CN106200577B - A kind of stereo garage dispatch control method - Google Patents
A kind of stereo garage dispatch control method Download PDFInfo
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- CN106200577B CN106200577B CN201610538392.6A CN201610538392A CN106200577B CN 106200577 B CN106200577 B CN 106200577B CN 201610538392 A CN201610538392 A CN 201610538392A CN 106200577 B CN106200577 B CN 106200577B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
Abstract
A kind of stereo garage dispatch control method.The present invention relates to multi-storied garage intelligent control technology fields, disclose one kind and being based on ACP method matrix type three-dimensionals garage dispatch control method, specifically include following steps：101. data information acquisition；102. request event obtains；103. information chain determines；104. parking space state obtains and weights distribution；105. scheduling scheme determines；106. scheduling scheme executes.The request event information to improve in conjunction with big data analysis, weights distribution, perfect request event information and garage status information are combined, optimal route scheme is obtained by ACP methods, achieve the purpose that convergence analysis and the scheduling system of data are adaptive to garage vehicle flowrate, so that existing parking resource is obtained the use of maximal efficiency, reduces parking infrastructure construction budget；Docking process is more intelligent convenient, improves the efficiency of trip, improves the operational efficiency in city；It is easily used, can be applicable on a large scale, alleviate the parking difficulty problem in population building dense region.
Description
Technical field：
The present invention relates to multi-storied garage intelligent control technology fields, and in particular to one kind being based on ACP method matrix type three-dimensionals
Weights are distributed in conjunction with the request event information that big data analysis improves, are perfect by garage dispatching control device and its method
Request event information and garage status information combine, optimal route scheme is obtained by ACP methods, reaches the fusion of data
Analyze and dispatch the system purpose adaptive to garage vehicle flowrate.
Background technology：
Currently, with the fast development of economic society, existing parking base is given in the sharp increase of Urban vehicles poputation
Infrastructure brings huge pressure, parking difficulty, and random phenomena such as stopping constantly repeats to show, especially the region of building dense,
The difficult problem that stops is even more serious.In the prior art, parking systems, which becomes, solves the difficult best mode that stops instantly.
But the parking systems of prior art generally existing following point during use：First, user goes to a vehicle simultaneously
Library causes the garage stall nervous, and another garage stall vacancy rate is high；Second is that Transport Vehicle peak period, dispatches system pressure
Greatly, vehicle can not be taken out in time, period of reservation of number is long, and Experience Degree reduces；Third, only to incite somebody to action in scheduling system implementation
For the purpose of vehicle takes out, user information and vehicle information can not be considered, cause the high energy consumption of whole system, user is averagely etc.
Wait for that the time is long.The reason of these above-mentioned problems occur is, facilitates user to understand garage stall letter in time without effective approach
Breath, and limited by garage vehicle-taking apparatus itself, scheduling system can not realize the scheduling of more trolleys simultaneously, in addition existing
The design of scheduling system executing software it is simple, generally handled Transport Vehicle event as individual event, do not consider multiple events it
Between continuity and correlation, the time is picked up the car as optimization aim using single unit vehicle, rather than is deposited with all vehicles in entire garage
The pick-up time is optimization aim, does not consider that the contradiction between vehicle flowrate dynamic change and constant garage scheduling system speed is closed
System, also lacks the analysis and utilization to history parking data, is unable to get perfect user's Transport Vehicle habits information, and then can not
Garage system is considered as a whole, unpredictable a certain moment garage vehicle flowrate data.
The theory of ACP methods is exactly by artificial social product (Artificial societies), i.e. manual system, calculating is real
It tests between (Computational experi-ments), parallel execution (Parallel execution) and combines, it will be artificial
Virtual Space Cyberspace becomes us and solves new another half space of challenge, with natural physical space together structure
At the complete complex space of solving complexity system equation.And the technologies such as emerging internet, cloud computing, Internet of Things, it is formal to prop up
Support the core technology of ACP methods.In essence, the core of ACP is exactly complication system void and soft part is set up,
By that can quantify, enforceable calculatingization and real time implementation, be allowed to harden, be veritably used to solve actual challenge.
Manual system is different from general analogue system, and real system is no longer the unique reference and mark that manual system is established
Standard, but the model in manual system is considered as a kind of reality is a kind of possible alternative form or another kind of real system
Possible realization method, and real system is also only possible to one kind in the reality occurred, behavior is different from the behavior of model
But it is of equal value, i.e., it both need not make excessive demands identical or height and approach, only require them in scale, behavior and system performance
Etc. it is with uniformity.Experiment with computing is carried out primarily directed to manual system, and process includes mainly experimental design,
Simulated experiment, experimental evaluation etc..In this experiment with computing method, traditional computation model becomes the examination in computing laboratory
Process is tested, the means that all kinds of complication systems are cultivated in growth are become.Research of the parallel execution for a complication system, most cases
Under both do not had systematic accurately model enough, the short-term behavior model of the forecasting system that can be parsed can not be established.Therefore,
The foundation of manual system can not possibly once structure can reach can be with real system degree of equal value, while also being difficult to give
Real system very accurately manages or tutorial message.This just need in the constantly feedback and manual system to real system to
The strategy gone out carries out the optimization process of a rolling, the optimization by experiment with computing method in manual system and real system
Journey, that is, parallel execution.The purpose of ACP methods is to make the role in manual system from passively to active, static state arrives dynamic, offline to arrive
Line, so that equal status is finally increased to by subordinate status.Therefore, in order to realize the intelligentized control method of stereo garage by ACP
Approach application is during the control of stereo garage.
