CN112727187A - Stereo garage system based on multiple AGV (automatic guided vehicle) cooperation technology and parking method - Google Patents

Stereo garage system based on multiple AGV (automatic guided vehicle) cooperation technology and parking method Download PDF

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Publication number
CN112727187A
CN112727187A CN202011591010.9A CN202011591010A CN112727187A CN 112727187 A CN112727187 A CN 112727187A CN 202011591010 A CN202011591010 A CN 202011591010A CN 112727187 A CN112727187 A CN 112727187A
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China
Prior art keywords
agv
car
elevator
parking
vehicle
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CN202011591010.9A
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Chinese (zh)
Inventor
姚燕生
姚宝珍
吴厚团
张�林
于滨
陆振华
胡郁
冯锐
张晋
马安坤
曹峰
梅涛
唐建平
左延红
张峰
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Dalian University of Technology
Anhui Jianzhu University
Anhui Hugewohr Parking Equipment Co Ltd
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Dalian University of Technology
Anhui Jianzhu University
Anhui Hugewohr Parking Equipment Co Ltd
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Application filed by Dalian University of Technology, Anhui Jianzhu University, Anhui Hugewohr Parking Equipment Co Ltd filed Critical Dalian University of Technology
Priority to CN202011591010.9A priority Critical patent/CN112727187A/en
Publication of CN112727187A publication Critical patent/CN112727187A/en
Pending legal-status Critical Current

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    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08Garages for many vehicles
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08Garages for many vehicles
    • E04H6/12Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/18Garages 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
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422Automatically operated car-parks

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Elevator Control (AREA)

Abstract

The invention discloses a stereo garage system based on a multi-AGV cooperation technology, which relates to the field of stereo garages and comprises the following steps: each layer of the garage main body structure is divided into a nine-grid structure, wherein a central grid of the nine-grid structure is an elevator shaft, and the rest grids are parking spaces; the elevator car comprises a plurality of elevator cars, a plurality of elevator cars and a plurality of control devices, wherein the elevator cars are used for transporting vehicles to go upwards or downwards, and the elevator cars are vertically arranged in an elevator shaft; the AGV comprises AGV trolleys, a control system and a control system, wherein the AGV trolleys are used for transporting vehicles to enter and exit an elevator car and enter and exit a parking space, and the number of the AGV trolleys is not less than that of the elevator car; the positive height of the elevator shaft is not lower than the height of the garage main body structure, and the negative height of the elevator shaft is at least (the number of the elevator cars is-1) × the height of each layer of elevator cars; the garage main body structure is externally provided with a parking and taking waiting area. The invention fully utilizes the space of the elevator to exert the maximum transportation efficiency, improves the parking efficiency, and greatly lightens the pressure of garage operation, thereby ensuring the AGV garage to operate better.

