Control method and system for stereoscopic parking system, and device and medium

Abstract

The present invention relates to the field of parking control, and disclosed are a control method and system for a stereoscopic parking system, and a device and a medium. The method comprises: once vehicle retrieval is complete, controlling a transport module to transport a parking mechanism in an unloaded state to a standby position for standby, wherein the standby position is located on a ring-shaped track closest to the ground; in the vehicle parking process, transporting the parking mechanism in the standby position to the ground by means of the transport module; when a vehicle travels into the parking mechanism on the ground, controlling the transport module to lift to an opening of a first target ring-shaped track, wherein the first target ring-shaped track is a ring-shaped track on which a parking mechanism in the unloaded state is present and which is closest to the ground; controlling a parking mechanism bearing a vehicle to be parked to move to the first target ring-shaped track, and controlling the parking mechanism in the unloaded state to move to the transport module; and controlling the transport module to move to the standby position. The present invention can improve the parking efficiency.

Description

A control method, system, device and medium for a three-dimensional parking system

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 25, 2023, with application number 202311798991.8 and invention name “A method, system, device and medium for controlling a three-dimensional parking system”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present invention relates to the field of parking control, and in particular to a control method, system, equipment and medium for a three-dimensional parking system. Background Art

[0003] At present, China's multi-story parking industry mainly includes multi-story parking buildings and independent multi-story parking equipment. Multi-story parking buildings not only occupy a large amount of urban land, but also have a low utilization rate due to the long entry and exit distance and slow process.

[0004] The existing solution available on the market is the vertical circulation parking system. Although existing vertical circulation parking systems have achieved certain optimizations in terms of space utilization, three-dimensional structure, and intelligent parking operation, since most three-dimensional parking systems are arranged in multiple levels of space, they require complex algorithms to rotate and transport vehicles during each parking and retrieval process, resulting in long waiting times for drivers and a need for improved parking efficiency.

[0005] Summary of the Invention

[0006] Based on this, embodiments of the present invention provide a control method, system, device and medium for a three-dimensional parking system to improve parking efficiency.

[0007] To achieve the above objectives, the present invention provides the following solutions:

[0008] A three-dimensional parking system control method, the three-dimensional parking system control method is used to control a target three-dimensional parking system;

[0009] The target three-dimensional parking system includes: a support column, a transport module, a multi-layered annular track arranged along the axial direction of the support column, and a plurality of parking mechanisms;

[0010] The transport module can move up and down along the support column;

[0011] Any layer of the annular track surrounds the outer circumference of the supporting column, and a gap is formed at the position where the transport module passes through;

[0012] Any parking mechanism is movably disposed on the transport module or the circular track;

[0013] When the transport module moves to the gap of any layer of the circular track, the transport module and the circular track form a closed circular track, and the parking mechanism can move on the closed circular track;

[0014] The control method of the three-dimensional parking system includes:

[0015] After the vehicle is picked up, the transport module is controlled to transport the parking mechanism in an empty state to a standby position for standby; the standby position is located on the circular track closest to the ground;

[0016] During parking, the parking preparation operation is performed when the preparation conditions are met;

[0017] The standby condition includes: at least two parking mechanisms are in an unloaded state, and one of the parking mechanisms in the unloaded state is in the standby position;

[0018] The parking standby operation includes:

[0019] Transporting the parking mechanism in the standby position to the ground via the transport module;

[0020] When the vehicle enters the parking mechanism on the ground, the control transmission module is raised to the gap of the first target circular track; the first target circular track is the circular track closest to the ground where the parking mechanism is in an empty state;

[0021] Controlling the parking mechanism carrying the vehicle to be parked to move onto the first target circular track, while simultaneously controlling the parking mechanism in an unloaded state to move onto the transmission module;

[0022] Control the transmission module to move to the standby position.

[0023] Optionally, controlling the parking mechanism carrying the vehicle to be parked to move to the first target circular track specifically includes:

[0024] According to the relative positions of the parking mechanism carrying the vehicle to be parked and the parking mechanism in an unloaded state on the first target circular track, the parking mechanism in an unloaded state is controlled to rotate to a first set angle, so that the parking mechanism carrying the vehicle to be parked moves to the first target circular track, and at this time the parking mechanism in an unloaded state moves to the transport module.

[0025] Optionally, according to the relative position of the parking mechanism carrying the vehicle to be parked and the parking mechanism in an unloaded state on the first target circular track, controlling the parking mechanism in an unloaded state to rotate by a first set angle specifically includes:

[0026] Determining a first shortest arc from the parking mechanism in the empty state to the transmission module according to the relative positions of the parking mechanism carrying the vehicle to be parked and the parking mechanism in the empty state on the first target circular track;

[0027] determining a first rotation direction according to the first shortest arc;

[0028] The parking mechanism in the no-load state is controlled to rotate along the determined first rotation direction by the first set angle; the specific value of the first set angle is determined by the first shortest arc.