Invention content：
It is an object of the invention to overcome disadvantage existing in the prior art, seek a kind of stereoscopic vehicle based on ACP methods
The dispatching control device and its method in library solve user information present in existing garage system operational process and information of vehicles not
It is perfect, scheduling flexibility ratio it is low, data fusion analysis difficulty, scheduling scheme can not be carried out assessment optimization the problem of.
To achieve the goals above, stereo garage dispatching control device of the present invention, agent structure include user
Demand module, data module, garage information module, intelligent control module and intelligent scheduling module；User demand module is for obtaining
It takes the Transport Vehicle request event at family and request event is passed into intelligent control module, receive the vehicle of garage information module output
Library status data, the customer incident scheduling scheme processing for receiving intelligent scheduling module feedback need to wait for time and suggestion, and by vehicle
Library status data, stand-by period and suggestion feed back to user；The user demand module can be mobile phone terminal APP, vehicle end
The interaction platform being arranged in end, the network platform and garage place；Data module includes data acquisition unit, database and data
Three funtion parts of pretreatment unit, data acquisition unit is for acquiring auto dealer website, garage port meausring apparatus, society
Hand over website, existing garage data library and garage information mould information in the block；Data pre-processing unit be used for the information that will acquire into
Row analytic induction obtains information of vehicles, user's Transport Vehicle custom data, user's personality information and garage data on flows；Database
The information storage that data pre-processing unit is obtained is in database；The garage data on flows is the number of garage information module feedback
It is the vehicle weight information obtained from auto dealer or by garage port meausring apparatus according to, the information of vehicles, it is described
User's Transport Vehicle custom data are vehicle bicycle parking and the pick-up temporal information for the existing garage record that can be obtained, user's property
Lattice information is to analyze whether client keeps time and other personality are accustomed to, the garage flow by acquiring user information on social network sites
Data are that garage vehicle flowrate changes with time data, can be same day vehicle flowrate data and seasonal vehicle flowrate number
According to the information that can be gradually improved by the record of garage information module；Garage information module receives PLC control system and passes
The various signals passed, analysis statistics obtain garage status information, record garage data on flows, calculate using time and energy consumption as target
The weights on each parking stall of function give garage status information feedback to user demand module, by garage status information and parking stall
Weights pass to intelligent control module, and garage data on flows is exported to data module；Garage status information include garage position,
The state (whether damaging) of pay imformation, parking stall seizure condition, driving device and hoisting elevator；Intelligent control module includes information
Chain element, experiment with computing unit and storage unit three parts, information chain element are used for the formation of information chain, receive user demand mould
The request event of block, the garage state of reading garage information module record, and the request event vehicle in combination data module
Relevant information forms information chain and is transported in storage element；Experiment with computing unit determines optimization object function according to information chain
Optimal scheduling scheme is obtained by experiment with computing process, optimal scheduling scheme is output to after storage unit and re-sends to intelligent tune
Spend module；Storage element is for storing information chain and optimal scheduling scheme；Described information chain is configured to reservation event/preferential thing
M- user's personality letter when m- information of vehicles (car weight, license plate number)-is picked up the car when part/secondary priority event-bicycle parking time/pick-up
Breath-garage data on flows, the reservation event are the reservation bicycle parking/pick-up event or lead to that user is determined by user demand module
User's pick-up event that data module user's Transport Vehicle is accustomed to is crossed, the priority event is that user has reached depositing for garage
Vehicle/pick-up event, the secondary priority event is the pick-up event for reaching user's subscription time, and the pick-up time sets for user
Fixed time or the pick-up time being accustomed to by data analysis user's Transport Vehicle, the scheduling scheme includes in scheduling process
Route scheme and scheduling process time budget；Intelligent scheduling module controls stereo garage according to scheduling scheme according to dispatching sequence
PLC control system carries out vehicle scheduling, while real-time statistics each scheduling scheme execution needs the time waited for, when by waiting for
Between and combine the stand-by period to feed back to user demand module to the suggestion of user, the dispatching sequence is according to intelligent scheduling module
The sequence for receiving scheduling scheme gives the serial number of scheduling scheme execution.
