CN110056226A - The automatic garage system and its control method of binary channels multi-robot Cooperation - Google Patents
The automatic garage system and its control method of binary channels multi-robot Cooperation Download PDFInfo
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- CN110056226A CN110056226A CN201910414020.6A CN201910414020A CN110056226A CN 110056226 A CN110056226 A CN 110056226A CN 201910414020 A CN201910414020 A CN 201910414020A CN 110056226 A CN110056226 A CN 110056226A
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- conveying trolley
- elevator
- garage
- liftway
- pick
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000001514 detection method Methods 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 4
- 230000037361 pathway Effects 0.000 claims description 3
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims description 3
- 238000010411 cooking Methods 0.000 claims 1
- 239000010410 layer Substances 0.000 description 13
- 239000000969 carrier Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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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
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
-
- 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
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/24—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions characterised by use of dollies for horizontal transport, i.e. cars being permanently parked on wheeled platforms
-
- 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
- E04H6/422—Automatically operated car-parks
-
- 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
- E04H6/426—Parking guides
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Elevator Control (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides the automatic garage system and its control method of a kind of binary channels multi-robot Cooperation, it includes stereo garage, the first liftway on the left of stereo garage, the second liftway and several conveying trolleys on the right side of stereo garage, the stereo garage is N layers, the double garage in front and back, it is lateral transport passage for transporting between every layer of double-row garage, the both ends of transport passage for transporting are connected to the first liftway and the second liftway, elevator is respectively set in first liftway and the second liftway, at least every two layers equipped with one group of conveying trolley, the conveying trolley can in the transport passage for transporting transverse shifting, utilize double liftways of two sides, with the conveying trolley of fair amount, realization one is deposited one and is taken, constitute the access path of annular, it does not interfere with each other, access is without waiting, it is more efficient, and on access peak Access facility can be switched in phase, double liftways, alleviates peak period pressure.
Description
Technical field
The present invention relates to a kind of stereo garages, specifically, relate to a kind of automatic vehicle of binary channels multi-robot Cooperation
Library system and its control method.
Background technique
With the generally raising of living standard, private car has become the universal vehicles, and parking difficulty also has become
The space of common problem, ground and underground parking is had too many difficulties to cope with, and in busy areas, space utilization rate is too low, extremely influence
Traffic trip.
Based on this problem, stereo garage product comes into being, and has had already appeared miscellaneous solid on the market at present
Garage, form is multifarious, but all there are some disadvantages.
Using the stereo garage of rotary structure access vehicle, its structure is complicated, is easy bad, and maintenance cost is excessively high；It is box
Stereo garage, access lane is single, and often deposit, withdraw to carry out simultaneously, and efficiency is lower, although the solid for also having two-way traffic to design
Garage, but be usually positioned next to liftway setting, it is easy to happen and scratches in access procedure, meanwhile, there is also accesses
In the process, lane occupies excessively frequent problem.
In order to solve the above problems, people are seeking always a kind of ideal technical solution.
Summary of the invention
The purpose of the present invention is in view of the deficiencies of the prior art, so that providing a kind of access can carry out simultaneously, optimize access
Path, a kind of higher automatic garage system of binary channels multi-robot Cooperation of access efficiency.
To achieve the goals above, the technical scheme adopted by the invention is that: a kind of binary channels multi-robot Cooperation from
Dynamic garage system, including stereo garage, the first liftway on the left of stereo garage, second on the right side of stereo garage
Liftway and several conveying trolleys, the stereo garage is N layers, the double garage in front and back, is between every layer of double-row garage
Lateral transport passage for transporting, the both ends of transport passage for transporting are connected to the first liftway and the second liftway, the first liftway and
Elevator is respectively set in second liftway, at least every two layers be equipped with one group of conveying trolley, the conveying trolley can be in institute
Transverse shifting in transport passage for transporting is stated, N is the natural number greater than 1.
Described on base, the first liftway and the second liftway are respectively bicycle parking channel and pick-up channel.
Described on base, the Transport Vehicle entrance of the stereo garage is located at the centre in first floor garage, and is two-way lane.
