CN109360447A - A kind of control method that stereo garage avoids automatically - Google Patents
A kind of control method that stereo garage avoids automatically Download PDFInfo
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- CN109360447A CN109360447A CN201811208102.7A CN201811208102A CN109360447A CN 109360447 A CN109360447 A CN 109360447A CN 201811208102 A CN201811208102 A CN 201811208102A CN 109360447 A CN109360447 A CN 109360447A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Abstract
A kind of control method that stereo garage avoids automatically, belongs to stereo garage control technology field.The automatic control system of independent research stereo garage is in the control strategy of the automatic evacuation movement of shuttle horizontal direction: preventing the adjacent shuttle of the same layer moved during Transport Vehicle, enter in public moving area the problem of position overlapping occurs simultaneously, so that two adjacent shuttles avoid colliding, carry out reasonable automatic evacuation control strategy, field accident rate is reduced, guarantees efficient Transport Vehicle rhythm.
Description
Technical field
The invention belongs to stereo garage control technology fields, have more shuttle fortune more particularly to same layer in stereo garage
Dynamic control system, during specifically a kind of stereo garage Transport Vehicle, the shuttle for preventing same layer adjacent is in public shifting
The control method to collide in dynamic region.
Background technique
During mechanical stereo garage operation, intelligent, quick, safety control flow accounts for during Transport Vehicle
It is of great importance.It during Transport Vehicle, collides event if there is the adjacent shuttle of same layer, especially band vehicle is run
Collide event in the process, is not only due to the Transport Vehicle rhythm that processing accident upsets same layer, delays the time of other car owners, and
And it necessarily will cause the damage of customer's vehicle and generate economic compensation loss, while also affecting the operation letter of entire garage brand
The degree of belief of reputation and car owner.
With the construction of macromechanical stereo garage, the time that Transport Vehicle process needs becomes the important finger for examining garage
Mark.Same layer parking stall is more than after certain amount, and a shuttle can no longer meet operation rhythm, and more shuttles of same layer become must
Right selection.In order to shorten the time of Transport Vehicle process needs, two shuttles are ok the parking stall in adjacent area
Carry out Transport Vehicle process.Two shuttles can thus occur while entering in public moving area, occur in lap position
How the possibility of collision is reasonably avoided, and rationally, is efficiently accessed using raising by public moving area
The rhythm of vehicle is problem to be solved in intelligent stereo garage control technology.
Summary of the invention
It is public in access that the purpose of the present invention is to provide the adjacent shuttles of same layer during a kind of stereo garage Transport Vehicle
In moving area when parking stall, prevent two adjacent shuttles from colliding and the control method that avoids automatically.This method is suitable for
Stereo garage automatic control system with similar situation, can solve same layer, there are more shuttle operational process
In, the phenomenon that colliding in adjacent public moving area, so that solve influences access as caused by collision accident
A series of the problems such as time and economic compensations.
The present invention has at 3 points:
First is that shuttle moving coordinate system, the definition of operating status: the state for defining adjacent two shuttles is worn for task
Shuttle car, interference shuttle；Define the coordinate origin and moving coordinate system of shuttle；It is close according to adjacent two shuttles, mutually from
Running track, defining the shuttle direction of motion is positive mobile, reverse movement；Definition task shuttle coordinate value is worn with interference
The conversion of shuttle car coordinate value.
Second is that judging the disturbance state of task shuttle according to mission bit stream: during Transport Vehicle, according to adjacent two
Target position and physical location in shuttle mission bit stream, obtain the running track of two shuttles, define task and shuttle
Vehicle operating status is to have disturbance state, noiseless state, can judge that current two wear according to practical access task in this way
The Motion that shuttle car need to follow.
Third is that the calculating and setting of the holding fix of the home and task shuttle of interference shuttle: according to shuttle
Target position and the motion state that need to follow, set the position that should be moved to when adjacent two shuttles do not collide, i.e.,
Interference shuttle avoids the home for the interference shuttle that need to be moved to task shuttle, and task shuttle waits dry
The holding fix of task shuttle before disturbing the mobile completion of shuttle.
Fourth is that judging the Motion that adjacent two shuttles should actually follow: when state that task shuttle is noiseless, phase
Adjacent two shuttles carry out normal Transport Vehicle task；When task shuttle has disturbance state, interference shuttle is first carried out rationally
Avoiding operation, then task shuttle carries out Transport Vehicle task again, to avoid adjacent two shuttles in public turnover zone
It collides in domain.