Experiment with computing unit of the present invention is the unit module based on ACP methods, specially in artificial stereo garage
In system map an artificial stereoscopic garage model identical with practical stereo garage system state, in stereoscopic garage model into
Row experiment with computing process, experiment with computing unit include experimental design, experiment execute and three parts of experimental evaluation, experimental design with
Garage status information and all information chain informations of acquisition are basic condition, and the original of experimental design is determined with the moment garage demand
Then, such as time optimal, inventory's maximum or into vehicle priority principle, respective algorithms is chosen and obtain experimental program；By experimental program in people
Simulated experiment is carried out in work stereoscopic garage model, i.e. experiment executes, the artificial stereo garage mould after being simulated after simulation execution
Type garage status information, according to after simulation artificial stereoscopic garage model garage status information and intelligent control module newly obtain
Information chain information, with the experimental design stage choose the principle of experimental design, select evaluation of programme object function be time optimal or
Inventory is maximum or is preferentially evaluated into vehicle the design scheme, is then determined as optimal scheduling scheme if optimal case, if not
It is optimal case, then returning to the experimental design stage redefines.
The control object of stereo garage dispatching control device of the present invention is matrix type three-dimensional garage, the matrix form
Stereo garage includes stereo garage mechanical structure portion and PLC control system, and stereo garage mechanical structure portion includes promoting electricity
Ladder and carrier vehicle module, if stereo garage mechanical structure portion is divided into dried layer, every layer including hoisting elevator and setting in hoisting elevator
The carrier vehicle module of periphery matrix form arrangement, the carrier vehicle module include braced frame, driving device and vehicle-carrying plate, in braced frame
Equipped with limit switch, the shift position for incuding vehicle-carrying plate is additionally provided with weight sensor in braced frame, passes through weight data
It determines and vehicle whether is parked in carrier vehicle module, driving device drives vehicle in lateral or longitudinal movement by vehicle-carrying plate, by carrying
Jacking elevator driving vehicle move in the up-down direction, the PLC control system respectively with limit switch, weight sensor, driving
Device motor and hoisting elevator electrical connection.
The dispatch control method of stereo garage of the present invention, includes the following steps：
101. data information acquisition：Information of vehicles, user's Transport Vehicle habits information, user's personality are first obtained by data module
Information and garage data on flows, and the data of acquisition are analyzed, is concluded and is stored in database；The information of vehicles includes
The vehicle weight information obtained from auto dealer or by garage port meausring apparatus, user's Transport Vehicle custom include
The vehicle bicycle parking of existing garage record and pick-up temporal information, user's personality information include by acquiring social network sites user
The personality the information whether user that information analysis obtains keeps time, institute's garage data on flows are that garage vehicle flowrate changes with time number
According to including same day vehicle flowrate data, seasonal vehicle flowrate data；
102. request event obtains：It is divided into two kinds of situations according to the type of request event：First, being asked for bicycle parking, garage
Information module receives the various signals that PLC control system is transmitted, and analysis statistics obtains garage residue parking stall, by remaining parking space information
Be sent to user demand module in real time, user searches in user's request module or inquires target garage, if target garage have it is surplus
Remaining parking stall then inputs in human-computer interaction interface and confirms reservation bicycle parking time, vehicle and vehicle collection reservation time；Second is that for picking up the car
Request, user input and confirm license plate number in human-computer interaction interface and pick up the car time or vehicle collection reservation time；
103. information chain determines：The request event information that step 102 obtains, read step are received by intelligent control module
The request event vehicle and user related information stored in 101 data modules builds information chain, and information chain is stored；Information chain
It is divided into following several situations：Information chain A：M- user's personality information-garage stream when m- car weight-pick-up when priority event-bicycle parking
Measure data；Information chain B：M- vehicle-carrying plate number (or license plate number)-user personality information-garage flow number when priority event-pick-up
According to；Information chain C：M- vehicle-carrying plate number (or license plate number) user personality information-garage flow number when secondary priority event-pick-up
According to；Information chain D：M- vehicle-carrying plate number-user's personality information-garage data on flows when reservation event-pick-up；Information chain E：In advance
About event-bicycle parking when m- car weight-pick-up when m- user's personality information-garage data on flows；
104. parking space state obtains and weights distribution：Garage information module receives the various signals that PLC control system is transmitted,
Garage status information is obtained by analyzing statistics, then is calculated using time and energy consumption as the weights on each parking stall of optimization aim,
Obtain weights distribution information；
105. scheduling scheme determines：The information chain information stored in experiment with computing unit read step 103, step 104
Garage status information and weights the distribution information arrived, passes sequentially through experimental design, experiment executes and experimental evaluation obtains optimal tune
Degree scheme；
106. scheduling scheme executes：The optimal scheduling scheme that intelligent scheduling module receiving step 105 obtains, according to optimal tune
Degree scheme according to dispatching sequence control stereo garage PLC control system carry out vehicle scheduling, while real-time statistics each tune
Degree scheme executes the time for needing to wait for, and will feed back to user demand module the stand-by period；For pick-up path, hoisting elevator will
Vehicle runs to specified parking tier, and at the same time, obstacle vehicle is removed corresponding parking stall by respective drive device, to make promotion
After elevator reaches specified parking tier, vehicle can be directly entered parking stall.