Described on base, under idle state, the conveying trolley positioned at the first floor is located at Transport Vehicle entrance, the carrying platform of short layer
Vehicle is at bicycle parking channel, and high-rise conveying trolley is at pick-up channel.
It is described on base, it is laid in the transport passage for transporting and guide magnetic strip on each parking stall, magnetic conductance is set on conveying trolley
Navigate sensor.
It is described on base, radio-frequency card is set at each parking stall, radio-frequency card reader is set on conveying trolley.
Described on base, it includes the control system of Transport Vehicle, and the control system includes host computer, primary processor, several
Sub-processor and a vehicle dimension detection device, the Transport Vehicle that stereo garage is arranged in the vehicle dimension detection device enter and leave
Mouthful place, the sub-processor, which is set on the elevator and each conveying trolley, is used to control elevator and conveying trolley
Operating status, the primary processor connects each sub-processor and host computer is used to the order of host computer being sent to each sub-processor
It executes and that coordinates each sub-processor executes movement.
A kind of control method of the automatic garage system of binary channels multi-robot Cooperation, including bicycle parking process and picked up the car
Journey, bicycle parking process the following steps are included:
1) bicycle parking process: vehicle enters vehicle dimension detection device, judges whether that overlength superelevation, overlength superelevation forbid parking, symbol
When conjunction requires, allow to pass through；
2) driver's swipe IC card, primary processor traverse parking stall situation, calculate the vacant parking stall nearest apart from Transport Vehicle entrance
Its number is simultaneously demarcated in position, while parking stall numbering and IC card being bound；
3) the idle conveying trolley nearest apart from Transport Vehicle entrance, the lifting into the conveying trolley and bicycle parking channel are calculated
Elevator sends bicycle parking instruction and programme path, while by the conveying trolley, elevator and track route labeled as busy；
4) conveying trolley obtains vehicle and runs to target parking stall according to pre-determined route, after vehicle is stored in, carrier and lifting electricity
Ladder returns to initial position, and conveying trolley, elevator and track route state were restored to the free time；
Pick-up process the following steps are included:
1) driver's swipe IC card, primary processor obtain target parking stall position according to binding information, traverse all idle carry
Trolley calculates and obtains the nearest idle trolley of distance objective trolley, sends pick-up to the conveying trolley and pick-up elevator and refers to
Order and programme path, while by the conveying trolley, elevator and track route labeled as busy；
2) conveying trolley obtains vehicle and runs to Transport Vehicle entrance according to pre-determined route, completes after picking up the car, conveying trolley and
Elevator returns to initial position, and conveying trolley, elevator and track route state were restored to the free time.
Described on base, in the step 3) of bicycle parking process and the step 1) of pick-up process, programme path is set according to the following conditions
It is fixed: to cook up apart from nearest several ways line, sort in the way of the shortest distance to longest distance, then then will from preceding
There is overlapping pathway shield with the track route labeled as busy condition, until obtaining available minimal path.
Described on base, bicycle parking peak period, the initial position of two elevator is respectively positioned on one layer, the initial bit of conveying trolley
It sets to short strata, two elevator are used to bicycle parking；The initial position of pick-up peak period, bicycle parking elevator is located at height
Position, and the initial position of pick-up elevator is located at low level, the initial position of conveying trolley is gathered to high level, two step elevator
It is used to pick up the car.
The present invention has substantive distinguishing features outstanding and significant progress compared with the prior art, and specifically, the present invention exists
Two elevator are respectively set at left and right sides of stereo garage, are respectively used to bicycle parking and pick-up, meanwhile, every two layers of one group of configuration
Conveying trolley, when bicycle parking occurs, entire bicycle parking process when pick-up occurs, was entirely picked up the car since on the left of stereo garage
For journey since on the right side of stereo garage, access constitutes circular path, does not interfere with each other, can synchronize progress, moreover, two groups of route poles
Occur overlap problem less, waited without shutting down, access efficiency is higher.
Detailed description of the invention
Fig. 1 is the garage outline drawing of the automatic garage system of binary channels multi-robot Cooperation in the present invention.