When there is lap position in public moving area during a kind of shuttle Transport Vehicle, two shuttles are kept away automatically
The control method allowed, specific control method are as follows:
Step 1: the definition of shuttle moving coordinate system, operating status: adjacent two shuttles being divided into task first and are worn
Shuttle car and interference shuttle.
(1) task shuttle coordinate system: detecting element position when being in extreme position using task shuttle is former as coordinate
Point, the mobile direction definition of the close interference shuttle of task shuttle is task shuttle positive direction, and task shuttle is mutually from dry
Disturbing the mobile direction definition of shuttle is task shuttle opposite direction.The close interference shuttle of task shuttle, task shuttle
The mobile lateral coordinates value of forward direction increases；For task shuttle mutually from interference shuttle, task shuttle moves backward lateral coordinates value
It reduces.
(2) interfere shuttle coordinate system: coordinate original is in detecting element position when interfering shuttle to be in extreme position
Point, interference shuttle close task shuttle direction is mobile to be defined as interference shuttle positive direction, and interference shuttle is mutually from task
Shuttle direction is mobile to be defined as interference shuttle opposite direction.The close task shuttle of shuttle is interfered, interference shuttle is positive
Mobile lateral coordinates value increases；Shuttle is interfered mutually from task shuttle, shuttle reverse movement lateral coordinates value to be interfered to reduce.
The coordinate value conversion of (3) two shuttle coordinate systems:
Coordinate value=(channel whole process length-interference shuttle coordinate system of shuttle is interfered in task shuttle coordinate system
The coordinate value of middle interference shuttle)；
Interfere coordinate value=(channel whole process length-task shuttle coordinate system of task shuttle in shuttle coordinate system
The coordinate value of middle task shuttle)；
Channel whole process length=(actual range of the task shuttle coordinate origin to interference shuttle coordinate origin)；
When two shuttles carry out position mutually and compare, the position coordinate value of two vehicles need to be all converted to task shuttle
Coordinate value under coordinate system；When shuttle respectively carries out position and compares, coordinate value should be compared under respective coordinate system；It is counting
When calculating the position that two vehicles need to be moved in evacuation Motion, the meter of coordinate value should be first carried out under task shuttle coordinate system
It calculates, is then reconverted into coordinate value of two vehicles respectively under coordinate system, carry out the position that should be moved setting.
Step 2: the judgement of shuttle disturbance state: including the shifting of task ID number and shuttle in Transport Vehicle mission bit stream
Moving-target position judges interference shape of two shuttles in public moving area further according to the physical location where shuttle
State:
(1) compare two shuttle task ID numbers and determine that priority, each task are transported because the access site different used times are differed
After row a period of time, the task ID number sequence for inevitably resulting in same layer shuttle is inconsistent with practical access sequence, thus with when
Between be preferably principle, i.e. car owner arrives first, what task was first issued, and it is high to define priority level；
(2) target position of task shuttle is less than the physical location of task shuttle, is defined as task shuttle without dry
Disturb state 1；
(3) target position of task shuttle is greater than the physical location of task shuttle, and interference shuttle is standby without task
Under state, the target position of task shuttle is less than the physical location of interference shuttle and the difference of anticollision limiting safe value, definition
For the noiseless state 2 of task shuttle；
(4) target position of task shuttle is greater than the physical location of task shuttle, and interference shuttle is standby without task
Under state, the target position of task shuttle is greater than the physical location of interference shuttle and the difference of anticollision limiting safe value, definition
There is disturbance state 1 for task shuttle；
(5) target position of task shuttle is greater than the physical location of task shuttle, and interference shuttle has task transporting
Under dynamic state, the target position of task shuttle is less than the target position of interference shuttle and the difference of anticollision limiting safe value, fixed
Justice is the noiseless state 3 of task shuttle；
(6) target position of task shuttle is greater than the physical location of task shuttle, and interference shuttle has task transporting
Under dynamic state, the target position of task shuttle is greater than the target position of interference shuttle and the difference of anticollision limiting safe value, appoints
Shuttle task priority of being engaged in is higher than interference shuttle task, and the task shuttle of being defined as has disturbance state 2；
(7) target position of task shuttle is greater than the physical location of task shuttle, and interference shuttle has task transporting
Under dynamic state, the target position of task shuttle is greater than the target position of interference shuttle and the difference of anticollision limiting safe value, appoints
Be engaged in shuttle task priority lower than interference shuttle task, interfere shuttle motion profile be it is close, the task of being defined as is worn
Shuttle car has disturbance state 3；
(8) target position of task shuttle is greater than the physical location of task shuttle, and interference shuttle has task transporting
Under dynamic state, the target position of task shuttle is greater than the target position of interference shuttle and the difference of anticollision limiting safe value, appoints
Shuttle task priority of being engaged in interferes the motion profile of shuttle for mutually from the task of being defined as is worn lower than interference shuttle task
Shuttle car has disturbance state 4；
Step 3: when having disturbance state, two shuttle evacuation Motion selections:
(1) task shuttle has disturbance state 1: interference shuttle should avoid the home of interference shuttle, interference
After shuttle is mobile, task shuttle is moved to the target position of task shuttle；If interference shuttle does not move, task shuttles
Vehicle is moved to 1 position of waiting of task shuttle.
