A vehicle loading and unloading mechanism and an automatic control method for loading and unloading a vehicle in a garage

Abstract

The application provides a vehicle carrying and taking mechanism and an automatic control method for taking vehicles in a garage, and belongs to the technical field of garage equipment, and comprises a vehicle carrying and taking mechanism and an automatic control method. The two ends of the vehicle carrying and taking mechanism are respectively provided with a docking structure for adapting to a concrete vehicle storage platform. The vehicle carrying plate moves along a first track to the corresponding concrete vehicle storage platform, and is locked or unlocked with the concrete vehicle storage platform through platform track docking. The vehicle carrying and taking mechanism provided by the application systematically solves the problems of noise, vibration and unstable operation of the mechanism caused by the too large gap at the docking position of the existing vehicle carrying and taking mechanism and the concrete vehicle storage platform, and even greatly affects the service life of the carrying robot and the vehicle carrying and taking mechanism, and at the same time guarantees the vehicle storage and taking efficiency, and provides strong technical support for the popularization and application of the underground stereo garage in the complex environment of the land resource scarce and complex scene in the urban core area and the old building reconstruction.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of garage equipment, and more particularly relates to a vehicle carrying and taking mechanism and an automatic control method for taking and delivering vehicles in a garage. BACKGROUND

[0002] With the acceleration of urbanization and the continuous rise of the number of cars, the land resources in the core area of the city are increasingly scarce. The traditional flat parking lot has been difficult to meet the growing demand for parking due to its low space utilization. Under this background, the stereoscopic parking garage has become one of the mainstream solutions to solve the problem of urban parking difficulty due to its advantage of greatly improving the number of parking per unit area. The efficient operation of the underground stereoscopic parking garage lies in the rapid and stable taking and delivering of vehicles. The vehicle carrying and taking mechanism is a key executive component connecting the elevator and the concrete vehicle storage platform. The underground stereoscopic garage has good application prospects due to its advantages of saving ground space and being less affected by the environment. The structural design of the vehicle carrying and taking mechanism directly determines the efficiency of the parking garage, the running stability, the service life of the mechanism, and the space adaptation ability.

[0003] In the existing stereoscopic parking garage, the mainstream vehicle carrying and taking mechanism adopts a combination of an elevator, a fixed track, and a carrying assembly. That is, after the elevator drives the carrier carrying the vehicle to ascend to the target floor, the carrying assembly is guided by the fixed track arranged on the garage frame to move and deliver the vehicle to the concrete vehicle storage platform. However, such a structure has high requirements for the installation precision of the track of the overall frame of the garage during the vehicle carrying and taking process. Moreover, there are problems of noise, vibration, and unstable operation of the mechanism caused by the large gap at the docking place of the concrete vehicle storage platform, which may greatly affect the service life of the carrying robot and the vehicle carrying and taking mechanism, resulting in great difficulty in equipment debugging and poor running stability.

[0004] Specifically, in the prior art, the fixed track and the garage frame are rigidly connected, and the installation precision thereof needs to be highly consistent with the lifting positioning precision of the elevator and the installation precision of the concrete vehicle storage platform. Once a slight deviation occurs in any link, the carrying assembly and the track may be stuck, which may generate a large noise and cause great wear of the mechanism. SUMMARY

[0005] The present application aims to provide a vehicle carrying and taking mechanism to solve the problems mentioned in the background.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present application is to provide a vehicle carrying and taking mechanism, which comprises:

[0007] The upper end surface of the vehicle carrying plate is provided with two second tracks arranged in parallel and at intervals, the second tracks are used for moving the carrying robot along the length direction of the vehicle carrying plate, both ends of the vehicle carrying plate are respectively provided with a docking structure used for adapting to a concrete vehicle storage platform, the lower end of the vehicle carrying plate is provided with a plurality of first wheel groups, each first wheel group is provided with two first walking wheels rolling matched with a lifting platform of a garage hoist, one side of the vehicle carrying plate is provided with a driving assembly, the driving assembly is drivingly matched with at least one first wheel group, the corresponding first walking wheels are driven to roll, so that the vehicle carrying plate is driven to move along the lifting platform to the corresponding concrete vehicle storage platform, and the docking structure is used for realizing locking or unlocking with the concrete vehicle storage platform.

[0008] In the locked state of the vehicle carrying plate and the corresponding concrete vehicle storage platform, the carrying robot moves the vehicle carried thereby from the vehicle carrying plate to the concrete vehicle storage platform to complete parking operation, or moves the vehicle carried thereby from the concrete vehicle storage platform to the vehicle carrying plate to complete vehicle taking operation.

[0009] In a possible implementation, the vehicle carrying plate comprises:

[0010] two second main beams arranged in parallel and at intervals;

[0011] a plurality of second cross beams arranged in parallel and at intervals between the two second main beams and vertically fixed with the second main beams;

[0012] wherein the plurality of first wheel groups are sequentially arranged at the lower ends of the two second main beams along the length direction, the driving assembly is fixed to the outer side of any second main beam, and the docking structure is arranged at both ends of the second main beam.