Fig. 2 is stereo garage first layer plane figure of the present invention.
Fig. 3 is the single layer structure figure of stereo garage of the present invention.
Fig. 4 is the initial position figure of conveying trolley and elevator under normal circumstances of the invention.
Fig. 5 is the initial position figure of bicycle parking peak period of the present invention conveying trolley and elevator.
Fig. 6 is the initial position figure of pick-up peak period of the present invention conveying trolley and elevator.
Fig. 7 is bicycle parking flow chart of the present invention.
Fig. 8 is pick-up flow chart of the present invention.
Fig. 9 be in the present invention route planning apart from coordinates computed system.
In figure: 1. first liftways；2. the second liftway；3. conveying trolley；4. transport passage for transporting；5. elevator；
6. stereo garage；7. Transport Vehicle entrance；8. parking stall.
Specific embodiment
Below by specific embodiment, technical scheme of the present invention will be described in further detail.
As shown in figures 1 to 6, a kind of automatic garage system of binary channels multi-robot Cooperation, including stereo garage 6, be set to it is vertical
The first liftway 1 on the left of body garage, the second liftway 2 on the right side of stereo garage and several conveying trolleys 3, it is described
Stereo garage is 6 layers, the double garage in front and back, is lateral transport passage for transporting 4 between every layer of double-row garage, transport passage for transporting 4
Both ends are connected to the first liftway 1 and the second liftway 2, are respectively set in the first liftway 1 and the second liftway 2
Elevator 5, at least every two layers be equipped with one group of conveying trolley 3, every group one, the conveying trolley 3 can be in the transport passage for transporting 4
Interior transverse shifting.
Under normal circumstances, the first liftway 1 and the second liftway 2 are respectively bicycle parking channel and pick-up channel, are being deposited
The peak period of pick-up, two liftways are generally applicable.
The Transport Vehicle entrance of the stereo garage is located at the centre in first floor garage, and is two-way lane.Under idle state,
Conveying trolley positioned at the first floor is located at Transport Vehicle entrance, and the conveying trolley of short layer is at bicycle parking channel, high-rise carrying
Trolley is at pick-up channel.Purpose is to access for convenience, avoids elevator and the excessive distance of conveying trolley walking, waste
Time.
It is laid in the transport passage for transporting 4 and guide magnetic strip on each parking stall, magnetic navigation sensor is set on conveying trolley,
Guiding and walking for conveying trolley.
Radio-frequency card is set at each parking stall, radio-frequency card reader is set on conveying trolley, conveying trolley is in traveling process
In, the information of each radio-frequency card can be read, is able to know that whether reach target parking stall, the distance for calculating and running can be facilitated.
It includes the control system of Transport Vehicle, the control system include host computer, primary processor, several sub-processors and
One vehicle dimension detection device.The sub-processor is set on the elevator and each conveying trolley for controlling lifting
The operating status of elevator and conveying trolley, the primary processor connects each sub-processor and host computer is used for the order of host computer
Be sent to that each sub-processor executes and coordinate each sub-processor executes movement.
In the present embodiment, primary processor and sub-processor are all made of PLC, and the effect of main PLC is:
(1) it is attached with host computer, the access of entire stereo garage process is monitored.
(2) it is responsible for the cooperative scheduling problem of three carriers and two elevators, is that cooperation is run between them, mentions
The efficiency of height access.
(3) operation of elevator and the detection and processing of some safety measures are controlled, such as limit for length and limit for width.
The main function of sub- PLC is:
(1) stepper motor is controlled by driver control, carries out the processing to automobile running orbit, correct the fortune of carrier
Row, is allowed to along linear running.
(2) it to the localization process of parking stall, determines the position of each parking stall, completes carrier to the accessed vehicle of vehicle.
(3) some other external sensor helps whole system to complete the operation of stability and high efficiency as auxiliary.
The vehicle dimension detection device is arranged at the Transport Vehicle entrance of stereo garage, for measuring the size of vehicle
Whether meet the requirements, if it is excessively high, too long or wide, it is undesirable not allow access into garage.