(2) task shuttle has disturbance state 2: interference shuttle should avoid the home of interference shuttle, interference
After shuttle is mobile, task shuttle is moved to the target position of task shuttle；If interference shuttle does not move, task shuttles
Vehicle is moved to 1 position of waiting of task shuttle.
(3) task shuttle has disturbance state 3: interference shuttle should be moved to the target position of interference shuttle task,
First complete interference shuttle task；Task shuttle is moved to 2 position of waiting of task shuttle.Shuttle is interfered to complete task
It is moved to the home of interference shuttle afterwards, task shuttle is moved to the target position of task shuttle；Interfere shuttle
If not moving, task shuttle continues in 2 position of waiting of task shuttle.
(4) task shuttle has disturbance state 4: interference shuttle should be moved to the target position of interference shuttle task,
First complete interference shuttle task；Task shuttle is moved to 1 position of waiting of task shuttle.Shuttle is interfered to complete task
It is moved to the home of interference shuttle afterwards, task shuttle is moved to the target position of task shuttle；Interfere shuttle
If not moving, task shuttle continues in 1 position of waiting of task shuttle.
During (5) two shuttles are mobile simultaneously, the distance of two shuttles can remain greater than anticollision limiting safe away from
From.When two vehicle distances due to cause specific be less than anticollision limiting safe apart from when, two vehicles stop in emergency, wait operator confirmation
It continues or restores safe condition position manually.
Wherein, the calculating and setting of the home of shuttle and the holding fix of task shuttle are interfered:
(1) it interferes shuttle in order to avoid the motion profile of task shuttle, the safe range for preventing collision need to be moved to
It is interior, that is, interfere the home of shuttle: Ss=Set1+ S ', wherein SsFor the home for interfering shuttle, Set1For task
The target position of shuttle, S ' are anticollision limiting safe value.Under reconvert to interference shuttle coordinate system, home is set
For mobile coordinate value, i.e. (L-Ss), L is channel whole process length.
(2) when interference shuttle is in halted state, task shuttle interferes the motion profile of shuttle in order to wait, and needs
It is moved in the safe range for preventing collision, i.e. 1 position of waiting of task shuttle: SW1=Act2- S ', wherein Sw1It is worn for task
1 position of waiting of shuttle car, Act2For the physical location (coordinate value under task shuttle coordinate) for interfering shuttle, S ' is anti-
Hit limiting safe distance.
(3) when interference shuttle is kept in motion, task shuttle interferes the motion profile of shuttle in order to wait, and needs
It is moved in the safe range for preventing collision, i.e. 2 position of waiting of task shuttle: SW2=Set2- S ', wherein Sw2It is worn for task
2 position of waiting of shuttle car, Set2For the target position (coordinate value under task shuttle coordinate) for interfering shuttle, S ' is anti-
Hit limiting safe distance.
(4) S ' be anticollision limiting safe distance: shuttle in an emergency braking situation, by maximum speed stop distance,
I.e.Wherein V1For the highest operating rate of task shuttle, V2For the highest operating rate for interfering shuttle, a is
Acceleration in the case of emergency braking.
The present invention is characterized in: several states of adjacent two shuttles are defined during Transport Vehicle, according to
Two adjacent shuttles are connected to target position and physical location in mission bit stream, judge whether task shuttle enters interference
State, the running track of must go out on missions shuttle and interference shuttle, to avoid adjacent two shuttles in Transport Vehicle process
In collide, control flow chart when specific control is such as automatically storing and taking vehicles.
The beneficial effects of the present invention are: adjacent two shuttle motion processes are defined as several states, according to reality
Mission bit stream judges that adjacent two shuttles with the presence or absence of disturbance state, are rationally avoided in public moving area, make two
Shuttle is at a distance of safety traffic distance is consistently greater than, so that two shuttles be avoided to collide during Transport Vehicle.