The present invention relates to step 101, carrying out practically is divided into following steps：
1011. data acquisition units acquire the network information, existing garage record information, auto dealer's vehicle weight data
The vehicle weight information that information or garage port meausring apparatus obtain receives the garage data on flows that garage information module returns；
The information that 1012. data pre-processing units acquire data acquisition unit carries out analytic induction, obtain vehicle data,
User's Transport Vehicle is accustomed to data and user's personality information data；
Data and garage the data on flows storage that 1013. databases obtain step 1012.
The present invention relates to step 104 can be specifically divided into following steps：
1041. unified times and energy consumption dimension are calculated using time and energy consumption as the weights on each parking stall of optimization aim,
Determine that the time is primary optimization aim, on the basis of shortest time t0 and lowest energy consumption q0 in time optimal preceding ten kinds of schemes,
For the time t and energy consumption q of some scheme, by the ratio of required time and energy consumption and minimum value, function obtains power as an optimization
Value, i.e. t/t0+q/q0；
1042., which receive the signals that PLC control systems are transmitted, confirms the seizure condition of parking stall, driving device and hoisting elevator
State, such as vacant parking stall, failure driving device, failure hoisting elevator information and carrier vehicle module status, while record respectively stops
Parking stall, driving device and hoisting elevator state.
The present invention relates to step 105 specifically include following steps：
1051. map an artificial solid identical with practical stereo garage system state in artificial stereo garage system
Garage model；
1052. in artificial stereoscopic garage model by item based on garage status information and all information chain informations of acquisition
Part determines the principle of experimental design with the moment garage demand, such as time optimal, inventory it is maximum or preferential into vehicle, choose corresponding calculate
Method obtains experimental program；The algorithm include blending inheritance algorithm and ant group algorithm GAAAA algorithms or breadth first algorithm or
Other algorithms；
Experimental program is carried out simulated experiment by 1053. in artificial stereoscopic garage model, i.e. experiment executes, after simulation executes
Artificial stereoscopic garage model garage status information after being simulated；
The garage status information and step 103 of artificial stereoscopic garage model after 1054. simulations obtained according to step 1053
The information chain information that intelligent control module newly obtains selects evaluation of programme object function with the principle that the experimental design stage is chosen
It is that time optimal or inventory are maximum or preferentially evaluated into vehicle the design scheme, is then determined as optimal tune if optimal case
Degree scheme, if not optimal scheduling scheme, then return to step 1052 restarts.
Compared with prior art, the present invention one is the use for making existing parking resource obtain maximal efficiency, reduces and stop
Vehicle infrastructure construction budget, entire society's parking fee collective system system will more rationally；Second is that docking process is more intelligent convenient, carry
The efficiency of height trip, improves the operational efficiency in city；It third, being easily used, can be applicable on a large scale, it is close to alleviate population building
Collect the parking difficulty problem in region.
Description of the drawings：
Fig. 1 is the structural schematic block diagram of stereo garage dispatching control device of the present invention.
Fig. 2 is stereo garage mechanical mechanism fractional monolayer structural schematic diagram of the present invention.
Fig. 3 is carrier vehicle modular structure schematic diagram of the present invention.
Fig. 4 is stereo garage dispatch control method schematic process flow diagram of the present invention.
Fig. 5 is experiment with computing process flow schematic diagram of the present invention.
Fig. 6 is the weights distribution diagram in 5*3 matrix type three-dimensionals of the present invention garage.
Fig. 7 is range algorithm flow schematic diagram of the present invention.