The specifically used method in the garage: including bicycle parking process and pick-up process, as shown in figs. 4 and 7, bicycle parking process packet
Include following steps:
1) bicycle parking process: vehicle enters vehicle dimension detection device, judges whether that overlength superelevation, overlength superelevation forbid parking, symbol
When conjunction requires, allow to pass through；
2) driver's swipe IC card, primary processor traverse parking stall situation, calculate the vacant parking stall nearest apart from Transport Vehicle entrance
Its number is simultaneously demarcated in position, while parking stall numbering and IC card being bound, and swipes the card when facilitating car owner to pick up the car and confirms pick-up parking stall；
3) the idle conveying trolley nearest apart from Transport Vehicle entrance, the lifting into the conveying trolley and bicycle parking channel are calculated
Elevator sends bicycle parking instruction and programme path, while the conveying trolley, elevator and track route are labeled as busy, the step
In rapid, issue instruction and programme path relies on main PLC, each sub- PLC is responsible for itself position and working condition issuing master
PLC as shown in figure 9, in calculating process, is divided into two parts so that main PLC carries out operation, a part be conveying trolley extremely
The distance of Transport Vehicle entrance, another part are distance of the target parking stall apart from Transport Vehicle entrance, and the two is added as access
The total kilometres of vehicle programme path, wherein the distance of target parking stall is fixed range, is stored in database profession, target parking stall distance
The distance of Transport Vehicle entrance is matched by radio-frequency card with card reader, and nearest parking stall data are read, and is realized and is calculated；
4) conveying trolley obtains vehicle and runs to target parking stall according to pre-determined route, after vehicle is stored in, carrier and lifting electricity
Ladder returns to initial position, and conveying trolley, elevator and track route state were restored to the free time, can execute bicycle parking next time
Order or order of picking up the car；
As shown in Figure 4 and Figure 8, pick-up process the following steps are included:
1) driver's swipe IC card, primary processor obtain target parking stall position according to binding information, traverse all idle carry
Trolley calculates and obtains the nearest idle trolley of distance objective trolley, sends pick-up to the conveying trolley and pick-up elevator and refers to
Enable and programme path, while by the conveying trolley, elevator and track route labeled as busy, should during, target range
Calculating be also divided into two parts, wherein distance of the parking stall apart from Transport Vehicle entrance be determining, conveying trolley distance objective vehicle
The distance of position is obtained by calculating, and ibid, conveying trolley position determines nearest parking stall according to radio-frequency card and card reader cooperation,
It is calculated；
2) conveying trolley obtains vehicle and runs to Transport Vehicle entrance according to pre-determined route, completes after picking up the car, conveying trolley and
Elevator returns to initial position, and conveying trolley, elevator and track route state are restored to the free time, can be executed next
Secondary bicycle parking order or order of picking up the car.
In the step 3) of bicycle parking process and the step 1) of pick-up process, programme path is set according to the following conditions: planning
Out apart from nearest several ways line, sort in the way of the shortest distance to longest distance, it then then will be with label before
There is the pathway shield of overlapping for the track route of busy condition, until obtaining available minimal path.
During the process occurs mainly in the Transport Vehicle of high frequency time, multiple conveying trolleys are run simultaneously, it may occur that road occupying
Situation.
As shown in figure 5 and figure 7, bicycle parking peak period, the initial position of two elevator are respectively positioned on one layer, conveying trolley
Initial position holds together to short strata, and two elevator are used to bicycle parking, this is because bicycle parking peak period, most of work is all deposited
Vehicle, to avoid wasting, two elevators are used to bicycle parking, and conveying trolley holds together to short strata, have obtained shortest bicycle parking path, section
It saves time.