Detailed description of the invention
Fig. 1 is the division schematic diagram of shuttle moving region
Fig. 2 is shuttle movement direction decision schematic diagram
Fig. 3 is that shuttle truck position defines schematic diagram
Fig. 4 is that shuttle motion profile determines schematic diagram
Control flow chart when Fig. 5 is shuttle automatically storing and taking vehicles of the invention
Fig. 6 is the coordinate information figure of example shuttle
Specific embodiment
With certain hospital, stereo garage automatically storing and taking vehicles process is analyzed below, illustrates more shuttles of same layer in Transport Vehicle
When task, by judging adjacent two shuttle mission bit streams, the effect of automatic evacuation control is carried out in public moving area.
During Transport Vehicle, disturbance state is not present in shuttle in isolated area, can be normally completed Transport Vehicle and be appointed
Business, when the target position of mission bit stream appears in the public moving area of adjacent two shuttles, will generate shuttle
There are two vehicle collision situations in disturbance state, under not reasonable avoidance strategy control, can only stop times that two vehicles are carrying out
Business handles manually disturbance state, then issues follow-up work again, seriously affect operation rhythm.
Several states that adjacent two shuttles are defined during Transport Vehicle are connected to according to two adjacent shuttles and appoint
Be engaged in information in target position and physical location, judge whether task shuttle enters disturbance state, must go out on missions shuttle with
The running track for interfering shuttle, is reasonably avoided, solves adjacent two shuttles and occur in public moving area
The problem of collision, to ensure that going on smoothly for automatically storing and taking vehicles.
Specific control are as follows:
Embodiment one:
Original state: No. 1 shuttle is in No. 8 warehouse compartments of 1 row, and No. 2 shuttles are in No. 11 warehouse compartments of 1 row；
Issue shuttle bicycle parking task:
No. 1 shuttle is put in storage from No. 2 lifting hangar mouths to No. 10 warehouse compartments of 1 row,
No. 2 shuttles are without task.
(1) definition of shuttle operating status: defining No. 1 shuttle is task shuttle (i.e. vehicle 1), and No. 2 shuttles are
It interferes shuttle (i.e. vehicle 2).
With the extreme position detecting element position coordinates origin (No. 1 warehouse compartment side) of task shuttle (vehicle 1), the close vehicle 2 of vehicle 1
Direction is mobile to be defined as 1 positive direction of vehicle (i.e. mobile from No. 1 warehouse compartment to No. 24 warehouse compartments), and 1 phase of vehicle is defined as vehicle from the movement of 2 direction of vehicle
1 negative direction (i.e. mobile from No. 24 warehouse compartments to No. 1 warehouse compartment).Lateral coordinates value increases when vehicle 1 is positive mobile, when vehicle 1 moves backward
Lateral coordinates value is reduced.
To interfere the extreme position detecting element position coordinates origin (No. 24 warehouse compartment sides) of shuttle (vehicle 2), the close vehicle of vehicle 2
1 direction is mobile to be defined as 2 positive direction of vehicle (i.e. mobile from No. 24 warehouse compartments to No. 1 warehouse compartment), and 2 phase of vehicle is defined as from the movement of 1 direction of vehicle
2 negative direction of vehicle (i.e. mobile from No. 1 warehouse compartment to No. 24 warehouse compartments).Lateral coordinates value increases when vehicle 2 is positive mobile, and vehicle 2 moves backward
When lateral coordinates value reduce.
Actual range=51.0m of channel whole process=1 coordinate origin of vehicle to 2 coordinate origin of vehicle
The maximum speed of two shuttles is high speed 2.0m/s, i.e. V1=V2=2.0m/s；Peak acceleration a is 1.0m/
s2, according to formulaThat is anticollision limiting safe distance 4.0m.
(2) compare vehicle 1 and 2 task ID number of vehicle determines priority, vehicle 1 has task, vehicle 2 defines the task of vehicle 1 without task
Priority level is high.
Practical 1 position of vehicle 1 is in No. 8 warehouse compartments of 1 row, i.e., coordinate value is 17.052m under 1 coordinate system of vehicle；The reality 1 of vehicle 2
It sets in No. 11 warehouse compartments of 1 row, i.e., coordinate value is 23.191m under 1 coordinate system of vehicle.
1 position of task object of vehicle 1 is No. 2 lifting hangar mouths, i.e. coordinate value 13.296m under 1 coordinate system of vehicle；Vehicle 1 is appointed
Business 2 position of target is No. 10 warehouse compartments of 1 row, i.e. coordinate value 21.146m under 1 coordinate system of vehicle.
The bicycle parking task process of vehicle 1 are as follows: 1 empty wagons of vehicle is moved to 1 position of target of vehicle 1 from practical 1 position of vehicle 1, carries out
Pick-up process；Vehicle 1 is moved to 2 position of target of vehicle 1 from practical 2 positions (former 1 position of target) of vehicle 1 again, carries out bicycle parking process,
Entire bicycle parking task finishes.