[0013] In a possible implementation, opposite sides of the two first walking wheels of the same first wheel group are respectively provided with limiting rims, the limiting rims are used for limiting the axial displacement of the two first walking wheels of the same first wheel group.

[0014] In a possible implementation, the docking structure comprises:

[0015] a positioning pin arranged at the end of the second main beam, the positioning pin is provided with a ball head plug-in end, the positioning pin is movable along the axial direction of the second main beam, the ball head plug-in end is inserted into a sensing groove of the concrete vehicle storage platform to realize locking, or is separated from the sensing groove of the concrete vehicle storage platform to realize unlocking.

[0016] The vehicle carrying and taking mechanism has the advantages that, compared with the prior art, the vehicle carrying plate is in rolling cooperation with the lifting platform through the first wheel set at the lower end, the position of the vehicle carrying plate on the lifting platform can be adjusted by the driving assembly, and the butt joint structures at the two ends of the vehicle carrying plate can directly butt joint the concrete vehicle storage platform, without the need of the overall frame track of the garage to achieve extremely high installation precision, thereby effectively reducing repeated adjustment caused by mismatching of precision in the debugging process, significantly improving the debugging efficiency and shortening the project landing period.

[0017] The scheme solves the above problems and guarantees the vehicle storage and taking efficiency. The direct transmission cooperation of the driving assembly and the first wheel set has fast response speed, can realize fast movement of the vehicle carrying plate on the lifting platform and efficient transfer of the carrying robot between the vehicle carrying plate and the concrete vehicle storage platform, and the operation process of locking / unlocking of the vehicle carrying plate and the robot transfer is clear and has no redundant action, thereby ensuring efficient connection of the whole process of "elevator lifting-vehicle carrying plate butt joint-vehicle transfer", further improving the user experience on the basis of optimizing stability and adaptability.

[0018] In summary, the technical scheme systematically solves the problems of noise, vibration and unstable operation of the existing vehicle carrying and taking mechanism caused by too large gap at the butt joint between the concrete vehicle storage platform, guarantees the vehicle storage and taking efficiency, provides strong technical support for popularization and application of the stereoscopic garage in the complex environment of land resource scarcity and complex scene in the urban core area and old building reconstruction, and further strengthens the practicality and reliability of the stereoscopic garage in solving the urban parking problem.

[0019] The application further provides an automatic control method for taking and carrying vehicles in a garage, applied to the vehicle carrying and taking mechanism, and comprising the following steps:

[0020] S1: detecting the vehicle parking position in the entrance area through a dynamic load sensor, automatically allocating an idle parking space after receiving a user vehicle storage instruction, and generating a vehicle carrying plate running instruction based on preset path planning logic;

[0021] S2: the lifting platform is lowered or raised according to the running instruction, the vehicle carrying plate reaches the specified position, and the vehicle carrying plate preliminarily positions the concrete vehicle storage platform through an infrared sensing alignment system;

[0022] S3: after the position relationship between the vehicle carrying plate and the concrete vehicle storage platform is calibrated through a Hall sensor, a control module is triggered to control the driving assembly to work, so that the butt joint structure is driven to act, so that the vehicle carrying plate is butt jointed and locked with the concrete vehicle storage platform;

[0023] S4: a carrying robot carries the vehicle from the vehicle carrying plate to the specified idle parking space of the concrete vehicle storage platform, the butt joint structure of the vehicle carrying plate is unlocked from the concrete vehicle storage platform after the work is completed, the vehicle carrying plate returns to the initial working position, and the lifting platform is reset.

[0024] In a possible implementation, in step S2, when the loading plate runs to the preset position 50mm±2mm away from the end of the concrete parking platform, the control module controls the driving assembly to slow down, so that the loading plate obtains buffering;

[0025] In the preliminary positioning process, the infrared sensing positioning system feeds back the positioning deviation, and the control module combines the hydraulic fine adjustment mechanism to perform preliminary error compensation, so as to ensure that the initial positioning deviation of the loading plate and the concrete parking platform is within a preset range.

[0026] In a possible implementation, in step S3, after the Hall sensor triggers the control module, the positioning pin of the driving docking structure is extended, and the double electromagnets arranged on the positioning pin are symmetrically powered to generate magnetic attraction force. The ball head plug-in end of the positioning pin and the sensing groove of the concrete parking platform are seamlessly docked by using a PID closed-loop control strategy.

[0027] The control method for taking and delivering a vehicle in the garage provided by the application has the following advantages: compared with the prior art, after detecting the vehicle parking position by the dynamic load sensor and receiving the parking instruction, the idle parking space is automatically allocated, then the running instruction is generated based on the preset path planning, and then the loading plate is precisely positioned and docked, the vehicle is carried, and the equipment is reset. The whole process does not need manual intervention, the taking and delivering time is greatly shortened, the operation efficiency is significantly improved, and the user can have a convenient and efficient use experience. Through the preliminary positioning of the infrared sensing positioning system and the precise calibration of the Hall sensor, double protection is formed, and the reliable locking of the docking structure is matched, so that the influence of the garage manufacturing and installation errors and structural gaps is effectively offset, the problems such as jamming and jumping that may occur during the vehicle carrying process are completely avoided, and the whole operation process is more stable. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0029] Figure 1 The front view of the vehicle loading and delivering mechanism provided by the application;

[0030] Figure 2 The top view of the vehicle loading and delivering mechanism provided by the application;

[0031] Figure 3 The side view of the vehicle loading and delivering mechanism provided by the application;

[0032] Figure 4 The structure schematic diagram of the lifting platform and the loading plate provided by the application;

[0033] Figure 5 Structure diagram of the carrying platform provided by the present application;

[0034] Figure 6 Use state diagram of the car carrying and taking mechanism of the present application in the underground garage;

[0035] Figure 7 Flow chart of the control method of the garage vehicle carrying and taking vehicle provided by the present application.

