CN106651042B - Obstacle avoidance optimization path control method for parking spaces of three-dimensional parking equipment - Google Patents
Obstacle avoidance optimization path control method for parking spaces of three-dimensional parking equipment Download PDFInfo
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- CN106651042B CN106651042B CN201611230011.4A CN201611230011A CN106651042B CN 106651042 B CN106651042 B CN 106651042B CN 201611230011 A CN201611230011 A CN 201611230011A CN 106651042 B CN106651042 B CN 106651042B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
Abstract
The invention provides a parking space obstacle avoidance optimizing path control method of three-dimensional parking equipment, which comprises the following steps: firstly, initializing: adding the cells of the starting point to the active list; setting a current grid: searching a lattice with the lowest consumption value in the effective list as a current lattice, and switching the current lattice into the invalid list; selecting surrounding grids: selecting grids around the current grid; fourthly, traversing and judging; selecting a path: and if the current cell is the target cell, stopping iteration step by step and returning to obtain the path between the target cell and the starting cell. According to the method, the moving path which can bypass the fault vehicle carrying board can be effectively calculated in a mode of calculating the cells and considering the cells which cannot pass through. The arithmetic efficiency of the algorithm is high; the method has expandability and is easy to be combined with other algorithms; reduce the action number of times of year sweep, shorten the access car time.
Description
Technical Field
The invention relates to a parking space obstacle avoidance optimizing path control method for a three-dimensional parking device.
Background
Most of existing three-dimensional parking equipment adopts a general path searching algorithm, how to move the vehicle carrying plates is mainly considered according to the limiting conditions of a garage, the goal of enabling the vehicle carrying plates to reach the ground is achieved with the minimum number of action steps, the algorithm is complex, the consumed time is long, and especially under the condition that part of the vehicle carrying plates are in failure and cannot move, long-time calculation of paths can be often consumed, but the movement cannot be achieved due to the failure of the vehicle carrying plates.
Disclosure of Invention
In order to solve the technical problems, the invention provides a parking space obstacle-avoiding optimized path control method for three-dimensional parking equipment.
The invention is realized by the following technical scheme.
The invention provides a parking space obstacle avoidance optimizing path control method of three-dimensional parking equipment, which comprises the following steps:
firstly, initializing: adding the cells of the starting point to the active list;
setting a current grid: searching a lattice with the lowest consumption value in the effective list as a current lattice, and switching the current lattice into the invalid list;
selecting surrounding grids: selecting grids around the current grid;
fourthly, traversal judgment: judging whether the selected lattice is in the invalid list or not or can not pass through the invalid list, if not, adding the selected lattice into the valid list, if so, judging whether the consumption value of the selected lattice is lower than that of the current lattice, if so, taking the selected lattice as the current lattice, iterating the step (c) and recalculating the consumption value;
selecting a path: and if the current cell is the target cell, stopping iteration step by step and returning to obtain the path between the target cell and the starting cell.
In the step (iv), failing to pass means that the system determines that the cell has a failure.
The calculation of the cost value is to calculate the shortest number of movement steps required for the corresponding cell to reach the target cell.
The invention has the beneficial effects that: the moving path which can bypass the fault vehicle carrying board can be effectively calculated in a mode of calculating the cells and considering the cells which cannot pass through. (ii) a The arithmetic efficiency of the algorithm is high; the method has expandability and is easy to be combined with other algorithms; reduce the action number of times of year sweep, shorten the access car time.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.
The invention provides a parking space obstacle avoidance optimizing path control method of three-dimensional parking equipment, which is characterized by comprising the following steps of: the method comprises the following steps:
firstly, initializing: adding the cells of the starting point to the active list;
setting a current grid: searching a lattice with the lowest consumption value in the effective list as a current lattice, and switching the current lattice into the invalid list;
selecting surrounding grids: selecting grids around the current grid;
fourthly, traversal judgment: judging whether the selected lattice is in the invalid list or not or can not pass through the invalid list, if not, adding the selected lattice into the valid list, if so, judging whether the consumption value of the selected lattice is lower than that of the current lattice, if so, taking the selected lattice as the current lattice, iterating the step (c) and recalculating the consumption value;
selecting a path: and if the current cell is the target cell, stopping iteration step by step and returning to obtain the path between the target cell and the starting cell.
In the step (iv), failing to pass means that the system determines that the cell has a failure.
The calculation of the cost value is to calculate the shortest number of movement steps required for the corresponding cell to reach the target cell.
Therefore, the position of each vehicle carrying plate is used as a cell for calculation, so that the calculation is facilitated, and the vehicle carrying plate is easy to integrate with other control function modules.
Claims (2)
1. The utility model provides a sky parking equipment parking stall is evaded obstacle and is optimized route control method which characterized in that: the method comprises the following steps:
firstly, initializing: adding the cells of the starting point to the active list;
setting a current grid: searching a lattice with the lowest consumption value in the effective list as a current lattice, and switching the current lattice into the invalid list;
selecting surrounding grids: selecting grids around the current grid;
fourthly, traversal judgment: judging whether the selected lattice is in the invalid list or not or can not pass through the invalid list, if not, adding the selected lattice into the valid list, if so, judging whether the consumption value of the selected lattice is lower than that of the current lattice, if so, taking the selected lattice as the current lattice, iterating the step (c) and recalculating the consumption value;
selecting a path: if the current cell is the target cell, stopping iteration step by step and returning to obtain a path between the target cell and the starting cell;
each vehicle carrying plate is positioned as a cell;
the calculation of the cost value is to calculate the shortest number of movement steps required for the corresponding cell to reach the target cell.