Analysis: 1 position of target of vehicle 1 is less than practical 1 position of vehicle 1, i.e. 13.296m < 17.052m, 1 phase of vehicle from vehicle 2,
Being defined as 1 pick-up process of vehicle is noiseless state 1；
2 position of target of vehicle 1 is greater than practical 2 positions of vehicle 1, i.e. 21.146m > 13.296m, the close vehicle 2 of vehicle 1；2 nothing of vehicle
2 position of target of task idle state, vehicle 1 is greater than the physical location of vehicle 2 and the difference of anticollision limiting safe value, i.e. 21.146m >
(23.191-4.0) m, being defined as vehicle 1 has disturbance state 1；
(3) calculating and setting of home and holding fix:
For vehicle 1 in the pick-up process of bicycle parking task, noiseless state normally executes task action；Vehicle 1 is in bicycle parking task
In bicycle parking process, there is disturbance state 1, the home of vehicle 2,1 position of waiting of vehicle 1 need to be calculated.
The vehicle 2 need to be moved in the safe range for preventing collision to avoid the motion profile of vehicle 1, i.e. interference is shuttled
The home of vehicle: Ss=Set1+ S '=21.146+4=25.146m, wherein SsFor the home of vehicle 2, Set1For vehicle 1
2 position of target, S ' are anticollision limiting safe value；It is reconverted into coordinate value under 2 coordinate system of vehicle, home is set as movement
Coordinate value, i.e. (L-Ss)=51.0-25.146=25.854m, L are channel whole process length.
When vehicle 2 is in halted state, vehicle 1 need to be moved to the safe range for preventing collision to wait the motion profile of vehicle 2
It is interior, i.e. 1 position of waiting of task shuttle: SW1=Act2- S '=23.191-4.0=19.191m, wherein Sw1For the waiting of vehicle 1
Position 1, Act2For practical 1 position of vehicle 2, S ' is anticollision limiting safe distance.
(4) for vehicle 1 in the bicycle parking process in bicycle parking task, adjacent shuttle has disturbance state, i.e. vehicle 1 has interference shape
State 1, then two vehicles movement walk sequence are as follows:
Vehicle 2 avoids the home 25.854m that vehicle 1 arrives vehicle 2, and after vehicle 2 is mobile, vehicle 1 is moved to 2 position of target of vehicle 1
21.146m carries out bicycle parking process, completes the bicycle parking task of entire vehicle 1；If vehicle 2 does not move, vehicle 1 is moved to the waiting 1 of vehicle 1
Position 19.191m waits vehicle 2 mobile.
Embodiment two:
Original state: vehicle 1 is in No. 4 warehouse compartments, and vehicle 2 is in No. 15 warehouse compartments；
Issue shuttle pick-up task ID number 101: vehicle 2 is from No. 4 lifting hangar mouths of No. 11 warehouse compartment outbounds；
Issue shuttle bicycle parking task ID number 102: vehicle 1 is from No. 2 lifting hangar mouth storages to No. 14 warehouse compartments.
(1) definition of shuttle operating status: defining No. 1 shuttle is task shuttle (i.e. vehicle 1), and No. 2 shuttles are
It interferes shuttle (i.e. vehicle 2).
With the extreme position detecting element position coordinates origin (No. 1 warehouse compartment side) of task shuttle (vehicle 1), the close vehicle 2 of vehicle 1
Direction is mobile to be defined as 1 positive direction of vehicle (i.e. mobile from No. 1 warehouse compartment to No. 24 warehouse compartments), and 1 phase of vehicle is defined as vehicle from the movement of 2 direction of vehicle
1 negative direction (i.e. mobile from No. 24 warehouse compartments to No. 1 warehouse compartment).Lateral coordinates value increases when vehicle 1 is positive mobile, when vehicle 1 moves backward
Lateral coordinates value is reduced.
To interfere the extreme position detecting element position coordinates origin (No. 24 warehouse compartment sides) of shuttle (vehicle 2), the close vehicle of vehicle 2
1 direction is mobile to be defined as 2 positive direction of vehicle (i.e. mobile from No. 24 warehouse compartments to No. 1 warehouse compartment), and 2 phase of vehicle is defined as from the movement of 1 direction of vehicle
2 negative direction of vehicle (i.e. mobile from No. 1 warehouse compartment to No. 24 warehouse compartments).Lateral coordinates value increases when vehicle 2 is positive mobile, and vehicle 2 moves backward
When lateral coordinates value reduce.