[0036] In the figure: 100, lifting platform; 110, first main beam; 120, first cross beam; 130, first track; 200, car carrying plate; 210, second main beam; 220, second cross beam; 230, second track; 240, first walking wheel; 241, limiting flange; 250, driving assembly; 260, positioning bolt; 300, carrying robot; 310, carrying platform; 311, supporting plate; 312, parking notch; 320, second walking wheel; 330, guide wheel; 340, distance adjusting member. DETAILED DESCRIPTION

[0037] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects more clearly, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0038] Unless otherwise explicitly defined, as using the terms "first", "second" or "third", etc., are all for distinguishing different objects, and are not used to describe a particular order.

[0039] Unless otherwise explicitly defined, for the orientation words, such as using the terms "center", "transverse", "longitudinal", "horizontal", "vertical", "top", "bottom", "inner", "outer", "upper", "lower", "front", "back", "left", "right", "clockwise", "counterclockwise", "high", "low", etc. Indicate the orientation or positional relationship based on the orientation and positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation or be constructed and operated in a particular orientation, so it cannot be understood as limiting the specific protection scope of the present application.

[0040] Please refer to Figures 1 to 6The application provides a vehicle carrying and taking mechanism. The vehicle carrying and taking mechanism comprises a vehicle carrying plate 200, wherein the upper end surface of the vehicle carrying plate 200 is provided with two second tracks 230 arranged in parallel and at intervals, the second tracks 230 are used for moving a carrying robot 300 along the length direction of the vehicle carrying plate 200, the two ends of the vehicle carrying plate 200 are respectively provided with a butt joint structure used for adapting to a concrete vehicle storage platform, the lower end of the vehicle carrying plate 200 is provided with a plurality of first wheel groups, each first wheel group is provided with two first walking wheels 240 which are in rolling cooperation with a lifting platform 100 of a garage elevator, one side of the vehicle carrying plate 200 is provided with a driving assembly 250, the driving assembly 250 is in transmission cooperation with at least one first wheel group, the corresponding first walking wheel 240 is driven to roll, so that the vehicle carrying plate 200 is driven to move along the lifting platform 100 to the corresponding concrete vehicle storage platform, and the butt joint structure is used for achieving locking or unlocking with the concrete vehicle storage platform; when the vehicle carrying plate 200 is in the locking state with the corresponding concrete vehicle storage platform, the carrying robot 300 moves the vehicle carried thereby from the vehicle carrying plate 200 to the concrete vehicle storage platform to complete a parking operation, or the carrying robot 300 moves the vehicle carried thereby from the concrete vehicle storage platform to the vehicle carrying plate 200 to complete a taking operation.

[0041] Compared with the prior art, the vehicle carrying plate 200 is in rolling cooperation with the lifting platform 100 through the first wheel groups at the lower end, the position of the vehicle carrying plate 200 on the lifting platform 100 can be adjusted by the driving assembly 250, and the butt joint structures at the two ends of the vehicle carrying plate 200 can be directly connected to the concrete vehicle storage platform, so that the whole garage frame track does not need to have extremely high installation precision, the repeated adjustment caused by the mismatch of the precision in the debugging process is effectively reduced, the debugging efficiency is significantly improved, and the project landing period is shortened.

[0042] The scheme solves the above problems and guarantees the vehicle storage and taking efficiency. The driving assembly 250 is in direct transmission cooperation with the first wheel groups, the response speed is fast, the vehicle carrying plate 200 can be quickly moved on the lifting platform 100, and the carrying robot 300 can be efficiently moved and transferred between the vehicle carrying plate 200 and the concrete vehicle storage platform, the locking / unlocking of the vehicle carrying plate 200 and the robot moving and transferring operation process are clear and have no redundant actions, the whole process of “elevator lifting-vehicle carrying plate 200 butt joint-vehicle moving and transferring” is efficiently connected, on the basis of optimizing the stability and adaptability, the user experience is further improved.

[0043] In summary, the technical scheme systematically solves the problems of noise, vibration and unstable operation of the existing vehicle loading and unloading mechanism caused by the too large gap at the docking position of the concrete vehicle storage platform, while ensuring the vehicle storage and retrieval efficiency, providing strong technical support for the popularization and application of the stereoscopic parking garage in the urban core area, old building reconstruction and other land resource scarce and complex scene environments, and further strengthening the practicality and reliability of the stereoscopic parking garage in solving the urban parking problem.