As shown in Figure 6 and Figure 8, pick-up peak period, the initial position of bicycle parking elevator is located at a high position, and lifting of picking up the car is electric
The initial position of ladder is located at low level, and the initial position of conveying trolley is gathered to high level, and two step elevator are used to pick up the car, this is
Due to peak period of driving, there are a large amount of vehicles in garage, the vehicle of high-rise short layer is distributed relative equilibrium, so will lifting electricity
The one high and one low setting of ladder, and high-rise vehicle taking-up is relatively more time-consuming, therefore conveying trolley is placed toward eminence as far as possible.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (10)
1. a kind of automatic garage system of binary channels multi-robot Cooperation, it is characterised in that: it includes stereo garage, is set to solid
The first liftway on the left of garage, the second liftway on the right side of stereo garage and several conveying trolleys, the solid
Garage is N layer, the double garage in front and back, is lateral transport passage for transporting, the both ends company of transport passage for transporting between every layer of double-row garage
It is connected to the first liftway and the second liftway, elevator is respectively set in the first liftway and the second liftway,
At least every two layers can transverse shifting, N be greater than 1 in the transport passage for transporting equipped with one group of conveying trolley, the conveying trolley
Natural number.
2. a kind of automatic garage system of binary channels multi-robot Cooperation according to claim 1, it is characterised in that: first
Liftway and the second liftway are respectively bicycle parking channel and pick-up channel.
3. a kind of automatic garage system of binary channels multi-robot Cooperation according to claim 2, it is characterised in that: described
The Transport Vehicle entrance of stereo garage is located at the centre in first floor garage, and is two-way lane.
4. a kind of automatic garage system of binary channels multi-robot Cooperation according to claim 1, it is characterised in that: idle
Under state, the conveying trolley positioned at the first floor is located at Transport Vehicle entrance, and the conveying trolley of short layer is high-rise at bicycle parking channel
Conveying trolley at pick-up channel.
5. a kind of automatic garage system of binary channels multi-robot Cooperation according to claim 1, it is characterised in that: described
It is laid in transport passage for transporting and guide magnetic strip on each parking stall, magnetic navigation sensor is set on conveying trolley.
6. a kind of automatic garage system of binary channels multi-robot Cooperation according to claim 1, it is characterised in that: described
Radio-frequency card is set at each parking stall, radio-frequency card reader is set on conveying trolley.
7. a kind of automatic garage system of binary channels multi-robot Cooperation according to claim 5 or 6, it is characterised in that:
It includes the control system of Transport Vehicle, and the control system includes host computer, primary processor, several sub-processors and a vehicle
Size detecting device, the vehicle dimension detection device are arranged at the Transport Vehicle entrance of stereo garage, the sub-processor
It is set on the elevator and each conveying trolley for controlling the operating status of elevator and conveying trolley, the main place
Reason device connects each sub-processor and host computer is used to for the order of host computer to be sent to each sub-processor and executes and coordinate each son
Processor executes movement.
8. a kind of control method of the automatic garage system of binary channels multi-robot Cooperation, it is characterised in that: including bicycle parking process
And pick-up process, bicycle parking process the following steps are included:
1) bicycle parking process: vehicle enters vehicle dimension detection device, judges whether that overlength superelevation, overlength superelevation forbid parking, symbol
When conjunction requires, allow to pass through；
2) driver's swipe IC card, primary processor traverse parking stall situation, calculate the vacant parking stall nearest apart from Transport Vehicle entrance
Its number is simultaneously demarcated in position, while parking stall numbering and IC card being bound；
3) the idle conveying trolley nearest apart from Transport Vehicle entrance, the lifting into the conveying trolley and bicycle parking channel are calculated
Elevator sends bicycle parking instruction and programme path, while by the conveying trolley, elevator and track route labeled as busy；
4) conveying trolley obtains vehicle and runs to target parking stall according to pre-determined route, after vehicle is stored in, carrier and lifting electricity
Ladder returns to initial position, and conveying trolley, elevator and track route state were restored to the free time；
Pick-up process the following steps are included:
1) driver's swipe IC card, primary processor obtain target parking stall position according to binding information, traverse all idle carry
Trolley calculates and obtains the nearest idle trolley of distance objective trolley, sends pick-up to the conveying trolley and pick-up elevator and refers to
Order and programme path, while by the conveying trolley, elevator and track route labeled as busy；
2) conveying trolley obtains vehicle and runs to Transport Vehicle entrance according to pre-determined route, completes after picking up the car, conveying trolley and
Elevator returns to initial position, and conveying trolley, elevator and track route state were restored to the free time.