Specific implementation mode：
The present invention will be further described with reference to the accompanying drawings and examples：
Embodiment 1：
The stereo garage dispatching control device that the present embodiment is related to, agent structure include user demand module 1, data mould
Block 2, garage information module 3, intelligent control module 4 and intelligent scheduling module 5；User demand module 1 is for obtaining depositing for user
Request event is simultaneously passed to intelligent control module 4 by pick-up request event, receives the garage status number of 3 output of garage information module
According to receiving the customer incident scheduling scheme processing that intelligent scheduling module 5 is fed back and need to wait for time and suggestion, and by garage status number
User is fed back to according to, stand-by period and suggestion；The user demand module 1 can be mobile phone terminal APP, vehicle termination, network
The interaction platform being arranged in platform and garage place；Data module 2 includes that data acquisition unit 13, database 14 and data are pre-
15 3 funtion parts of processing unit, data acquisition unit 13 for acquire auto dealer website, garage port meausring apparatus,
Information in social network sites, existing garage data library and garage information module 3；The letter that data pre-processing unit 15 is used to acquire
Breath carries out analytic induction, obtains information of vehicles, user's Transport Vehicle custom data, user's personality information and garage data on flows；Number
The information storage for obtaining data pre-processing unit 15 according to library 14 is in database 14；The garage data on flows is garage information mould
The data that block 3 is fed back, the information of vehicles are the vehicle weight obtained from auto dealer or by garage port meausring apparatus
Information is measured, user's Transport Vehicle custom data are the vehicle bicycle parking for the existing garage record that can be obtained and time letter of picking up the car
Breath, user's personality information are to analyze whether client keeps time and other personality are practised by acquiring user information on social network sites
Used, the garage data on flows is that garage vehicle flowrate changes with time data, can be same day vehicle flowrate data and season
Section property vehicle flowrate data, the information that can be gradually improved by the record of garage information module 3；Garage information module
3 receive the various signals that PLC control system 6 is transmitted, and analysis statistics obtains garage status information, records garage data on flows, meter
It calculates using time and energy consumption as the weights on each parking stall of object function, gives garage status information feedback to user demand module,
Garage status information and parking stall weights are passed into intelligent control module 4, garage data on flows is exported to data module 2, vehicle
Library status information include garage position, pay imformation, parking stall seizure condition, driving device and hoisting elevator 17 state (whether
Damage)；Intelligent control module 4 includes 16 three parts of information chain element 8, experiment with computing unit 9 and storage unit, information chain element
8 are used for the formation of information chain, receive the request event of user demand module 1, read the garage shape of 3 record of garage information module
State, and combine the relevant information of the request event vehicle in data module 2, form information chain and be transported in storage element 16；
Experiment with computing unit 9 determines that optimization object function obtains optimal scheduling scheme by experiment with computing process according to information chain, will most
Excellent scheduling scheme re-sends to intelligent scheduling module 5 after being output to storage unit 16；Storage element 16 for store information chain and
Optimal scheduling scheme；When described information chain is configured to reservation event/priority event/secondary priority event-bicycle parking time/pick-up
M- information of vehicles (car weight, license plate number)-m- user's personality information-garage data on flows when picking up the car, the reservation event are to use
Reservation bicycle parking/pick-up event that family is determined by user demand module 1 is accustomed to by 2 user's Transport Vehicle of data module
User's pick-up event, the priority event are that user has reached the bicycle parking/pick-up event in garage, the secondary priority event be up to
To the pick-up event of user's subscription time, the pick-up time is the time set by user or passes through data analysis user's Transport Vehicle
It is accustomed to the obtained pick-up time, the scheduling scheme includes route scheme and scheduling process time budget in scheduling process；Intelligence
The PLC control system 6 that scheduler module 5 controls stereo garage according to scheduling scheme according to dispatching sequence carries out vehicle scheduling, simultaneously
Each scheduling scheme of real-time statistics executes the time for needing to wait for, and by the stand-by period and combines the stand-by period to the suggestion of user
Feed back to user demand module 1, the dispatching sequence is to receive the sequence of scheduling scheme according to intelligent scheduling module 5 to give and adjust
The serial number that degree scheme executes.
The experiment with computing unit 9 that the present embodiment is related to is the unit module based on ACP methods, specially in artificial stereoscopic vehicle
An artificial stereoscopic garage model identical with practical stereo garage system state is mapped in the system of library, in stereoscopic garage model
Experiment with computing process is carried out, experiment with computing unit 9 includes experimental design 10, tests execution 11 and 12 3 parts of experimental evaluation,
Experimental design 10 is basic condition with garage status information and all information chain informations of acquisition, is determined with the moment garage demand
The principle of experimental design 10 chooses respective algorithms and obtains experimental program such as time optimal, inventory's maximum or into vehicle priority principle；
Experimental program is subjected to simulated experiment in artificial stereoscopic garage model, i.e. experiment executes 11, after simulation obtains simulation after executing
Artificial stereoscopic garage model garage status information, according to the artificial stereoscopic garage model garage status information and intelligence after simulation
The information chain information that control module newly obtains selects evaluation of programme mesh with the principle of experimental design that 10 stage of experimental design is chosen
Scalar functions are time optimal or inventory's maximum or are preferentially evaluated into vehicle the design scheme, are then determined as if optimal case
Optimal scheduling scheme, if not optimal case, then returning to 10 stage of experimental design redefines.