Actual range=51.0m of channel whole process=1 coordinate origin of vehicle to 2 coordinate origin of vehicle.
The maximum speed of two shuttles is high speed 2.0m/s, i.e. V1=V2=2.0m/s；Peak acceleration a is 1.0m/
s2, according to formulaThat is anticollision limiting safe distance 4.0m.
(2) compare vehicle 1 and 2 task ID number of vehicle determines that priority, 1 task ID number of vehicle are greater than 2 task ID number of vehicle, illustrate vehicle 2
Task be first to send out task, i.e., the task priority of vehicle 2 is high.
Practical 1 position of vehicle 1 is in No. 4 warehouse compartments of 1 row, i.e., coordinate value is 8.171m under 1 coordinate system of vehicle；Practical 1 position of vehicle 2
In No. 15 warehouse compartments of 1 row, i.e., coordinate value is 31.416m under 1 coordinate system of vehicle.
1 position of bicycle parking task object of vehicle 1 is No. 2 lifting hangar mouths, i.e. coordinate value 13.296m under 1 coordinate system of vehicle；Vehicle 1
2 position of task object be No. 14 warehouse compartments of 1 row, i.e. coordinate value 29.343m under 1 coordinate system of vehicle.
1 position of pick-up task object of vehicle 2 is No. 11 warehouse compartments, i.e. coordinate value 23.191m under 1 coordinate system of vehicle；The task of vehicle 2
2 position of target is No. 4 lifting hangar mouths of 1 row, i.e. coordinate value 38.933m under 1 coordinate system of vehicle.
The bicycle parking task process of vehicle 1 are as follows: 1 empty wagons of vehicle is moved to 1 position of target of vehicle 1 from practical 1 position of vehicle 1, carries out
Pick-up process；Vehicle 1 is moved to 2 position of target of vehicle 1 from practical 2 positions (i.e. 1 position of target) of vehicle 1 again, carries out bicycle parking process,
Entire bicycle parking task finishes.
The pick-up task process of vehicle 2 are as follows: 2 empty wagons of vehicle is moved to 1 position of target of vehicle 2 from practical 1 position of vehicle 2, carries out
Pick-up process；Vehicle 2 is moved to 2 position of target of vehicle 2 from practical 2 positions (i.e. 1 position of target) of vehicle 2 again, carries out bicycle parking process,
Entire pick-up task finishes.
A situation arises has completed the pick-up process of bicycle parking task for vehicle 1 for example, to execute depositing for bicycle parking task in next step
Wagon flow journey；Vehicle 2 is carrying out pick-up task pick-up process, and two vehicles appearance position in public moving area is overlapped at this time, need to be into
The reasonable evacuation movement of row.
Analysis: 1 target of vehicle, 2 position is greater than practical 2 positions of vehicle 1, i.e. 29.343m > 13.296m, the close vehicle 2 of vehicle 1；
Vehicle 2 is carrying out pick-up task pick-up process, i.e. 2 empty wagons of vehicle target 1 that vehicle 2 is moved to from practical 1 position of vehicle 2
Position, under 2 coordinate system of vehicle, 1 position of target of vehicle 2 is greater than practical 1 position of vehicle 2, the close vehicle of 27.809m > 19.584m vehicle 2
1；
2 position of target of vehicle 1 is greater than 1 position of target of vehicle 2 and the difference of anticollision limiting safe value, i.e. 29.343m >
1 task priority of (23.191-4.0) m vehicle is lower than 2 task of vehicle, the motion profile of vehicle 2 be it is close, being positioned as vehicle 1 has disturbance state
3；
(3) calculating and setting of home and holding fix:
Vehicle 1 has disturbance state 3 in the bicycle parking process of bicycle parking task, need to calculate 2 position of waiting of vehicle 1, the safety of vehicle 2
Position, vehicle 11 position of waiting；
When the vehicle 2 is kept in motion, vehicle 1 need to be moved to the safety for preventing collision to wait the motion profile of vehicle 2
In range, i.e. 2 position of waiting of task shuttle: SW2=Set2- S '=23.191-4=19.191m, wherein Sw2For vehicle 1 etc.
To 2 positions, Set2For 1 position of target of vehicle 2, S ' is anticollision limiting safe distance.
The motion profile that vehicle 1 is avoided after 2 completion task of vehicle need to be moved in the safe range for preventing collision, i.e., dry
Disturb the home of shuttle: Ss=Set1+ S '=29.343+4.0=33.343m, wherein SsFor the home of vehicle 2, Set1
For 2 position of target of vehicle 1, S ' is anticollision limiting safe value.Under reconvert to 2 coordinate system of vehicle, home is set as to shifting
Dynamic coordinate value, i.e. (L-Ss)=51.0-33.343=17.657m, L are channel whole process length.