[0044] The lifting platform 100 is connected to the elevator in the underground garage, and the upper end surface of the lifting platform 100 is provided with two first tracks 130 arranged in parallel and at intervals. Each first wheel set has two first traveling wheels 240 that rollingly engage the first track 130. The carrying robot 300 is used to carry vehicles and is provided at the lower end with a plurality of second wheel sets, each of which has four second traveling wheels 320 that are symmetrically arranged in pairs and rollingly engage the second track 230.

[0045] In the present scheme, the first traveling wheels 240 of the first wheel set and the second traveling wheels 320 of the second wheel set rollingly engage the first track 130 and the second track 230, respectively, which not only has small frictional resistance, but also has good fault tolerance to minor defects and installation deviations of the track surface. Furthermore, the design of locking the vehicle carrying plate 200 and the concrete vehicle storage platform through the docking structure before transferring the vehicle can further correct the relative position of the two, ensuring that the carrying robot 300 moves smoothly between the vehicle carrying plate 200 and the concrete vehicle storage platform, avoiding the risk of jamming or derailment caused by position deviation, and significantly improving the long-term operation reliability of the stereoscopic parking garage.

[0046] It is worth noting that the driving assembly 250 adopts a variable frequency motor direct drive method, in which the output shaft of the variable frequency motor is directly connected to the rotating shaft of the first traveling wheel 240 through a shaft coupling. By adjusting the frequency and voltage of the input power supply, the motor speed can be accurately adjusted, and then the transportation speed can be flexibly adjusted according to the real-time distance between the vehicle carrying plate 200 and the concrete vehicle storage platform. In addition, the surfaces of the first track 130 and the second track 230 are treated by anodizing to significantly improve their service life.

[0047] Specifically, the lifting platform 100 includes two first main beams 110 and a plurality of first cross beams 120. The two first main beams 110 are arranged in parallel and at intervals as the main bearing frame. The plurality of first cross beams 120 are arranged in parallel and at intervals between the two first main beams 110 and are fixed perpendicularly to the first main beams 110 to form a main beam-crosswise staggered stable frame. The upper end surface of the first cross beam 120 is lower than the upper end surface of the first main beam 110 to form the first track 130 at the upper end of the first main beam 110.

[0048] The first main beam 110 cooperates with the first cross beam 120 to be fixed vertically to form a frame structure, which can form a stable bearing system to ensure the structural strength of the lifting platform 100 when bearing the vehicle; in addition, the first track 130 is directly formed on the upper end surface of the main beam, without the need for additional separate installation of track components, thereby simplifying the overall structure and assembly process of the lifting platform 100. At the same time, the cross beam below the main beam not only avoids the interference of the cross beam with the rolling of the first wheel set of the vehicle bearing plate 200 along the main beam track, but also enhances the connection rigidity of the two main beams through the cross beam, thereby improving the stability of the track operation.

[0049] Specifically, the vehicle bearing plate 200 includes two second main beams 210 and a plurality of second cross beams 220. The two second main beams 210 are arranged in parallel and at intervals to form a core bearing framework; the plurality of second cross beams 220 are arranged in parallel and at intervals between the two second main beams 210 and are fixed perpendicularly to the second main beams 210, thereby jointly forming a rigid platform for bearing the vehicle; wherein the plurality of first wheel sets are arranged in sequence along the length direction at the lower ends of the two second main beams 210, the driving assembly 250 is fixed to the outer side of any second main beam 210, and the docking structure is arranged at both ends of the second main beam 210.

[0050] The vertical fixed frame structure formed by the second main beam 210 cooperating with the second cross beam 220 has high strength and stable bearing, and can reliably bear the weight of the vehicle. The docking structure is arranged at both ends of the main beam, which can accurately dock with the concrete vehicle storage platform and realize locking, and the layout of both ends further ensures the force balance and stability during docking, thereby laying a solid foundation for the subsequent transfer robot 300 to transfer the vehicle.

[0051] Specifically, the opposite sides of the two first walking wheels 240 of the same first wheel set are each provided with a limiting rim 241, the outer diameter of the limiting rim 241 is greater than the outer diameter of the first walking wheel 240, and the limiting rim 241 is lapped on the inner side of the first track 130 to limit the axial displacement of the two first walking wheels 240 of the same first wheel set. The opposite sides of the two first walking wheels 240 of the same first wheel set are each integrally formed or fixed with a limiting rim 241, and the outer diameter of the limiting rim 241 is greater than the outer diameter of the first walking wheel 240. After assembly, the limiting rim 241 is lapped on the inner side of the first track 130 of the lifting platform 100 to form axial constraint of the two first walking wheels 240, thereby avoiding the risk of wheel body deviation and derailment when the vehicle bearing plate 200 moves along the first track 130. In addition, the symmetrical limiting structure on the opposite sides makes the two walking wheels balanced in force, reduces unilateral wear, and prolongs the service life of the wheel set.