[0029] Optionally, the control method of the stereo parking system further includes:

[0030] During the vehicle pickup process, the control transmission module moves to the gap of the second target circular track; the second target circular track is the circular track where the parking mechanism carrying the vehicle to be picked up is located;

[0031] The parking mechanism carrying the vehicle to be picked up is controlled to move from the circular track on the second target layer to the transport module, and the transport module is controlled to descend to the ground; after the vehicle is picked up, the parking mechanism on the transport module is in an empty state.

[0032] Optionally, controlling the parking mechanism carrying the vehicle to be picked up to move from the second target layer circular track to the transport module specifically includes:

[0033] According to the relative position of the vehicle to be picked up and the transmission module, the parking mechanism carrying the vehicle to be picked up is controlled to rotate to a second set angle, so that the parking mechanism on the transport module moves to the second target layer circular track. At this time, the parking mechanism carrying the vehicle to be picked up moves to the transport module.

[0034] Optionally, controlling the parking mechanism carrying the vehicle to be picked up to rotate to a second set angle according to the relative position of the vehicle to be picked up and the transmission module specifically includes:

[0035] Determining a second shortest arc from the vehicle to be picked up to the transmission module according to the relative position of the vehicle to be picked up and the transmission module;

[0036] determining a second rotation direction according to the second shortest arc;

[0037] The parking mechanism carrying the vehicle to be picked up is controlled to rotate along the second rotation direction by a second set angle; the specific value of the second set angle is determined by the second shortest arc.

[0038] Optionally, during parking, if there is only one parking mechanism in an unloaded state in the standby position, the parking operation is performed;

[0039] The parking operation includes:

[0040] Transporting the parking mechanism in the standby position to the ground via the transport module;

[0041] When the vehicle enters the parking mechanism on the ground, the control transmission module is raised to the standby position.

[0042] Optionally, N parking mechanisms are evenly distributed on the closed circular track; N>1; and the first set angle is an integer multiple of 360° / N.

[0043] Optionally, the control method of the stereo parking system further includes:

[0044] Acquire target information; the vehicle indicated by the target information is the target vehicle;

[0045] Determining whether the target vehicle is parked in the target parking system;

[0046] If so, the target vehicle is determined to be a vehicle to be picked up, and the vehicle picking process begins;

[0047] If not, the target vehicle is determined to be a vehicle to be parked and enters the parking process.

[0048] Optionally, N=3; the first set angle is 120°.

[0049] The present invention also provides a three-dimensional parking system control system, which is used to implement the above-mentioned three-dimensional parking system control method;

[0050] The control system of the three-dimensional parking system includes:

[0051] The vehicle pickup standby module is used to control the transport module to transport the parking mechanism in an empty state to the standby position for standby after the vehicle is picked up; the standby position is located on the circular track closest to the ground;

[0052] A parking standby module is configured to execute a parking standby operation when a standby condition is met during parking; the standby condition includes: at least two parking mechanisms are in an unloaded state, and one of the unloaded parking mechanisms is in a standby position;

[0053] The parking standby operation includes:

[0054] Transporting the parking mechanism in the standby position to the ground via the transport module;

[0055] When the vehicle enters the parking mechanism on the ground, the control transmission module is raised to the gap of the first target circular track; the first target circular track is the circular track closest to the ground where the parking mechanism is in an empty state;

[0056] Controlling the parking mechanism carrying the vehicle to be parked to move onto the first target circular track, while simultaneously controlling the parking mechanism in an unloaded state to move onto the transmission module;

[0057] Control the transmission module to move to the standby position.

[0058] The present invention also provides an electronic device, comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the above-mentioned control method for the three-dimensional parking system.

[0059] The present invention also provides a computer-readable storage medium storing a computer program, wherein the computer program implements the above-mentioned control method of the three-dimensional parking system when executed by a processor.

[0060] According to the specific embodiments provided by the present invention, the following technical effects are disclosed:

[0061] The control method, system, device, and medium for a three-dimensional parking system proposed in embodiments of the present invention control the transport module to transport the empty parking mechanism to the circular track closest to the ground, i.e., the standby position, after parking or retrieving the vehicle. This ensures that the next time the vehicle is parked, the empty parking platform on the transport module can be lowered to the ground in the shortest possible distance, reducing the driver's waiting time and improving parking efficiency.

[0062] Figures in the specification

[0063] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0064] FIG1 is an exemplary structural diagram of a target stereo parking system provided by an embodiment of the present invention;

[0065] FIG2 is an exemplary flow chart of a control method for a three-dimensional parking system according to an embodiment of the present invention;

[0066] FIG3 is an exemplary flow chart of a vehicle pickup process according to an embodiment of the present invention;

[0067] FIG4 is an exemplary flow chart of a parking process according to an embodiment of the present invention;

[0068] FIG5 is another exemplary flow chart of a control method for a stereo parking system according to an embodiment of the present invention;

[0069] FIG6 is a schematic diagram of the position change of the parking mechanism during parking when N=3 according to an embodiment of the present invention;

[0070] FIG7 is a schematic diagram of the position change of the parking mechanism during the vehicle pickup process when N=3 according to an embodiment of the present invention;

[0071] FIG8 is an exemplary structural diagram of a control system of a three-dimensional parking system provided in an embodiment of the present invention;

[0072] FIG9 is an exemplary structural diagram of an electronic device provided by an embodiment of the present invention.