The control object for the stereo garage dispatching control device that the present embodiment is related to is matrix type three-dimensional garage, the matrix
Formula stereo garage includes stereo garage mechanical structure portion 7 and PLC control system 6, and stereo garage mechanical structure portion 7 includes carrying
Jacking elevator 17 and carrier vehicle module, if it is dried layer that stereo garage mechanical structure portion 7, which divides, every layer includes that hoisting elevator 17 and setting exist
The carrier vehicle module of 17 periphery matrix form arrangement of hoisting elevator, (carrier vehicle module is specially A-G in fig. 2, and wherein carrier vehicle module is distinguished
For three kinds of states, the first state is that empty vehicle-carrying plate is parked in the driving device of parking stall, i.e. band vehicle-carrying plate empty parking space, such as F institutes
Show；Second of state is that vehicle-carrying plate and vehicle are parked in the driving device of parking stall, as shown on A, D and E；The third state is vehicle
There is no vehicle-carrying plate, as no-load sweeping board empty parking space in the driving device of position, as shown in B, C, D and G), the carrier vehicle module includes
Braced frame 18, driving device 19 and vehicle-carrying plate 20, braced frame 18 are equipped with limit switch 21, the shifting for incuding vehicle-carrying plate
Position is moved, weight sensor 22 is additionally provided in braced frame 18, determines whether vehicle is parked in carrier vehicle module by weight data,
Driving device 19 drives vehicle in lateral or longitudinal movement by vehicle-carrying plate 20, drives vehicle in upper and lower by hoisting elevator 17
Move up, the PLC control system 6 respectively with limit switch 21, weight sensor 22, driving device motor and hoisting elevator
17 electrical connections.
The dispatch control method for the stereo garage that the present embodiment is related to, includes the following steps：
101. data information acquisition：Information of vehicles, user's Transport Vehicle habits information, Yong Huxing are first obtained by data module 2
Lattice information and garage data on flows, and the data of acquisition are analyzed, concluded and are stored in database 14；The information of vehicles
Include the vehicle weight information obtained from auto dealer or by garage port meausring apparatus, user's Transport Vehicle custom
Vehicle bicycle parking including existing garage record and pick-up temporal information, user's personality information include by acquiring social network sites
The personality the information whether user that user information is analyzed keeps time, institute's garage data on flows are the change of garage vehicle flowrate at any time
It includes same day vehicle flowrate data, seasonal vehicle flowrate data to change data；
102. request event obtains：It is divided into two kinds of situations according to the type of request event：First, being asked for bicycle parking, garage
Information module 3 receives the various signals that PLC control system 6 is transmitted, and analysis statistics obtains garage residue parking stall, remaining parking stall is believed
Breath is sent to user demand module 1 in real time, and user searches in user's request module 1 or inquire target garage, if target garage
There is remaining parking stall then to be inputted in human-computer interaction interface and confirms reservation bicycle parking time, vehicle and vehicle collection reservation time；Second is that for
It picks up the car and asks, user inputs and confirms license plate number in human-computer interaction interface and picks up the car time or vehicle collection reservation time；
103. information chain determines：The request event information that step 102 obtains is received by intelligent control module 4, reads step
The request event vehicle and user related information stored in rapid 101 data module 2 builds information chain, and information chain is stored；Letter
Breath chain is divided into following several situations：Information chain A：M- user's personality information-vehicle when m- car weight-pick-up when priority event-bicycle parking
Library data on flows；Information chain B：M- vehicle-carrying plate number (or license plate number)-user personality information-garage stream when priority event-pick-up
Measure data；Information chain C：M- vehicle-carrying plate number (or license plate number) user personality information-garage stream when secondary priority event-pick-up
Measure data；Information chain D：M- vehicle-carrying plate number-user's personality information-garage data on flows when reservation event-pick-up；Information chain
E：M- user's personality information-garage data on flows when m- car weight-pick-up when reservation event-bicycle parking；
104. parking space state obtains and weights distribution：Garage information module 3 receives the various letters that PLC control system 6 is transmitted
Number, garage status information is obtained by analyzing statistics, then calculate using time and energy consumption as the power on each parking stall of optimization aim
Value obtains weights distribution information；
105. scheduling scheme determines：The information chain information stored in 9 read step 103 of experiment with computing unit, step 104
Garage status information and weights the distribution information arrived passes sequentially through experimental design 10, experiment execution 11 and experimental evaluation 12 and obtains
Optimal scheduling scheme；
106. scheduling scheme executes：The optimal scheduling scheme that 5 receiving step 105 of intelligent scheduling module obtains, according to optimal
Scheduling scheme according to dispatching sequence control stereo garage PLC control system 6 carry out vehicle scheduling, while real-time statistics each
Scheduling scheme executes the time for needing to wait for, and will feed back to user demand module 1 stand-by period；For pick-up path, electricity is promoted
Vehicle is run to specified parking tier by ladder 17, and at the same time, obstacle vehicle is removed corresponding parking stall by respective drive device, to
After so that hoisting elevator 17 is reached specified parking tier, vehicle can be directly entered parking stall.
The step 101 that the present embodiment is related to, carrying out practically are divided into following steps：
1011. data acquisition units 13 acquire the network information, existing garage record information, auto dealer's vehicle weight number
It is believed that the vehicle weight information that breath or garage port meausring apparatus obtain, receives the garage flow number that garage information module 3 returns
According to；
The information that 1012. data pre-processing units 15 acquire data acquisition unit 13 carries out analytic induction, obtains vehicle
Data, user's Transport Vehicle custom data and user's personality information data；
Data and garage the data on flows storage that 1013. databases 14 obtain step 1012.