2. The method for controlling the optimal path of the stereoscopic parking equipment for avoiding the parking stall obstacle according to claim 1, which is characterized in that: in the step (iv), failing to pass means that the system determines that the cell has a failure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611230011.4A CN106651042B (en) | 2016-12-27 | 2016-12-27 | Obstacle avoidance optimization path control method for parking spaces of three-dimensional parking equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611230011.4A CN106651042B (en) | 2016-12-27 | 2016-12-27 | Obstacle avoidance optimization path control method for parking spaces of three-dimensional parking equipment |
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| Publication Number | Publication Date |
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| CN106651042A CN106651042A (en) | 2017-05-10 |
| CN106651042B true CN106651042B (en) | 2021-02-02 |
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| CN201611230011.4A Active CN106651042B (en) | 2016-12-27 | 2016-12-27 | Obstacle avoidance optimization path control method for parking spaces of three-dimensional parking equipment |
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|---|---|---|---|---|
| JPH08128221A (en) * | 1994-10-27 | 1996-05-21 | Nissei Ltd | Ganged type elevator type multistory parking device |
| CN101504795A (en) * | 2008-11-03 | 2009-08-12 | 天津理工大学 | Working method for DSP control system applied to multi-storied garage parking position scheduling |
| RU94602U1 (en) * | 2010-02-10 | 2010-05-27 | Открытое Акционерное Общество "Виас" | AUTOMATED PARKING GARAGE |
| CN103291102A (en) * | 2013-05-20 | 2013-09-11 | 无锡普智联科高新技术有限公司 | Vehicle storing and fetching system based on vehicle-passageway-free parking lot and method of vehicle storing and fetching |
| CN104742881A (en) * | 2015-04-15 | 2015-07-01 | 百度在线网络技术（北京）有限公司 | Automatic parking system and method |
| CN105606113A (en) * | 2016-01-28 | 2016-05-25 | 福州华鹰重工机械有限公司 | Method and device for rapidly planning optimal path |
| CN105868854A (en) * | 2016-03-29 | 2016-08-17 | 贵州航天南海科技有限责任公司 | Optimal control method of parking lot path of stereoscopic parking device |
| CN106193734A (en) * | 2016-07-08 | 2016-12-07 | 青岛华通能源投资有限责任公司 | A kind of multi-storied garage dispatching control device |
| CN106200577A (en) * | 2016-07-08 | 2016-12-07 | 青岛华通能源投资有限责任公司 | A kind of multi-storied garage dispatch control method |
| CN106223688A (en) * | 2016-07-29 | 2016-12-14 | 重庆交通大学 | A kind of horizontal cyclic parking space |
| CN106251016A (en) * | 2016-08-01 | 2016-12-21 | 南通大学 | A kind of parking system paths planning method based on dynamic time windows |
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2016
- 2016-12-27 CN CN201611230011.4A patent/CN106651042B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08128221A (en) * | 1994-10-27 | 1996-05-21 | Nissei Ltd | Ganged type elevator type multistory parking device |
| CN101504795A (en) * | 2008-11-03 | 2009-08-12 | 天津理工大学 | Working method for DSP control system applied to multi-storied garage parking position scheduling |
| RU94602U1 (en) * | 2010-02-10 | 2010-05-27 | Открытое Акционерное Общество "Виас" | AUTOMATED PARKING GARAGE |
| CN103291102A (en) * | 2013-05-20 | 2013-09-11 | 无锡普智联科高新技术有限公司 | Vehicle storing and fetching system based on vehicle-passageway-free parking lot and method of vehicle storing and fetching |
| CN104742881A (en) * | 2015-04-15 | 2015-07-01 | 百度在线网络技术（北京）有限公司 | Automatic parking system and method |
| CN105606113A (en) * | 2016-01-28 | 2016-05-25 | 福州华鹰重工机械有限公司 | Method and device for rapidly planning optimal path |
| CN105868854A (en) * | 2016-03-29 | 2016-08-17 | 贵州航天南海科技有限责任公司 | Optimal control method of parking lot path of stereoscopic parking device |
| CN106193734A (en) * | 2016-07-08 | 2016-12-07 | 青岛华通能源投资有限责任公司 | A kind of multi-storied garage dispatching control device |
| CN106200577A (en) * | 2016-07-08 | 2016-12-07 | 青岛华通能源投资有限责任公司 | A kind of multi-storied garage dispatch control method |
| CN106223688A (en) * | 2016-07-29 | 2016-12-14 | 重庆交通大学 | A kind of horizontal cyclic parking space |
| CN106251016A (en) * | 2016-08-01 | 2016-12-21 | 南通大学 | A kind of parking system paths planning method based on dynamic time windows |
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