(4) for vehicle 1 in the bicycle parking process in bicycle parking task, adjacent shuttle has disturbance state, i.e. vehicle 1 has interference shape
State 3, but 2 task priority of vehicle is higher than vehicle 1, then and two vehicles movement walks sequence are as follows:
Vehicle 1 is first moved to the 2 position 19.191m of waiting of vehicle 1, and vehicle 2 is waited to complete the pick-up of the high pick-up task of priority
Process movement.Then vehicle 2 avoids the home 17.657m that vehicle 1 arrives vehicle 2, executes the bicycle parking process of 2 pick-up task of vehicle, at this time
The noiseless state of vehicle 1 can be moved into the 2 position 29.343m of target of vehicle 1, carries out the bicycle parking process of bicycle parking task, completes entire vehicle
1 bicycle parking task；If vehicle 2 does not move, vehicle 1 continues the 2 position 19.191m of waiting in vehicle 1, waits vehicle 2 mobile.
Provided above is two shuttle examples of same layer, the example that the method also can be generalized to more shuttles of same layer
In, every step motion flow of Transport Vehicle task need to be only decomposed into the action step of adjacent two shuttles, distinguish every step movement
In task shuttle and interference shuttle, and this step movement in adjacent two vehicle target position and physical location be
It can.
It is practiced by field application, when same layer has two or more shuttles while putting into operation, will appear phase certainly
The case where adjacent two shuttles collide in public moving area, will not after using new automatic evacuation control method
It will appear the case where two vehicles generate lap position in public moving area and lead to collision.
Conclusion: the present invention defines the shuttle of spatial parking building in the operating status for executing Transport Vehicle task, carries out adjacent
Disturbance state of two shuttles in public moving area determines that the home and task for calculating interference shuttle shuttle
The holding fix of vehicle selects the most reasonable automatic evacuation Motion of two shuttles.This ensure that adjacent two shuttles
It when there is lap position in public moving area, avoids mutually colliding, to ensure that entire stereo garage Transport Vehicle
Process it is smooth, efficient.
Claims (5)
1. a kind of control method that stereo garage avoids automatically, it is characterised in that:
Step 1: determining the definition of shuttle moving coordinate system, operating status: adjacent two shuttles are divided into task shuttle
With interference shuttle；Task shuttle coordinate system and interference shuttle coordinate system are established, adjacent two shuttle coordinate systems are passed through
Coordinate value conversion；
Step 2: the judgement of shuttle disturbance state: including the mobile mesh of task ID number and shuttle in Transport Vehicle mission bit stream
Cursor position judges disturbance state of two shuttles in public moving area further according to the physical location where shuttle；
Compare two shuttle task ID numbers and determines priority, using time priority as principle, ID number is more early, and priority level is higher,
When physical location of the target position of task shuttle less than task shuttle, it is defined as the noiseless state of task shuttle
1；
When the target position of task shuttle is greater than the physical location of task shuttle, interference shuttle is without task standby mode
Under, the target position of task shuttle is less than the physical location of interference shuttle and the difference of anticollision limiting safe value, is defined as appointing
The business noiseless state 2 of shuttle；
When the target position of task shuttle is greater than the physical location of task shuttle, interference shuttle is without task standby mode
Under, the target position of task shuttle is greater than the physical location of interference shuttle and the difference of anticollision limiting safe value, is defined as appointing
Business shuttle has disturbance state 1；
When the target position of task shuttle is greater than the physical location of task shuttle, interference shuttle has task in motion state
Under, the target position of task shuttle is less than the target position of interference shuttle and the difference of anticollision limiting safe value, is defined as appointing
The business noiseless state 3 of shuttle；
When the target position of task shuttle is greater than the physical location of task shuttle, interference shuttle has task in motion state
Under, the target position of task shuttle is greater than the target position of interference shuttle and the difference of anticollision limiting safe value, and task shuttles
Vehicle task priority is higher than interference shuttle task, and the task shuttle of being defined as has disturbance state 2；
When the target position of task shuttle is greater than the physical location of task shuttle, interference shuttle has task in motion state
Under, the target position of task shuttle is greater than the target position of interference shuttle and the difference of anticollision limiting safe value, and task shuttles
Vehicle task priority lower than interference shuttle task, interfere shuttle motion profile be it is close, the task shuttle of being defined as has
Disturbance state 3；
When the target position of task shuttle is greater than the physical location of task shuttle, interference shuttle has task in motion state