[0073] Explanation of symbols: Three-dimensional parking system—100, supporting column—1, circular track—2, parking platform—3, platform bracket—4, vertical power system—5, longitudinal channel—6, transportation module—7, gap—8. DETAILED DESCRIPTION

[0074] The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention.

[0075] The purpose of the present invention is to provide a control method, system, device and medium for a three-dimensional parking system, which can improve parking efficiency by preparing spaces when parking or retrieving a car.

[0076] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0077] The above-mentioned three-dimensional parking system control method is used to control a target three-dimensional parking system. Referring to FIG1 , the target three-dimensional parking system 100 may illustratively include: a support column 1 , a transport module 7 , a multi-layered circular track 2 axially arranged along the support column 1 , and a plurality of parking mechanisms.

[0078] The supporting column 1 is provided with a longitudinal channel 6 extending along its axial direction, and a transport module 7 is provided in the longitudinal channel 6. The transport module 7 can move up and down along the supporting column 1; any layer of the circular track 2 surrounds the outer circumference of the supporting column 1, and a gap 8 is formed at the position passed by the transport module 7; any parking mechanism can be movably arranged on the transport module or the circular track.

[0079] When the transport module 7 moves to the gap 8 of any layer of the circular track 2, the transport module 7 and the circular track 2 of any layer form a closed circular track, and the parking mechanism can move on the closed circular track.

[0080] It should be noted that moving on a closed circular track may specifically refer to rotating around the center of a closed circular track. Hereinafter, unless otherwise stated, "center of a circle" refers to the center of a closed circular track.

[0081] In a specific implementation, the closed circular track can be stationary while the parking mechanism rotates about the center of the circle; alternatively, the parking mechanism can be stationary while the closed circular track or the ring track 2 rotates about the center of the circle. Of course, the closed circular track and the parking mechanism can both rotate about the aforementioned center of the circle, but relative motion between them is permitted, as long as the parking mechanism can rotate about the center of the circle relative to the closed circular track.

[0082] The parking mechanism is introduced below.

[0083] The parking mechanism may have various structural forms. For example, still referring to FIG. 1 , it may include: a parking platform 3 and a platform bracket 4 .

[0084] More specifically, the platform bracket 4 can be movably arranged on the transport module 7 and any layer of the circular track 2, so that the platform bracket 4 can move on the closed circular track (see above for relevant description), and can also perform lifting and lowering movements along the support column 1 under the action of the transport module 7.

[0085] There may be a one-to-one correspondence between the parking platforms 3 and the platform brackets 4, that is, one parking platform 3 is provided on each platform bracket 4. When the platform bracket 4 moves, the corresponding parking platform 3 may move accordingly.

[0086] The platform bracket 4 and the parking platform 3 may be fixedly connected or detachably connected.

[0087] In addition to a one-to-one correspondence, a many-to-one relationship can also exist between parking platforms 3 and platform brackets 4. That is, multiple parking platforms 3 can share a platform bracket 4. In this case, the platform bracket 4 and a particular parking platform 3 can be fixed or detached. A fixed parking platform 3 can move with the platform bracket 4. A parking platform 3 detached from the platform bracket 4 can move on a closed circular track (see above for related description).

[0088] In another example, the parking mechanism may not include the platform bracket 4 but include the parking platform 3. The parking platform 3 can rotate around the center of a circle, and can also move up and down along the support column 1 under the action of the transport module 7.

[0089] For example, slide rails can be provided on the transport module 7 and any layer of the circular track 2, and sliders matching the slide rails can be provided on the parking platform 3. Alternatively, slide rails can be provided on the parking platform 3, and sliders can be provided on the transport module 7 and any layer of the circular track 2. This allows the parking platform 3 to move on the transport module 7 and the circular track 2, and to rise and fall with the transport module 7.

[0090] Applying the control method of the three-dimensional parking system to the above-mentioned three-dimensional parking system can improve parking efficiency.

[0091] The above-mentioned control method of the three-dimensional parking system can be executed by a three-dimensional parking system control system. Referring to FIG8 , the three-dimensional parking system control system can exemplarily include: a vehicle pickup standby module 801 and a parking standby module 802 .

[0092] In other embodiments of the present invention, the parking standby module 802 may further specifically include: a first transport unit 8021 , a second transport unit 8022 , a parking mechanism moving unit 8023 and a third transport unit 8024 .

[0093] In addition, in other embodiments of the present invention, the control system of the three-dimensional parking system may further include other components, such as a main control module, a communication module, a card reading system, and the like.

[0094] This article will later introduce the functions and roles of each module / unit in conjunction with the control method of the three-dimensional parking system.

[0095] The control method of the three-dimensional parking system is introduced below.

[0096] The control method of the three-dimensional parking system can transport the parking mechanism in an empty state (hereinafter referred to as the empty parking mechanism) to the circular track closest to the ground for preparation during the vehicle picking process, and prepare the empty parking mechanism as much as possible during the parking process, so that in the next parking process, the prepared empty parking mechanism can be used for parking to reduce waiting time.

[0097] The following first introduces how to enter the vehicle pickup process or parking process.