[0052] Specifically, the docking structure includes a positioning pin 260 arranged at the end of the second main beam 210, the positioning pin 260 has a ball head plug-in end, the positioning pin 260 can move along the axial direction of the second main beam 210, the ball head plug-in end is inserted into a sensing groove of the concrete parking platform to achieve locking, or is separated from the sensing groove of the concrete parking platform to achieve unlocking. When the vehicle carrying plate 200 runs to the target position, the ball head plug-in end can be accurately inserted into the sensing groove of the concrete parking platform to complete the locking, and vice versa, the ball head plug-in end is separated from the sensing groove to achieve unlocking, thereby forming a stable telescopic docking and locking structure.

[0053] The arc-shaped structure of the ball head plug-in end has high adaptability to the sensing groove, that is, even if there is a slight installation error or position deviation, the plug-in can still be successfully completed, which greatly improves the fault tolerance of the docking and effectively absorbs the deviation caused by insufficient construction accuracy; the movement along the axial direction of the main beam cooperates with the embedding of the ball head and the sensing groove, so that the locking and unlocking can be quickly achieved, and after locking, the sliding misalignment between the vehicle carrying plate 200 and the concrete parking platform can be eliminated, thereby avoiding the problems of jamming and jumping caused by the gap when the carrying robot 300 runs; without additional complex auxiliary components, the positioning and locking are completed by the direct cooperation of the pin and the sensing groove, which simplifies the structure design, reduces mechanical wear, reduces the probability of equipment failure in combination with the precise docking effect, and further reduces the maintenance cost. In cooperation with the intelligent sensing control system, automatic and precise docking can be achieved, thereby further improving the stability and efficiency of the vertical parking garage.

[0054] Preferably, the ball head plug-in end of the positioning pin 260 and the sensing groove form a bidirectional positioning structure, and the radius of the ball head plug-in end and the sensing groove has a tolerance of 2-3 mm, and the size of the sensing groove is greater than that of the ball head plug-in end, so as to ensure that the preliminary accurate positioning can still be achieved in the case of slight error. At this time, the Hall sensor with a precision control within ±0.5 mm triggers the PLC control module to make the ball head plug-in end extend, and the electromagnet is electrified to generate a magnetic attraction force, so as to realize the sub-millimeter level precise docking between the hemispherical surface of the ball head plug-in end and the sensing groove, and the final positioning accuracy can reach ≤0.3 mm. The docking structure adopts symmetrical arrangement of double electromagnets, and combines with PID closed-loop control, so as to eliminate the sliding friction existing in the traditional mechanical guide, and significantly reduce the wear rate of the wheel set of the carrying robot 300; at the same time, the motor direct drive mode eliminates the traditional chain and gear transmission link, and further reduces the transmission loss and mechanical gap.

[0055] Preferably, a pressure sensor is additionally arranged at the ball head plug-in end of the positioning plug 260, and a mechanical locking pin is arranged at the end of the second main beam 210, which is arranged vertically with the positioning plug 260 and is controlled to extend and retract by electromagnetic drive. When the ball head plug-in end of the positioning plug 260 is inserted into the sensing groove of the concrete parking platform, the pressure sensor detects a preset pressure value and feeds back to the control module, and the control module triggers the mechanical locking pin to extend and insert into the locking hole in the side wall of the positioning plug 260, forming a double fixing structure of plug-in locking and mechanical locking. In addition, a position sensor is arranged in the sensing groove of the concrete parking platform, and the mechanical locking pin is only allowed to act when the position sensor detects that the ball head plug-in end is completely in place, so as to avoid false locking.

[0056] The double locking structure completely eliminates the failure risk that may occur in the single locking mode (such as locking loosening caused by electromagnetic iron power failure of the positioning plug 260 and ball head wear), ensures that the vehicle carrying plate 200 does not have relative displacement after being docked with the concrete parking platform, and provides an absolutely stable support foundation for the cross-platform movement of the carrying robot 300, thereby further reducing the risk of jamming and derailment. The double detection mechanism of the pressure sensor and the position sensor realizes precise triggering of the locking action, avoids false locking or locking out of position caused by positioning deviation, improves the reliability and safety of the mechanism operation, and is especially suitable for commercial core area garage scenes with high frequency of vehicle access.

[0057] Meanwhile, two guide wheels 330 are symmetrically installed at the lower end face of the carrying platform 310, and the guide wheels 330 form rolling cooperation with the inner side wall of the second track 230. The cooperation between the second wheel set and the second track 230 ensures that the carrying platform 310 moves stably along the track, and the symmetrically arranged guide wheels 330 rollingly fit the inner side wall of the track, which further enhances the lateral stability during carrying, avoids shaking and deviation when crossing the gap between the lifting platform 100 and the concrete parking platform, and greatly reduces vibration and noise in combination with the single-rim limiting design.

[0058] Please refer to Figure 7 , based on the same inventive concept, the present application further provides a control method for a vehicle garage taking and delivering vehicle, which is applied to the vehicle carrying taking and delivering mechanism, and includes the following steps:

[0059] S1: detecting the vehicle parking position in the entrance area by a dynamic load sensor, automatically allocating an idle parking space after receiving a user vehicle storage instruction, and generating a vehicle carrying plate 200 operation instruction based on a preset path planning logic.

