main control PLC sends a command to store the car in the parking space, the action flow is as follows: the carrier moves to the front wheel alignment position of the parking space --> the front and rear clamping mechanisms are released simultaneously --> the carrier returns to the horizontal transport vehicle --> the carrier stores the car. In the manual mode, it is controlled by the horizontal transport vehicle touch screen.

[0102] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for controlling an intelligent carrier, characterized in that: The carrier includes: multiple clamping arms, a front drive mechanism, and a rear drive mechanism, each clamping arm is provided with a wheel detection switch, the front drive mechanism is provided with a travel positioning switch, the rear drive mechanism is provided with a chassis detection switch and a gripping positioning switch, and the front drive mechanism and the rear drive mechanism are connected via a cable encoder; The intelligent carrier control method includes: Obtain control instructions sent by the scheduling system; Analyzing the control instruction and determining a target operation according to the control instruction; When the target operation is a parking operation, controlling the carrier to advance to the import / export platform to clamp the vehicle to be stored, thereby completing the parking operation; When the target operation is a vehicle picking operation, the carrier is controlled to advance to the target parking space to clamp the vehicle to be picked up, so as to complete the vehicle picking operation.

2. The method according to claim 1, wherein When the target operation is a parking operation, the step of controlling the carrier to advance to the import / export platform to clamp the vehicle to complete the parking operation includes: When the target operation is a parking operation, the carrier is controlled to advance to the import / export platform, and the chassis height of the vehicle to be stored is detected by the chassis detection switch; When it is detected that the chassis height of the vehicle to be stored is greater than a preset height threshold, the front drive mechanism of the transporter is controlled to reach the front wheel positioning position of the vehicle to be stored, and the rear drive mechanism is controlled to move backward to detect the rear wheel position of the vehicle to be stored; Clamping the wheel of the vehicle to be stored by the clamping arm and recording the current vehicle wheelbase data; After the wheels are all clamped, the carrier is controlled to retreat to the transverse platform, and after the carrier reaches the target parking space through the transverse platform, the vehicle to be stored is parked.

3. The method according to claim 2, wherein After all wheels are clamped, the step of controlling the carrier to retreat to the transverse platform, and parking the vehicle to be parked after the carrier reaches the target parking space via the transverse platform includes: After the wheels are all clamped, controlling the carrier to retreat to the transverse platform; detecting the width of the vehicle to be stored by means of the wheel detection switch; When the width does not exceed a preset width threshold, controlling the carrier to reach the transverse platform and transversely move to the target parking space via the transverse platform; After the carrier reaches the target parking space via the transverse platform, the clamping arm is controlled to be retracted, and the clamping positioning switch is used to detect whether the clamping arm is retracted to a preset position; When the clamping arm is retracted to a preset position, the carrier is controlled to retreat to the initial position of the transverse platform, completing the parking operation of the vehicle to be stored.

4. The method according to claim 2, wherein When the target operation is a parking operation, the step of controlling the transporter to advance to the import / export platform and detecting the chassis height of the vehicle to be stored by the chassis detection switch includes: When the target operation is a parking operation, controlling the carrier to advance to an import / export platform; Detecting the chassis height of the vehicle to be stored by using the chassis detection switch; When the chassis of the vehicle to be stored contacts the chassis detection switch, determining that the chassis height is less than or equal to a preset height threshold; When the chassis of the vehicle to be stored does not contact the chassis detection switch, it is determined that the chassis height is greater than a preset height threshold.

5. The method according to claim 4, wherein The method further comprises: When the chassis height is less than or equal to the preset height threshold, the chassis low abnormality processing flow is entered; Controlling the carrier to stop moving forward and retreat to the initial position of the transverse platform; The transporter is controlled to send a vehicle chassis too low signal to the dispatching system, so that the dispatching system dispatches the import and export platform to lift the vehicle to be stored to the import and export based on the vehicle chassis too low signal, and generates a prompt message to prompt the user to drive the vehicle to be stored out of the vehicle hall.

6. The method according to claim 1, wherein When the target operation is a vehicle pickup operation, the step of controlling the carrier to advance to the target parking space to pick up the vehicle to be picked up, so as to complete the vehicle pickup operation includes: When the target operation is a vehicle pickup operation, obtaining vehicle wheelbase data of the vehicle to be picked up; Controlling the transporter to advance to the target parking space and adjusting the positions of the front and rear clamp arms according to the vehicle wheelbase data; Controlling the front drive mechanism to reach the front wheel position of the vehicle to be picked up, controlling the rear drive mechanism to reach the rear wheel position of the vehicle to be picked up, and controlling the front and rear clamping arms to clamp the tires of the vehicle to be picked up; Detecting whether the clamping arm is clamped by the clamping positioning switch; When it is detected that the clamping arm is clamped, the carrier is controlled to return to the transverse platform to complete the vehicle picking operation.

7. The method according to claim 6, wherein The step of controlling the carrier to return to the transverse platform when the clamping arm is detected to be clamped to complete the vehicle picking operation includes: When the clamping arm is detected to be clamped, the carrier is controlled to return to the transverse platform and wait for the transverse platform to move transversely to the import and export platform; Upon receiving a vehicle release instruction, the carrier is controlled to advance to the import / export platform and the clamping arm is controlled to retract; Detecting whether the clamping arm is retracted to a preset position by the clamping positioning switch; When the clamping arm is retracted to a preset position, the carrier is controlled to retreat to the initial position of the transverse platform, completing the vehicle picking operation.

8. An intelligent carrier control device, characterized in that: The intelligent carrier control device includes: An acquisition module is used to obtain control instructions sent by the scheduling system; An analysis module, configured to analyze the control instruction and determine a target operation according to the control instruction; a control module, configured to control the carrier to advance to the import / export platform to pick up the vehicle to be stored, so as to complete the storage operation, when the target operation is a storage operation; The control module is further configured to control the transporter to advance to the target parking space to clamp the vehicle to be picked up when the target operation is a vehicle picking operation, so as to complete the vehicle picking operation.

9. An intelligent carrier control system, characterized in that: The intelligent carrier control system includes: an import and export control cabinet, a translation vehicle control cabinet, and a carrier. The import and export control cabinet includes a lifting mechanism, a rotation mechanism, a centering mechanism, a jacking mechanism, an entrance door mechanism, and a latch mechanism. The translation vehicle control cabinet includes a transverse movement mechanism. The intelligent carrier control method described in any one of claims 1 to 7 is executed on the carrier.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the intelligent carrier control method according to any one of claims 1 to 7 are implemented.

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