[0098] Please refer to Figure 2, which may include:

[0099] Step 201: Obtain target information. The vehicle indicated by the target information is the target vehicle.

[0100] In the above step 201, the target information can be obtained by license plate recognition, where the license plate information is used as the target information, or by swiping a card, where the card information is used as the target information. The card information can be the card number information.

[0101] License plate recognition method:

[0102] When the user parks the car, he inputs the license plate information of the target vehicle into the target parking system through the mobile terminal, or the target parking system obtains the license plate information of the target vehicle through the on-site license plate reading system. At this time, the parking process is started. After the parking is completed, the license plate information of the target vehicle is stored in the database.

[0103] When the user picks up the car, he inputs the license plate information of the target vehicle into the target three-dimensional parking system through the mobile terminal; the target three-dimensional parking system compares the license plate information input by the user with the license plate information stored in the database; when the comparison is successful, the target vehicle is the vehicle to be picked up and enters the vehicle pickup process.

[0104] Card recognition method:

[0105] Before using the target parking system for the first time, the user needs to register user information and obtain a parking card, which has a corresponding number and / or QR code.

[0106] When parking, the user enters the parking card number into the target parking system via a mobile device, or the target parking system obtains the parking card number from the target vehicle through an on-site card reader. The target parking system then initiates the parking process and stores the card number in a database after parking is complete. The number can be entered manually or by scanning.

[0107] When the user picks up the car, he inputs the number information of the parking card into the target three-dimensional parking system; the target three-dimensional parking system compares the number information entered by the user with the number information stored in the database; when the comparison is successful, the target vehicle is the vehicle to be picked up and enters the vehicle picking process.

[0108] In addition, target information can also be obtained through other methods, such as face recognition, fingerprint recognition, etc., which will not be elaborated here.

[0109] Step 202: Determine whether a target vehicle is parked in the target parking system.

[0110] If the target vehicle is parked, step 203 is executed; if the target vehicle is not parked, step 204 is executed.

[0111] Step 203: Determine that the target vehicle is a vehicle to be picked up, and enter the vehicle picking process.

[0112] Step 204: Determine that the target vehicle is a vehicle to be parked and enter the parking process.

[0113] For example, steps 202 to 204 may be performed by the aforementioned vehicle pickup standby module 801 , parking standby module 802 , main control module, card reading system or communication module.

[0114] In one example, referring to FIG3 , the vehicle picking process in step 203 may exemplarily include:

[0115] Step 301: Control the transmission module to move to the gap of the second target circular track, wherein the second target circular track is the circular track where the parking mechanism carrying the vehicle to be picked up is located.

[0116] For example, step 301 and subsequent steps 302 - 303 may be performed by the aforementioned vehicle pickup standby module 801 .

[0117] Step 302: Control the parking mechanism carrying the vehicle to be picked up to move from the second target layer circular track to the transport module, and control the transport module to descend to the ground; after the vehicle is picked up, the parking mechanism on the transport module is in an empty state.

[0118] Step 303: After the vehicle is retrieved, the transmission module is controlled to transport the empty parking mechanism to a standby position for standby. The standby position is located on a circular track closest to the ground.

[0119] In one example, referring to FIG. 4 , after entering the parking process, the control method of the stereo parking system may exemplarily include: executing a parking standby operation when a standby condition is met.

[0120] The standby condition may exemplarily include: at least two parking mechanisms are in an empty state, and one of the empty parking mechanisms is in the standby position. This standby condition ensures that after each parking, there is an empty parking mechanism in the standby position, thereby achieving efficient parking.

[0121] The parking preparation operation may include:

[0122] Step 402: transporting the parking mechanism in the standby position to the ground via a transport module.

[0123] The standby positions can be found in the above records and will not be described in detail here.

[0124] In one example, step 402 may be performed by the aforementioned parking space preparation module 802 or the first transport unit 8021 .

[0125] Step 403: When the vehicle enters the parking mechanism on the ground, the control transmission module is raised to the gap of the first target circular track. The first target circular track is the circular track closest to the ground where the parking mechanism is in an empty state.

[0126] The method for determining the empty load state may illustratively include: each parking mechanism is provided with a pressure plate, the pressure plate is connected to a sensor, and when the wheel presses on it, the system determines that the parking mechanism is in a loaded state, otherwise it is in an empty load state.

[0127] In one example, step 403 may be performed by the aforementioned parking space preparation module 802 or the second transport unit 8022 .

[0128] Step 404: Control the parking mechanism carrying the vehicle to be parked to move to the first target circular track, and at the same time, the parking mechanism in an empty state moves to the transmission module.

[0129] In one example, step 404 may be performed by the aforementioned parking standby module 802 or the parking mechanism movement unit 8023 .

[0130] Step 405: Control the transmission module to move to the standby position.

[0131] In one example, step 405 may be performed by the aforementioned parking space preparation module 802 or the third transport unit 8024 .

[0132] Of course, in reality, there are also situations where the standby position conditions are not met. There are two situations where the standby position conditions are not met: Scenario 1: No unloaded parking mechanism exists in the entire parking system (that is, all parking mechanisms are loaded with vehicles); Scenario 2: Only an unloaded parking mechanism exists in the standby position, and no other unloaded parking mechanisms exist.