The step 104 that the present embodiment is related to can be specifically divided into following steps：
1041. unified times and energy consumption dimension are calculated using time and energy consumption as the weights on each parking stall of optimization aim,
Determine that the time is primary optimization aim, on the basis of shortest time t0 and lowest energy consumption q0 in time optimal preceding ten kinds of schemes,
For the time t and energy consumption q of some scheme, by the ratio of required time and energy consumption and minimum value, function obtains power as an optimization
Value, i.e. t/t0+q/q0, Fig. 6 are the weights distribution diagram in a 5*3 matrix type three-dimensionals garage；
1042. receive seizure condition, driving device 19 and the promotion electricity that the signal that PLC control system 6 is transmitted confirms parking stall
The state of ladder 17, such as vacant parking stall, failure driving device, 17 information of failure hoisting elevator and carrier vehicle module status；Simultaneously
Record each parking stall, driving device and hoisting elevator 17 state.
The step 105 that the present embodiment is related to specifically includes following steps：
1051. map an artificial solid identical with practical stereo garage system state in artificial stereo garage system
Garage model；
1052. in artificial stereoscopic garage model by item based on garage status information and all information chain informations of acquisition
Part determines the principle of experimental design with the moment garage demand, such as time optimal, inventory it is maximum or preferential into vehicle, choose corresponding calculate
Method obtains experimental program；The algorithm include blending inheritance algorithm and ant group algorithm GAAAA algorithms or breadth first algorithm or
Other algorithms；
Experimental program is carried out simulated experiment by 1053. in artificial stereoscopic garage model, i.e. experiment executes 11, and simulation executes
After simulated after artificial stereoscopic garage model garage status information；
The garage status information and step 103 of artificial stereoscopic garage model after 1054. simulations obtained according to step 1053
The information chain information that intelligent control module 4 newly obtains selects evaluation of programme target letter with the principle that 10 stage of experimental design is chosen
Number is time optimal or inventory's maximum or is preferentially evaluated into vehicle the design scheme, is then determined as if optimal case optimal
Scheduling scheme, if not optimal scheduling scheme, then return to step 1052 restarts.
Embodiment 2：
The experimental design procedure that the present embodiment is related to uses breadth first algorithm, first the parking stalls 5*5 is numbered, using two
Position decimal number, ten indicate row, and a indicates row, as shown in table 1：
1 parking stall numbering of table illustrates table
To indicate each state of scheduling process, parking stall is occupied using the binary representation of data and is encoded,
The information that data include has：Parking stall number where whether each parking stall occupied and target vehicle (main vehicle).
2 state encoding meaning table of table
The maximum value max=2 of data27=134,217,728
Long data type ranges be from -9,223,372,036,854,775,808 to 9,223,372,036,854,
775,807, coding enough uses, therefore uses long data types to state encoding.
Search for the storage of information
The storage of search tree：Structure type is established, the parking stall occupancy of each state, father node, range information, shifting are stored
Dynamic relationship.
Black and grayed-out nodes are stored using List types, the father node serial number in nodal information is father node in List
Serial number.
List<node>NodesSave=new List<node>()；// storage black & grayed-out nodes
The set membership of node refers to：Father node can be reached to adjacent vacancy by one vehicle of legal movement and child status
It is identical.The node first searched is father node, after the node that searches be child node.Legal movement refers to the target carriage to be moved to
Position is available vacancy.Dir storage of array in structure node be from father node to this node needed for move mode, journey
Array application length is 56 when sort run, and array index corresponds to parking stall serial number, and numerical value moving direction, 0 table are preserved in array
Show and do not move, 1,2,3,4 indicate respectively upwards, it is right, under, move left.
The storage of other information：
List<long>NodesStatus=new List<long>()；The node status that // storage has stepped through,
It is stored in the form of numbering
List<int>EndNodes=new List<int>()；Serial number of // storage the dbjective state in nodesSave
List<node>NodesPath1=new List<node>()；// storage path
Bool [] isUsefull=new bool [56]；// indicating that the garage stall of 5*5 can use situation, true is available,
False is unavailable
Algorithm flow：
Original state is set first, is labeled as grayed-out nodes, is entered cycle later, is searched all sub- sections of the grayed-out nodes
Point, and be grayed-out nodes by newfound vertex ticks.The grayed-out nodes for finding all child nodes are labeled as dark node, then search
The next grayed-out nodes of rope jump out cycle until reaching stop condition.There are two stop conditions, meets one：
A. search depth<20
B. the dbjective state searched reaches y, whereinN is parking stall sum, and x is vehicle fleet, and y is limited
Width is between 1-15.