[0060] Specifically, the dynamic load sensor of the entrance area can not only detect the parking position of the vehicle, but also synchronously collect basic data such as the weight distribution of the vehicle. After the user presses the storage instruction, the central control system automatically allocates the optimal idle parking space based on the real-time parking occupancy of the garage. Based on the preset path planning logic and vehicle data, the cooperative operation instruction of the vehicle loading plate 200, the lifting platform 100 and the carrying robot 300 is generated to ensure the optimal path and the matching action timing.

[0061] S2: The lifting platform 100 descends or ascends according to the operation instruction. After the vehicle loading plate 200 reaches the specified position, the vehicle loading plate 200 is preliminarily positioned with the concrete parking platform through the infrared sensing positioning system.

[0062] Specifically, the lifting platform 100 accurately ascends or descends according to the instruction. After the vehicle loading plate 200 reaches the target floor specified position with the lifting platform 100, the infrared sensing positioning system quickly scans the sensing groove position of the concrete parking platform to achieve preliminary positioning through multi-dimensional signal feedback, effectively compensating for the position deviation caused by construction errors and laying a foundation for subsequent accurate docking.

[0063] S3: After the position relationship between the vehicle loading plate 200 and the concrete parking platform is calibrated by the Hall sensor, the control module is triggered to control the driving assembly 250 to work to drive the docking structure to act, so that the vehicle loading plate 200 is docked and locked with the concrete parking platform.

[0064] Specifically, the Hall sensor detects the real-time position relationship between the vehicle loading plate 200 and the concrete parking platform with high precision of ±0.5mm. The data is fed back to the PLC control module and the embedded ARM Cortex-M7 architecture single-chip microcomputer for cooperative processing. After the position calibration, the driving assembly 250 is triggered to control the ball head plug-in end of the positioning pin 260 to extend along the second main beam 210 in the axial direction, and at the same time, the electromagnet is powered to generate a magnetic attraction force. The ball head plug-in end and the sensing groove are accurately docked at a sub-millimeter level by using the Lorentz force effect. Finally, the positioning accuracy is ≤0.3mm, and the vehicle loading plate 200 is stably locked with the concrete parking platform.

[0065] S4: The carrying robot 300 carries the vehicle from the vehicle loading plate 200 to the specified idle parking space of the concrete parking platform. After the work is completed, the docking structure of the vehicle loading plate 200 is unlocked with the concrete parking platform, the vehicle loading plate 200 returns to the initial working position, and the lifting platform 100 resets.

[0066] Specifically, the carrying robot 300 crosses the small gap between the vehicle loading plate 200 and the concrete parking platform, carries the vehicle to the specified idle parking space, and after the work is completed, the control system triggers power-off demagnetization to automatically reset the positioning pin 260, unlock the docking structure, and drive the vehicle loading plate 200 to return to the initial working position at an adaptive speed under the driving of the variable frequency direct drive motor. The lifting platform 100 resets synchronously to complete the entire parking process.

[0067] In addition, the system also has a fault diagnosis and hierarchical early warning mechanism, which can trigger servo soft shutdown or emergency braking when the deviation, overload or environmental abnormalities occur, and at the same time upload the running state to the cloud monitoring platform through the Internet of Things module.

[0068] In step S1, in addition to the dynamic load sensor, a 3D machine vision camera is added to scan the vehicle in the entrance area in all directions and obtain the precise size parameters of the vehicle such as length, width, wheelbase, track, etc. The central control system matches the vehicle size parameters with the size parameters of the idle parking space, and preferentially allocates the parking space with the highest size adaptation degree, and adjusts the moving path and the distance between the carrying platforms 310 of the carrying robot 300 (through the distance adjusting member 340) based on the vehicle size, so that the parking gap 312 of the carrying platform 310 is accurately aligned with the vehicle wheels.

[0069] In addition, in step S4, the 3D machine vision camera tracks the vehicle posture in real time during the movement of the carrying robot 300 carrying the vehicle, and if a slight deviation of the vehicle due to vibration is detected, it is fed back to the control module in time, and the control module adjusts the moving direction and speed of the carrying robot 300 to ensure that the vehicle is accurately parked in the parking space.

[0070] Further, in step S1, the central control system uses a multi-task parallel scheduling algorithm, when multiple parking and taking instructions are received at the same time, the priorities of all tasks are sorted (the priority of the taking task is higher than that of the parking task, and the priority of the emergency reservation task is the highest), and based on the real-time positions of all vehicle carrying and taking mechanisms in the garage and the running state of the lifting platform 100, the globally optimal path is planned to avoid path conflicts between different vehicle carrying plates 200 and carrying robots 300.

[0071] For example, when the vehicle carrying plate A performs a parking task and returns to the initial station, the vehicle carrying plate B can go to another entrance to take a task based on the planned path in advance, and the lifting platform 100 realizes the continuous operation of lifting, docking and resetting according to the task sequence, without waiting for a single task to complete before starting the next task.