[0133] For the first scenario, see FIG5 , no action is taken, the parking process is not started / parking is refused (step 400 ), and feedback may be provided to the driver, for example, by informing the driver that there is no parking space through voice or text messages;

[0134] For the second situation, a parking operation may be performed (step 401 ).

[0135] The parking operation may illustratively include: transporting the parking mechanism in the standby position to the ground via the transport module; and when the vehicle enters the parking mechanism on the ground, controlling the transport module to rise to the original standby position.

[0136] In one example, step 401 may be performed by the aforementioned parking standby module 802, or the parking mechanism in the standby position may be transported to the ground via the transport module by the aforementioned first transport unit 8021, and the third transport unit 8024 may control the transmission module 7 to rise to the original standby position.

[0137] The following describes in detail how to move the parking mechanism carrying the vehicle to be parked onto the first target circular track and simultaneously move the parking mechanism in an empty state onto the transmission module (step 404).

[0138] In other embodiments of the present invention, the aforementioned step 404 may specifically include: according to the relative positions of the parking mechanism carrying the vehicle to be parked and the parking mechanism in an unloaded state on the first target circular track, controlling the parking mechanism in an unloaded state to rotate to a first set angle, so that the parking mechanism carrying the vehicle to be parked moves to the first target circular track, and at this time the parking mechanism in an unloaded state moves to the transport module.

[0139] The above-mentioned controlling the parking mechanism in the unloaded state to rotate by the first set angle based on the relative positions of the parking mechanism carrying the vehicle to be parked and the parking mechanism in the unloaded state on the first target circular track may specifically include:

[0140] Step A: Based on the relative positions of the parking mechanism carrying the vehicle to be parked (hereinafter referred to as the first parking mechanism) and the unloaded parking mechanism on the first target circular track (hereinafter referred to as the second parking mechanism), the first shortest arc from the unloaded parking mechanism to the transmission module is determined.

[0141] The first parking mechanism and the second parking mechanism are both located on a closed circular track, and the first shortest arc is a shortest arc from the second parking mechanism to the first parking mechanism on the closed circular track.

[0142] In one example, a clockwise arc from the second parking mechanism to the first parking mechanism and an arc in the opposite direction (counterclockwise) from the second parking mechanism to the first parking mechanism are obtained, and the smaller of the two is taken as the first shortest arc.

[0143] Step B: Determine the first rotation direction according to the first shortest arc.

[0144] Continuing with the previous example, if the arc obtained in the counterclockwise direction is the first shortest arc, then the counterclockwise direction is determined to be the first rotation direction, and vice versa, which will not be elaborated.

[0145] Step C: controlling the parking mechanism in the unloaded state to rotate along the determined first rotation direction by a first set angle.

[0146] The specific value of the first set angle can be determined by the first shortest arc.

[0147] Specifically, the first set angle is the center angle corresponding to the first shortest arc.

[0148] Step 302 is described in detail below. In one example, step 302 may specifically include: controlling the parking mechanism carrying the vehicle to be picked up to rotate by a second set angle based on the relative position of the vehicle to be picked up and the transport module, so that the parking mechanism on the transport module moves to the circular track on the second target layer, and the parking mechanism carrying the vehicle to be picked up moves to the transport module.

[0149] Controlling the parking mechanism supporting the vehicle to be picked up to rotate to the second set angle based on the relative position of the vehicle to be picked up and the transport module may specifically include: Step A: Determining a second shortest arc from the vehicle to be picked up to the transport module based on the relative position of the vehicle to be picked up and the transport module. The vehicle to be picked up and the transport module are both located on a closed circular track, and the second shortest arc is the shortest arc on the closed circular track from the vehicle to be picked up to the transport module.

[0150] In one example, a clockwise arc from the vehicle to be picked up to the transmission module and an arc in the opposite direction (counterclockwise) from the vehicle to be picked up to the transmission module are obtained, and the smaller of the two is taken as the second shortest arc.

[0151] Step B: Determine the second rotation direction according to the second shortest arc.

[0152] Continuing with the previous example, if the arc obtained in the counterclockwise direction is the second shortest arc, then the counterclockwise direction is determined to be the second rotation direction, and vice versa, which will not be elaborated.

[0153] Step C: Controlling the parking mechanism carrying the vehicle to be picked up to rotate along a second rotation direction by a second set angle.

[0154] The specific value of the second set angle is determined by the second shortest arc.

[0155] Specifically, the second set angle is the center angle corresponding to the second shortest arc.

[0156] In each of the above embodiments, N parking mechanisms are evenly distributed on the closed circular track; N>1; the first set angle is an integer multiple of 360° / N. Similarly, the second set angle is also an integer multiple of 360° / N.

[0157] For example, when N = 3, the angle is set to 120°. Referring to Figures 6 and 7 , two parking mechanisms are installed on the circular track, and one parking mechanism is installed on the transport module. The transport module and the circular track form a closed circular track. The three parking mechanisms on the closed circular track are evenly spaced, and the central angle formed by each two parking mechanisms is 120°.