The mobile difference of the single step movement and true garage when being search the reason of multiple dbjective states compare again is found,
It is convenience of calculation when search tree is established, it is believed that a vehicle can only be moved every time to adjacent vacancy.And true garage is in order to reduce out
Library time, the movement that do not interfere mutually can be carried out at the same time, thus the first aim state searched not necessarily it is true most
Short path dbjective state.By the way that path compression, i.e., non-interfering mobile merging, the reselection used time is minimum, mobile vehicle
Relatively little of path just completes the search of optimal path.
Claims (3)
1. a kind of dispatch control method of stereo garage, it is characterised in that include the following steps：
101. data information acquisition：Information of vehicles, user's Transport Vehicle habits information, user's personality information are first obtained by data module
With garage data on flows, and the data of acquisition is analyzed, is concluded and is stored in database；
102. request event obtains：It is divided into two kinds of situations according to the type of request event：First, being asked for bicycle parking, garage information
Module receives the various signals that PLC control system is transmitted, and analysis statistics obtains garage residue parking stall, and remaining parking space information is real-time
It is sent to user demand module, user searches in user's request module or inquires target garage, if there is remaining vehicle in target garage
Position then inputs in human-computer interaction interface and confirms reservation bicycle parking time, vehicle and vehicle collection reservation time；Second is that asked for picking up the car,
User inputs and confirms license plate number in human-computer interaction interface and picks up the car the time；
103. information chain determines：The request event information that step 102 obtains, read step 101 are received by intelligent control module
The request event vehicle and user related information stored in data module builds information chain, and information chain is stored；
104. parking space state obtains and weights distribution：Garage information module receives the various signals that PLC control system is transmitted, and passes through
Analysis statistics obtains garage status information, then calculates using time and energy consumption as the weights on each parking stall of optimization aim, obtains
Weights distribute information；
105. scheduling scheme determines：The information chain information stored in experiment with computing unit read step 103, what step 104 obtained
Garage status information and weights distribute information, pass sequentially through experimental design, experiment executes and experimental evaluation obtains optimal scheduling side
Case；
106. scheduling scheme executes：The optimal scheduling scheme that intelligent scheduling module receiving step 105 obtains, according to optimal scheduling side
The PLC control system that case controls stereo garage according to dispatching sequence carries out vehicle scheduling, while real-time statistics each dispatching parties
Case executes the time for needing to wait for, and will feed back to user demand module the stand-by period；For pick-up path, hoisting elevator is by vehicle
Specified parking tier is run to, at the same time, obstacle vehicle is removed corresponding parking stall by respective drive device, to make hoisting elevator
After reaching specified parking tier, vehicle is directly entered parking stall；
The step 104 is specifically divided into following steps：
1041. unified times and energy consumption dimension are calculated using time and energy consumption as the weights on each parking stall of optimization aim, are determined
Time is primary optimization aim, on the basis of shortest time t0 and lowest energy consumption q0 in time optimal preceding ten kinds of schemes, for
The time t and energy consumption q of some scheme, by the ratio of required time and energy consumption and minimum value, function obtains weights as an optimization, i.e.,
t/t0+q/q0；
The seizure condition for the signals confirmation parking stall that 1042. reception PLC control systems are transmitted, the shape of driving device and hoisting elevator
State.
2. the dispatch control method of stereo garage according to claim 1, it is characterised in that the step 101 is specific to transport
Row is divided into following steps：
The vehicle that 1011. data acquisition units acquire auto dealer's vehicle weight data information or garage port meausring apparatus obtains
Weight information, while the network information and existing garage record information are acquired, receive the garage flow of garage information module feedback
Data；
The information that 1012. data pre-processing units acquire data acquisition unit carries out analytic induction, obtains vehicle data, user
Transport Vehicle is accustomed to data and user's personality information data；
Data and garage the data on flows storage that 1013. databases obtain step 1012.
3. the dispatch control method of stereo garage according to claim 2, it is characterised in that the step 105 specifically includes
Following steps：
1051. map an artificial stereo garage identical with practical stereo garage system state in artificial stereo garage system
Model；
1052. in artificial stereoscopic garage model be basic condition with garage status information and all information chain informations of acquisition,
The principle of experimental design is determined with current time garage demand, and time optimal, inventory are maximum or preferential into vehicle, choose respective algorithms and obtain
To experimental program；The algorithm is the GAAAA algorithms or breadth first algorithm of blending inheritance algorithm and ant group algorithm；
Experimental program is carried out simulated experiment by 1053. in artificial stereoscopic garage model, i.e. experiment executes, and simulation obtains after executing
Artificial stereoscopic garage model garage status information after simulation；
1054. is intelligent according to the garage status information and step 103 of artificial stereoscopic garage model after the simulation of step 1053 acquisition
The information chain information that control module newly obtains, with the principle that the experimental design stage is chosen, when evaluation of programme object function being selected to be
Between optimal or inventory it is maximum or preferentially experimental program described in step 1053 is evaluated into vehicle, then determined if optimal case
For optimal scheduling scheme, if not optimal scheduling scheme, then return to step 1052 restarts.
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