9. the control method of the automatic garage system of binary channels multi-robot Cooperation according to claim 8, feature exist
In: in the step 3) of bicycle parking process and the step 1) of pick-up process, programme path is set according to the following conditions: cooking up distance
Nearest several ways line, sorts in the way of the shortest distance to longest distance, then from it is preceding then will with labeled as busy
The track route of state has the pathway shield of overlapping, until obtaining available minimal path.
10. the control method of the automatic garage system of binary channels multi-robot Cooperation according to claim 9, feature exist
In: bicycle parking peak period, the initial position of two elevator are respectively positioned on one layer, and the initial position of conveying trolley holds together to short strata,
Two elevator are used to bicycle parking；Pick-up peak period, the initial position of bicycle parking elevator is located at a high position, and lifting of picking up the car is electric
The initial position of ladder is located at low level, and the initial position of conveying trolley is gathered to high level, and two step elevator are used to pick up the car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910414020.6A CN110056226B (en) | 2019-05-17 | 2019-05-17 | Automatic garage system with double-channel multi-robot cooperation and control method thereof |
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| CN201910414020.6A CN110056226B (en) | 2019-05-17 | 2019-05-17 | Automatic garage system with double-channel multi-robot cooperation and control method thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111852118A (en) * | 2020-07-21 | 2020-10-30 | 广东世泊智能装备科技有限公司 | Intelligent parking garage |
| CN111852117A (en) * | 2020-07-17 | 2020-10-30 | 杭州简弈科技有限公司 | Transportation and parking integrated parking lot, parking system and parking method |
| CN112459581A (en) * | 2020-12-08 | 2021-03-09 | 深圳中集智能停车有限公司 | Control method and device of stereo garage, electronic equipment and storage medium |
| CN113622724A (en) * | 2021-08-24 | 2021-11-09 | 青岛茂源停车设备制造有限公司 | Lifting-coordinated stereo garage and storing and taking method |
| CN113706924A (en) * | 2021-08-26 | 2021-11-26 | 安徽春华智能科技有限公司 | Intelligent control system of planar mobile stereo garage |
| CN113807782A (en) * | 2021-09-13 | 2021-12-17 | 南通科瑞恩智能装备有限公司 | Transport scheduling method and device for stereo garage, electronic device and storage medium |
| CN113807782B (en) * | 2021-09-13 | 2024-07-16 | 南通科瑞恩智能装备有限公司 | Method and device for carrying and scheduling stereo garage, electronic device and storage medium |
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| CN210086934U (en) * | 2019-05-17 | 2020-02-18 | 河南科技学院 | Multi-robot cooperation type stereo access garage |
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| CN111852117A (en) * | 2020-07-17 | 2020-10-30 | 杭州简弈科技有限公司 | Transportation and parking integrated parking lot, parking system and parking method |
| CN111852118A (en) * | 2020-07-21 | 2020-10-30 | 广东世泊智能装备科技有限公司 | Intelligent parking garage |
| CN112459581A (en) * | 2020-12-08 | 2021-03-09 | 深圳中集智能停车有限公司 | Control method and device of stereo garage, electronic equipment and storage medium |
| CN113622724A (en) * | 2021-08-24 | 2021-11-09 | 青岛茂源停车设备制造有限公司 | Lifting-coordinated stereo garage and storing and taking method |
| CN113706924A (en) * | 2021-08-26 | 2021-11-26 | 安徽春华智能科技有限公司 | Intelligent control system of planar mobile stereo garage |
| CN113807782A (en) * | 2021-09-13 | 2021-12-17 | 南通科瑞恩智能装备有限公司 | Transport scheduling method and device for stereo garage, electronic device and storage medium |
| CN113807782B (en) * | 2021-09-13 | 2024-07-16 | 南通科瑞恩智能装备有限公司 | Method and device for carrying and scheduling stereo garage, electronic device and storage medium |
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