[0158] Please refer to Figure 6. During the parking process, the parking mechanism a on the transport module carries the vehicle to be parked, and at least one of the parking mechanisms on the circular track is in an unloaded state. Assuming that the parking mechanism b is in an unloaded state, the first shortest arc from the parking mechanism b to the transport module is determined to be the arc L1 corresponding to the central angle θ1. According to the first shortest arc, the first rotation direction is determined to be counterclockwise (the direction indicated by the arrow), and the parking mechanism b is controlled to rotate along the determined counterclockwise angle θ1, that is, 120°, so that the parking mechanism a moves to the original position of the parking mechanism c on the circular track. At this time, the parking mechanism b moves to the transport module, and the position of the parking mechanism c after moving is the original position of the parking mechanism b, realizing the replacement of the positions of the three parking mechanisms, so that the vehicle to be parked is parked on the circular track.

[0159] Please refer to Figure 7. During the vehicle picking process, the parking mechanism d on the transport module is in an empty state. Assuming that a vehicle to be picked up is parked on the parking mechanism e, the second shortest arc from the vehicle to be picked up to the transmission module is determined to be the arc L2 corresponding to the central angle θ2. According to the second shortest arc, the second rotation direction is determined to be clockwise (the direction indicated by the arrow), and the parking mechanism e carrying the vehicle to be picked up is controlled to rotate θ2 degrees in the clockwise direction, that is, 120 degrees, so that the parking mechanism e moves to the transport module. At this time, the parking mechanism d moves to the original position of the parking mechanism f on the circular track. The position of the parking mechanism f after movement is the original position of the parking mechanism e, realizing the replacement of the positions of the three parking mechanisms, so that the vehicle to be picked up is parked on the transmission module.

[0160] Of course, even if the N parking mechanisms on the closed circular track are not evenly distributed, the technical solution provided by the embodiment of the present invention can also determine the corresponding central angle according to the first and second shortest arcs.

[0161] In one example, still referring to FIG. 1 , the target three-dimensional parking system 100 may further exemplarily include: a vertical power system 5 and a rotational power system.

[0162] The vertical power system 5 is used to drive the transport module 7 to move back and forth along the support column 1; the rotary power system is used to drive the platform bracket 4 to move on the closed circular track to realize the position conversion of the platform bracket 4 between the transport module 7 and the circular track 2 of the current layer.

[0163] The following describes different application scenarios of the above-mentioned control method for the three-dimensional parking system by taking N=3 and the standby position being located on a circular track on the first floor as an example.

[0164] Step 1: Vehicle identification, determine whether the selected vehicle has been parked on the stereo parking system.

[0165] Step 2:

[0166] Application scenario 1: The vehicle is not parked on the parking system and the parking process is started.

[0167] ① The system searches for an unloaded parking platform: if all parking platforms are in a loaded state, the parking process ends and the three-dimensional parking system does not operate; if the parking platform on the platform bracket of the transmission module on the first floor is in an unloaded state, the platform bracket descends to the ground, the vehicle enters, and the parking platform pressure recognition switches to a loaded state.

[0168] ② The system searches for another empty parking platform: if there is none, the platform bracket of the transmission module carries the parking platform to the first floor, and the parking process ends; if there is, the platform bracket of the transmission module carries the parking platform to the floor where the target empty parking platform is located, and makes a rotation judgment based on the relative position, so that the parking platform on the platform bracket of the transmission module rotates 120° in the opposite direction of the target empty parking platform, and the empty parking platform is rotated to the platform bracket of the transmission module.

[0169] ③ The platform bracket of the transmission module carries the empty parking platform to the first floor standby position, and the parking process is completed.

[0170] Application scenario 2: The vehicle is parked in the parking system and the vehicle retrieval procedure is started.

[0171] ① The platform bracket of the transmission module carries the empty or loaded parking platform to the level where the target vehicle is located. The parking platform on the platform bracket of the transmission module is rotated 120 degrees in the opposite direction of the target parking platform based on the relative position. The parking platform carrying the target vehicle is rotated to the platform bracket of the transmission module.

[0172] ② The platform bracket of the transmission module lowers the parking platform carrying the target vehicle to the ground. After the vehicle leaves, pressure recognition switches the parking platform to an empty state.

[0173] ③ The platform bracket of the transmission module carries the empty parking platform to the first floor standby position, and the vehicle retrieval process is completed.

[0174] The control methods for the three-dimensional parking systems of all the above-mentioned embodiments have the following advantages: after each parking or picking up of the vehicle, the transmission module is controlled to transport the empty parking mechanism to the circular track closest to the ground, thereby realizing intelligent standby and ensuring that the next time the vehicle is parked, the empty parking platform on the transmission module can be lowered to the ground in the shortest possible distance, thereby reducing the driver's waiting time and improving parking efficiency.

[0175] In order to execute the above-mentioned three-dimensional parking system control method and achieve corresponding functions and technical effects, a three-dimensional parking system control system is provided below.

[0176] Referring to FIG8 , the above-mentioned control system of the three-dimensional parking system may exemplarily include:

[0177] The vehicle pickup standby module 801 is used to control the transmission module to transport the parking mechanism in an empty state to the standby position for standby after the vehicle is picked up; the standby position is located on the circular track closest to the ground.