Under, the target position of task shuttle is greater than the target position of interference shuttle and the difference of anticollision limiting safe value, and task shuttles
Vehicle task priority interferes the motion profile of shuttle for mutually from the task shuttle of being defined as has lower than interference shuttle task
Disturbance state 4；
During two shuttles are mobile simultaneously, the distance of two shuttles can be remained greater than anticollision limiting safe distance；When
Two vehicle distances due to cause specific be less than anticollision limiting safe apart from when, two vehicles stop in emergency, wait operator confirmation continues
Or restore safe condition position manually；
Step 3: when having disturbance state, two shuttle evacuation Motion selections:
When task shuttle has disturbance state 1: interference shuttle should avoid the home of interference shuttle, interfere shuttle
After movement, task shuttle is moved to the target position of task shuttle；If interference shuttle does not move, task shuttle is mobile
To 1 position of waiting of task shuttle；
When task shuttle has disturbance state 2: interference shuttle should avoid the home of interference shuttle, interfere shuttle
After movement, task shuttle is moved to the target position of task shuttle；If interference shuttle does not move, task shuttle is mobile
To 1 position of waiting of task shuttle；
When task shuttle has disturbance state 3: interference shuttle should be moved to the target position of interference shuttle task, first complete
Interfere shuttle task；Task shuttle is moved to 2 position of waiting of task shuttle；It is moved after interference shuttle completion task
To the home of interference shuttle, task shuttle is moved to the target position of task shuttle；If interference shuttle does not move
Dynamic, task shuttle continues in 2 position of waiting of task shuttle；
When task shuttle has disturbance state 4: interference shuttle should be moved to the target position of interference shuttle task, first complete
Interfere shuttle task；Task shuttle is moved to 1 position of waiting of task shuttle；It is moved after interference shuttle completion task
To the home of interference shuttle, task shuttle is moved to the target position of task shuttle；If interference shuttle does not move
Dynamic, task shuttle continues in 1 position of waiting of task shuttle；
The home of the interference shuttle is SS=Set1+ S ', wherein Set1For the target position of task shuttle, S '
For anticollision limiting safe value；
The 1 position S of waiting of the task shuttlew1=Act2- S ', wherein Act2For the physical location for interfering shuttle, S ' is
Anticollision limiting safe distance；
The 2 position S of waiting of the task shuttlew2=Set2- S ', wherein Set2For the target position for interfering shuttle, S ' is
Anticollision limiting safe distance.
2. control method as described in claim 1, it is characterised in that: the task shuttle coordinate system is shuttled with task
Detecting element position when vehicle is in extreme position is coordinate origin, and the mobile direction of the close interference shuttle of task shuttle is fixed
Justice is task shuttle positive direction, and direction definition of the task shuttle mutually from interference shuttle movement is task shuttle negative side
To；The close interference shuttle of task shuttle, the mobile lateral coordinates value of task shuttle forward direction increase；Task shuttle is mutually from dry
Shuttle is disturbed, task shuttle moves backward lateral coordinates value and reduces；
Coordinate original is in detecting element position when the interference shuttle coordinate system is to interfere shuttle to be in extreme position
Point, interference shuttle close task shuttle direction is mobile to be defined as interference shuttle positive direction, and interference shuttle is mutually from task
Shuttle direction is mobile to be defined as interference shuttle opposite direction；The close task shuttle of shuttle is interfered, interference shuttle is positive
Mobile lateral coordinates value increases；Shuttle is interfered mutually from task shuttle, shuttle reverse movement lateral coordinates value to be interfered to reduce；
The coordinate value of two shuttle coordinate systems is converted:
In task shuttle coordinate system interfere shuttle coordinate value=(in channel whole process length-interference shuttle coordinate system do
Disturb the coordinate value of shuttle)；
Interfere shuttle coordinate system in task shuttle coordinate value=(in channel whole process length-task shuttle coordinate system appoint
The coordinate value of business shuttle)；
Channel whole process length=(actual range of the task shuttle coordinate origin to interference shuttle coordinate origin).
3. control method as described in claim 1, it is characterised in that: the anticollision limiting safe distance is two shuttles
In an emergency braking situation, maximum spacing required for stopping is reached by highest operating rate.
4. control method as claimed in claim 2, it is characterised in that: the extreme position is shuttle in electrical control model
Enclose the most extreme position of interior movement.
5. control method as claimed in claim 3, it is characterised in that: the anticollision limiting safe distance is
Wherein V1For the highest operating rate of task shuttle, V2For the highest operating rate for interfering shuttle, a is emergency braking situation
Under acceleration.
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