[0072] In step S2, when the vehicle carrying plate 200 runs to a preset position 50mm±2mm away from the end of the concrete parking platform, the control module controls the driving assembly 250 (a variable frequency direct drive motor) to reduce the rotating speed, provides smooth buffering for the vehicle carrying plate 200 through dynamic speed regulation, effectively reduces the mechanical impact loss during subsequent docking, avoids structural deformation or positioning deviation caused by impact, and reduces the operating noise.

[0073] In the process of starting the preliminary positioning of the infrared sensing pair positioning system, the system feedbacks the transverse and longitudinal positioning deviation between the vehicle plate 200 and the concrete vehicle storage platform in real time through multi-dimensional scanning. After the control module quickly receives the deviation data, the linkage hydraulic fine adjustment mechanism adjusts the position of the vehicle plate 200 in detail. Through the small stroke telescopic compensation, the positioning deviation caused by insufficient construction precision and installation error is eliminated, and the relative deviation between the vehicle plate 200 and the concrete vehicle storage platform after preliminary positioning is ensured to be within the preset range, so as to adapt to the 2-3mm tolerance interval of the ball head plug-in end and the sensing groove.

[0074] After the vehicle plate 200 completes the buffer deceleration and preliminary error compensation, the Hall sensor with a precision of ±0.5mm accurately detects the positioning state of the vehicle plate 200 and the concrete vehicle storage platform, and then triggers the PLC control module and the embedded ARM Cortex-M7 architecture single-chip microcomputer to work cooperatively.

[0075] On the one hand, the positioning pin 260 in the docking structure is driven to extend axially along the second main beam 210, and on the other hand, the double electromagnets configured in the positioning pin 260 are controlled to be symmetrically powered to generate stable magnetic attraction force. At the same time, the system starts the PID closed-loop control strategy, collects the positioning data of the ball head plug-in end and the sensing groove in real time, and dynamically adjusts the magnetic force of the electromagnet and the extension stroke of the positioning pin 260. With the guidance of magnetic attraction force and the accurate regulation and control of PID algorithm, the ball head plug-in end and the sensing groove are seamlessly attached, and the final positioning precision can reach ≤0.3mm, completely eliminating the sliding misalignment and structural gap between the vehicle plate 200 and the concrete vehicle storage platform.

[0076] Preferably, a torque sensor and an inertia compensation module are added in the transmission path of the drive assembly 250 and the first wheel set. The torque sensor monitors the friction torque between the first walking wheel 240 and the first track 130 in real time, and the inertia compensation module calculates and outputs an inertia compensation signal according to the load (feedback by the dynamic load sensor), moving speed and acceleration of the vehicle plate 200, and inputs the signal into the control unit of the variable frequency motor together with the torque sensor signal. Based on the preset algorithm, the control unit dynamically adjusts the output torque and speed of the motor to realize adaptive matching.

[0077] When the vehicle loading plate 200 is empty or lightly loaded, and the track friction is small, the motor automatically increases the rotating speed to shorten the moving time; when the vehicle loading plate 200 is heavily loaded, and the track has a small protrusion, resulting in an increase in friction torque, the motor increases the output torque in real time and appropriately reduces the rotating speed, avoiding the card stagnation or motor damage caused by overload. Realize dynamic adaptive speed regulation based on actual load and running resistance, further improve the smoothness and stability of the vehicle loading plate 200 movement, reduce the component wear caused by mechanical impact, and prolong the service life of the equipment. On the premise of ensuring operation safety, maximize the optimization of moving efficiency under different working conditions, avoid the efficiency decline caused by insufficient power under heavy load, or the energy waste caused by speed redundancy under light load, and balance efficiency and energy saving.

[0078] In the whole control process, the equipment state monitoring module is added, and the motor temperature, current and voltage of the driving assembly 250, the rotating speed and wear degree of the first walking wheel 240 and the second walking wheel 320, the action response time of the positioning pin 260, and the signal stability of the sensor are collected in real time. The central control system analyzes the equipment state data based on the preset fault threshold and machine learning algorithm, and predicts potential faults (such as motor overheating, wheel wear exceeding standard, sensor signal drift, etc.).

[0079] When a slight fault is predicted, the system automatically starts the self-healing mechanism: when the motor temperature approaches the threshold, the load is automatically reduced and the rotating speed of the cooling fan is increased; when the sensor signal drifts, the historical data and redundant sensor signals are calibrated. When a serious fault is predicted, the system immediately triggers an alarm signal, and adjusts the task scheduling to distribute the tasks corresponding to the faulty equipment to other normal equipment, avoiding affecting the overall operation of the garage. Realize the change from post-fault maintenance to pre-fault prediction and self-healing, greatly reduce the equipment failure rate and downtime maintenance time, improve the continuous operation ability of the garage, especially suitable for unattended underground garage scenes. The task re-distribution mechanism in the fault state ensures that the garage can still normally undertake the vehicle storage and retrieval task when part of the equipment fails, avoids the paralysis of the entire regional garage due to the failure of a single device, and enhances the reliability and fault tolerance of the garage operation.