[0178] The parking standby module 802 is used to perform a parking standby operation when a standby condition is met during parking. The standby condition includes: at least two parking mechanisms are in an unloaded state, and one of the unloaded parking mechanisms is in a standby position.

[0179] The parking space preparation module 802 specifically includes:

[0180] The first transport unit 8021 is used to transport the parking mechanism in the standby position to the ground through the transport module.

[0181] The second transport unit 8022 is used to control the transmission module to rise to the gap of the first target circular track when the vehicle enters the parking mechanism on the ground; the first target circular track is the circular track closest to the ground where there is an empty parking mechanism.

[0182] The parking mechanism moving unit 8023 is used to control the parking mechanism carrying the vehicle to be parked to move to the first target circular track, and at the same time, the parking mechanism in the empty state moves to the transmission module.

[0183] The third transport unit 8024 is used to control the transmission module to move to the standby position.

[0184] For specific details, please refer to the previous records in this article and will not be repeated here.

[0185] FIG9 shows a possible hardware structure of the electronic device described above, including a bus, a processor, a memory, a communication interface, an input device, and an output device. The processor, the memory, the communication interface, the input device, and the output device are interconnected via a bus.

[0186] A bus may include a pathway that transfers information between components of a computer system.

[0187] The processor can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a network processor (NP), a microprocessor, etc., or it can be an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the solution of the present invention, or it can be a digital signal processor (DSP), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component.

[0188] The memory stores programs or scripts that implement the technical solutions of the present invention, and may also store an operating system and other key services. Specifically, the program may include program code, which includes computer operating instructions. Scripts are typically stored in text (e.g., ASCII) and are only interpreted or compiled when called.

[0189] Input devices may include devices that receive data and information input by the user, such as a keyboard, mouse, camera, voice input device, touch screen, etc.

[0190] Output devices may include means that allow information to be output to a user, such as a display screen or the like.

[0191] The communication interface may include any device such as a transceiver to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0192] The processor can implement the control method of the three-dimensional parking system provided in the above embodiment by executing the program stored in the memory and calling other devices.

[0193] In addition, the functions of the various modules of the control system of the three-dimensional parking system shown in FIG8 can be realized by the aforementioned processor executing the program stored in the memory and calling other devices.

[0194] Of course, each of the above modules can also be an independent device, or the above modules can be integrated into one or more devices in any combination. Please refer to the above description and will not be repeated here.

[0195] Professionals may further appreciate that the units and model steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0196] In the above embodiment, the instructions stored in the memory for execution by the processor may be implemented in the form of a computer program product. The computer program product may be pre-written in the memory or downloaded and installed in the memory in the form of software.

[0197] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium (particularly a computer-readable non-volatile storage medium), or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, a computer, a server, or a data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website, a computer, a server, or a data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrations. Available media can be magnetic media, (e.g., floppy disk, hard disk, tape), optical media (e.g., DVD), or semiconductor media (e.g., solid state disk, SSD), etc.

[0198] When the computer instructions are executed, the above-mentioned control method of the stereo parking system is implemented.

[0199] All of the above embodiments have the following advantages:

[0200] (1) After each vehicle pickup or parking, the transmission module is controlled to move to the standby position, realizing intelligent standby. During the next parking process, the transmission module can be lowered to the ground with the shortest distance, thereby improving parking efficiency and reducing the driver's waiting time.

[0201] (2) The rotation control mechanism enables the target parking platform to be rotated to the platform bracket of the transmission module in the shortest possible stroke and then lowered to the ground, thereby improving parking efficiency and reducing the driver's waiting time.

[0202] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0203] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A control method for a three-dimensional parking system, characterized in that The three-dimensional parking system control method is used to control a target three-dimensional parking system; The target three-dimensional parking system includes: support columns, a transportation module, a multi-layer annular track arranged along the axial direction of the support columns, and a plurality of parking mechanisms; The transportation module can move up and down along the support columns; Any layer of the annular track surrounds the outer periphery of the support columns, and a notch is formed at the position where the transportation module passes through; Any parking mechanism is movably arranged on the transportation module or the annular track; When the transportation module moves to the notch of any layer of the annular track, the transportation module and the any layer of the annular track form a closed circular track, and the parking mechanism can move on the closed circular track; The three-dimensional parking system control method includes: After the vehicle is retrieved, control the transportation module to transport the parking mechanism in the no-load state to the standby position for standby; the standby position is located on the annular track closest to the ground; During the parking process, perform a parking standby operation when the standby condition is met; The standby condition includes: at least two parking mechanisms are in the no-load state, and one of the parking mechanisms in the no-load state is located at the standby position; The parking standby operation includes: Transport the parking mechanism at the standby position to the ground through the transportation module; When the vehicle drives into the parking mechanism on the ground, control the transportation module to rise to the notch of the first target annular track; the first target annular track is the annular track where there is a parking mechanism in the no-load state and is the closest to the ground; Control the parking mechanism carrying the vehicle to be parked to move onto the first target annular track, and at the same time, the parking mechanism in the no-load state moves onto the transportation module; Control the transportation module to run to the standby position.

2. The control method of the three-dimensional parking system according to claim 1, characterized in that, Controlling the parking mechanism carrying the vehicle to be parked to move onto the first target annular track specifically includes: According to the relative position between the parking mechanism carrying the vehicle to be parked and the parking mechanism in the no-load state on the first target annular track, control the parking mechanism in the no-load state to rotate by a first set angle, So that the parking mechanism carrying the vehicle to be parked moves onto the first target annular track, and at this time, the parking mechanism in the no-load state moves onto the transportation module.

3. The control method of the three-dimensional parking system according to claim 2, characterized in that, According to the relative position between the parking mechanism carrying the vehicle to be parked and the parking mechanism in the no-load state on the first target annular track, controlling the parking mechanism in the no-load state to rotate by a first set angle specifically includes: According to the relative position between the parking mechanism carrying the vehicle to be parked and the parking mechanism in the no-load state on the first target annular track, determine the first shortest circular arc from the parking mechanism in the no-load state to the transportation module; Determine the first rotation direction according to the first shortest circular arc; Control the parking mechanism in the no-load state to rotate the first set angle along the determined first rotation direction; the specific value of the first set angle is determined by the first shortest circular arc.

4. The control method of the three-dimensional parking system according to claim 1, wherein It further includes: During the vehicle retrieval process, control the transportation module to move to the notch of the second target annular track; The second target annular track is the annular track where the parking mechanism carrying the vehicle to be retrieved is located; Control the parking mechanism carrying the vehicle to be retrieved to move from the second target - layer circular track to the transportation module, and control the transportation module to descend to the ground; after the vehicle retrieval is completed, the parking mechanism on the transportation module is in an empty - load state.

5. The control method of the three-dimensional parking system according to claim 4, characterized in that, Controlling the parking mechanism carrying the vehicle to be retrieved to move from the second target - layer circular track to the transportation module specifically includes: According to the relative position between the vehicle to be retrieved and the transportation module, control the parking mechanism carrying the vehicle to be retrieved to rotate by a second set angle, so that the parking mechanism on the transportation module moves to the second target - layer circular track, and at this time, the parking mechanism carrying the vehicle to be retrieved moves to the transportation module.

6. The control method of the three-dimensional parking system according to claim 5, characterized in that, According to the relative position between the vehicle to be retrieved and the transportation module, controlling the parking mechanism carrying the vehicle to be retrieved to rotate by a second set angle specifically includes: According to the relative position between the vehicle to be retrieved and the transportation module, determine the second shortest circular arc from the vehicle to be retrieved to the transportation module; Determine the second rotation direction according to the second shortest circular arc; Control the parking mechanism carrying the vehicle to be retrieved to rotate by a second set angle along the second rotation direction; The specific value of the second set angle is determined by the second shortest circular arc.

7. The control method of the three-dimensional parking system according to claim 1, wherein, During the parking process, if there is only one parking mechanism in an empty - load state at the standby position, then perform the parking operation; The parking operation includes: Transport the parking mechanism at the standby position to the ground through the transportation module; After the vehicle drives into the parking mechanism on the ground, control the transportation module to rise to the standby position.

8. The control method of the three-dimensional parking system according to claim 2, characterized in that, N parking mechanisms are evenly distributed on the closed circular track; N > 1; the first set angle is an integer multiple of 360° / N.

9. The control method of the three-dimensional parking system according to claim 1, wherein It further includes: Obtain target information; The vehicle indicated by the target information is the target vehicle; Determine whether the target vehicle is parked in the target multi - level parking system; If so, determine the target vehicle as the vehicle to be retrieved and enter the vehicle - retrieval process; If not, determine the target vehicle as the vehicle to be parked and enter the parking process.

10. The control method of the three-dimensional parking system according to claim 8, characterized in that, N = 3; the first set angle is 120°.

11. A control system for a three-dimensional parking system, characterized in that, The control system of the multi - level parking system is used to implement the control method of the multi - level parking system according to any one of claims 1 to 10; The control system of the multi - level parking system includes: A vehicle - retrieval standby module, which is used to control the transportation module to transport the parking mechanism in an empty - load state to the standby position for standby after the vehicle retrieval is completed; the standby position is located on the circular track closest to the ground; A parking standby module, which is used to perform the parking standby operation when the standby conditions are met during the parking process; the standby conditions include: at least two parking mechanisms are in an empty - load state, and one of the parking mechanisms in an empty - load state is located at the standby position; The parking standby operation includes: Transport the parking mechanism at the standby position to the ground through the transportation module; After the vehicle drives into the parking mechanism on the ground, control the transportation module to rise to the gap of the first target circular track; The first target circular track is the circular track where there is a parking mechanism in an empty - load state and is the closest to the ground; Control the parking mechanism carrying the vehicle to be parked to move to the first target circular track, and at the same time, the parking mechanism in an empty - load state moves to the transportation module; Control the transmission module to run to the standby position.

12. An electronic device, characterized in that, It includes a memory and a processor. The memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the three-dimensional parking system control method described in any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, It stores a computer program, and when the computer program is executed by a processor, it implements the three-dimensional parking system control method described in any one of claims 1 to 10.

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