[0080] The above only describes the preferred embodiments of the present application and does not limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic control method for a garage vehicle taking and delivering device, applied to a vehicle taking and delivering mechanism, characterized by, A vehicle carrying and taking mechanism comprises: A vehicle carrying plate (200) has two second tracks (230) arranged in parallel and spaced apart at the upper end surface, the second tracks (230) are used for moving a carrying robot (300) along the length direction of the vehicle carrying plate (200), both ends of the vehicle carrying plate (200) are respectively provided with a docking structure for adapting to a concrete vehicle storage platform, the lower end of the vehicle carrying plate (200) is provided with a plurality of first wheel groups, each of the first wheel groups is provided with two first walking wheels (240) which are in rolling cooperation with a lifting platform (100) of a garage lift, one side of the vehicle carrying plate (200) is provided with a driving assembly (250), the driving assembly (250) is in transmission cooperation with at least one of the first wheel groups, the corresponding first walking wheels (240) are driven to roll to drive the vehicle carrying plate (200) to move along the lifting platform (100) to the corresponding concrete vehicle storage platform, and the docking structure is used to realize locking or unlocking with the concrete vehicle storage platform; In the locked state of the vehicle carrying plate (200) and the corresponding concrete vehicle storage platform, the carrying robot (300) moves the carried vehicle from the vehicle carrying plate (200) to the concrete vehicle storage platform to complete the parking operation, or the carrying robot (300) moves the carried vehicle from the concrete vehicle storage platform to the vehicle carrying plate (200) to complete the vehicle taking operation; The vehicle carrying plate (200) comprises: Two second main beams (210) arranged in parallel and spaced apart; A plurality of second cross beams (220) arranged in parallel and spaced apart between the two second main beams (210) and vertically fixed with the second main beams (210); Wherein, a plurality of the first wheel groups are sequentially arranged at the lower end of the two second main beams (210) along the length direction, the driving assembly (250) is fixed to the outer side of any one of the second main beams (210), and the docking structure is arranged at both ends of the second main beams (210); The docking structure comprises: A positioning pin (260) arranged at the end of the second main beam (210), the positioning pin (260) has a ball head plug-in end, the positioning pin (260) is movable along the axial direction of the second main beam (210), the ball head plug-in end is inserted into a sensing groove of the concrete vehicle storage platform to realize locking, or is separated from the sensing groove of the concrete vehicle storage platform to realize unlocking; A pressure sensor is additionally arranged at the ball head plug-in end of the positioning pin (260), a mechanical locking pin is arranged at the end of the second main beam (210), the mechanical locking pin is arranged perpendicularly to the positioning pin (260) and is driven to stretch and retract by electromagnet, after the ball head plug-in end of the positioning pin (260) is inserted into the sensing groove of the concrete vehicle storage platform, the pressure sensor detects a preset pressure value and feeds back to a control module, the control module triggers the mechanical locking pin to stretch and insert into a locking hole in the side wall of the positioning pin (260) to form a double fixing structure of plug-in locking and mechanical locking; An automatic control method for taking and delivering vehicles in a garage comprises the following steps: S1: Detect the vehicle parking position in the entrance area through a dynamic load sensor, automatically assign a free parking space after receiving the user's parking instruction, and generate a running instruction for the vehicle loading plate (200) based on the preset path planning logic; S2: The lifting platform (100) descends or ascends according to the running instruction, and after the vehicle loading plate (200) reaches the specified position, the vehicle loading plate (200) is preliminarily positioned with the concrete parking platform through an infrared sensing positioning system; S3: After the position relationship between the vehicle loading plate (200) and the concrete parking platform is calibrated through the Hall sensor, the control module is triggered to control the driving assembly (250) to work to drive the docking structure to act, so that the vehicle loading plate (200) is docked with the concrete parking platform and locked; S4: The carrying robot (300) carries the vehicle from the vehicle loading plate (200) to the specified free parking space of the concrete parking platform, and after the work is completed, the docking structure of the vehicle loading plate (200) is unlocked with the concrete parking platform, the vehicle loading plate (200) returns to the initial working position, and the lifting platform (100) resets; In step S2, when the vehicle loading plate (200) runs to a preset position 50mm±2mm away from the end of the concrete parking platform, the control module regulates and controls the driving assembly (250) to slow down, so that the vehicle loading plate (200) obtains a buffer; In the preliminary positioning process, the infrared sensing positioning system feeds back the positioning deviation, and the control module combines the hydraulic fine adjustment mechanism to preliminarily compensate for the error, so as to ensure that the initial positioning deviation between the vehicle loading plate (200) and the concrete parking platform is within a preset range; In step S3, after the Hall sensor triggers the control module, the positioning pin (260) of the docking structure is extended, and at the same time, the double electromagnets configured on the positioning pin (260) are symmetrically powered to generate magnetic attraction force, and the ball head plug-in end of the positioning pin (260) is seamlessly docked with the sensing groove of the concrete parking platform by using the PID closed-loop control strategy.

2. The automatic control method of a vehicle storage and retrieval machine according to claim 1, wherein, The opposite sides of the two first walking wheels (240) of the same first wheel set are provided with limiting rims (241), and the limiting rims (241) are used to limit the axial displacement of the two first walking wheels (240) of the same first wheel set.

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