Description

Stereo garage system based on multiple AGV (automatic guided vehicle) cooperation technology and parking method
Technical Field
The invention relates to the field of stereo garages, in particular to a stereo garage system and a parking method based on a multi-AGV cooperation technology.
Background
With the progress and development of science and technology and the increase of population in China in recent years, the demand of vehicles is increased, and the pressure on the society is further increased. China is a private large-size country, the automobile industry is rapidly developed in recent years, so that every family can own the automobile transportation tool, and China also develops intelligent parking equipment in order to solve the problem of difficulty in parking.
The stereo garage is an automatic equipment system, belongs to storage operation facilities, and the operation of the stereo garage is mainly controlled by a computer, so that real automatic parking and automatic picking can be realized. There are three main types of AGV intelligent garages so far: centre gripping tire type AGV garage, broach type AGV garage and platen type AGV garage, the AGV intelligence garage that china drops into this country to use is mainly had the back two kinds now.
General elevartor shaft once can only transport a car in AGV intelligent garage, has wasted the space of elevator like this greatly, and in addition, at the peak period of stopping to get the car, the conveying efficiency of present AGV intelligent garage system also is difficult to satisfy people's demand.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides a stereo garage system and a parking method based on a multi-AGV cooperation technology.
The technical scheme adopted by the invention is as follows:
the utility model provides a stereo garage system based on many AGV collaborative technology which characterized in that includes:
each layer of the garage main body structure is divided into a nine-square grid structure, wherein a central square grid of the nine-square grid structure is an elevator shaft, and the rest square grids are parking spaces;
the elevator car is used for transporting vehicles to go up or down, the number of the elevator cars is at least 2, and the elevator cars are vertically arranged in an elevator shaft;
the AGV comprises AGV trolleys, a control system and a control system, wherein the AGV trolleys are used for transporting vehicles to enter and exit an elevator car and enter and exit a parking space, and the number of the AGV trolleys is not less than that of the elevator car;
the positive height of the elevator shaft is not lower than the height of the garage main body structure, and the negative height of the elevator shaft is at least (the number of the elevator cars is-1) × the height of each layer of elevator cars;
and a parking waiting area and a car taking waiting area are arranged outside the garage main body structure.
Further, a stereo garage system based on many AGV cooperation technique, its characterized in that, the elevartor shaft is equipped with more than the stratum underground 1, and overground layer and/or stratum underground are provided with the exit that elevator car can reach.
Further, the stereo garage system based on the multiple AGV cooperation technology is characterized in that the AGV trolleys can be distributed in the elevator cars and/or parking spaces and/or parking waiting areas of all floors.
Further, a stereo garage system based on many AGV collaborative technology, a serial communication port, parking waiting area, the waiting area of getting the car set up outside the ground floor of garage major structure or the basement is imported and exported outside, parking waiting area, the import department of waiting area of getting the car sets up entrance guard's railing to be connected with the garage district outer road, the lane limit is provided with the pavement.
Further, a stereo garage system based on many AGV cooperation technique, its characterized in that, elevator car's four sides all can be opened, the AGV dolly can be followed elevator car's arbitrary door and passed in and out.
Further, the stereo garage system based on the multiple AGV cooperative technology is characterized by further comprising a control system, wherein the control system comprises a main control computer, a monitoring device, an AGV trolley control part and a car control part, the AGV trolley control part comprises a plurality of AGV trolley PLC controllers, and each AGV trolley PLC controller is respectively in control connection with a driving motor, a steering motor, a magnetic navigation sensor, a transfer mechanism and a pressure sensor of the AGV trolley; the lift car control part comprises an elevator lift car lifting PLC controller, and the elevator lift car lifting PLC controller is respectively in control connection with the floor sensor and the lifting motor of each lift car; each AGV dolly PLC controller, elevator car lift PLC controller are connected with alarm, protector, display respectively, every AGV dolly PLC controller respectively through the communication card with the wireless communication of main control computer is connected, elevator car lift PLC controller and main control computer direct communication are connected, the main control computer with supervisory equipment connects.
Further, a stereo garage system based on many AGV cooperation technique, its characterized in that still includes the online car APP of acceping, the online car APP of acceping carries out wireless communication with control system.
A stereo garage parking method based on a multi-AGV cooperation technology is characterized by specifically comprising the following steps:
(I) parking step
(1.1) parking a vehicle to be parked in a parking waiting area, and detecting an idle elevator car and an AGV;
(1.2) the idle elevator cars and the idle AGV trolleys are matched into a group after receiving the instruction and run to the floor where the parking waiting area is located, and the AGV trolleys transport the vehicles into the elevator cars;
(1.3) the elevator car receives the command to move to a specified floor for waiting;
(1.4) an AGV trolley in the elevator car transports the vehicle to be parked to a designated parking space and then returns to the elevator car for waiting for a command;
(II) vehicle taking step
(2.1) the idle AGV car drives into the idle elevator car after receiving the instruction, and the elevator car runs to the floor where the vehicle to be taken is located after receiving the instruction;
(2.2) the AGV trolley in the elevator car receives the instruction, runs to a vehicle to be stopped and transports the vehicle to the elevator car;
(2.3) the elevator car receives the command to move to the floor where the car taking waiting area is located to wait;
(2.4) after the AGV trolley in the elevator car transports the vehicle to be fetched to the appointed position of the vehicle fetching waiting area, the AGV trolley returns to the elevator car or waits for a command in the parking waiting area;
(III) transporting AGV
(3.1) judging the number of AGV trolleys in the elevator car and in the parking waiting area in real time;
(3.2) automatically returning the AGV trolleys at the position exceeding the threshold value or transporting the AGV trolleys to the position lower than the threshold value through the idle elevator car.
Further, the stereo garage parking method based on the multiple AGV cooperative technology is characterized in that the next work task of storing and taking is detected and calculated in real time in one task period, the task planning is carried out, and the optimal path planning is carried out, so that the task can be completed in the shortest time.
Furthermore, the stereo garage parking method based on the multiple AGV cooperation technology is characterized in that reserved vehicle access can be performed through an online vehicle access APP, after the online vehicle access APP receives a reserved vehicle access order, an optimal target floor parking space can be calculated according to reserved time, and an idle AGV car can be matched with an idle elevator car to pre-store reserved vehicle parking spaces in the target floor parking spaces; for car taking, the target vehicle can be transferred to the optimal parking space, the parking space of the optimal target floor is reserved for car parking, the target vehicle is stored and taken preferentially after entering a waiting area, and the reservation time of the same target floor is prior; and the system can adjust the car access shortcut channel in real time according to the car access time of all orders.
Further, the stereo garage parking method based on the multiple AGV cooperation technology is characterized in that when a target parking space of a vehicle to be stored is located at each floor of grid and close to an elevator shaft, the vehicle can be directly stored and taken through an AGV; when the target parking spaces of the vehicles to be stored and taken are positioned at the four corners of each grid layer, if the current floor has idle parking spaces, the channels are moved out through the AGV trolleys, and then the vehicles are stored and taken through the AGV trolleys; when the target parking spaces of the vehicles to be taken are positioned at the four corners of each floor grid, if no idle parking space exists on the current floor, the AGV trolley is controlled to store the vehicles on one of the roads in one of the elevator cars and then lift or store other vacant spaces, after the vehicles at the corners are taken out and leave the floors where the vehicles are located, the vehicles in the elevator cars are parked in the nearby parking space areas, then the vehicles to be taken are taken out from the corners through the AGV trolley, and the vehicles are descended to the exit by using the other idle car until the vehicles are sent to the vehicle taking waiting area.
The invention has the advantages that:
the invention initiatively provides a brand-new AGV intelligent parking system, which is characterized in that a nine-grid garage main body structure is designed, two or three vertical lifting devices are additionally arranged in an elevator shaft, each lifting device can cooperate with a work division, when the number of vehicles stored and taken exceeds one, the two lifting devices can work simultaneously, the two lifting devices cooperate with the AGV system to realize the transportation of the vehicles, the space of an elevator is fully utilized to play the maximum transportation efficiency, the pressure of garage operation is greatly reduced, and therefore the AGV garage can operate better.
Drawings
FIG. 1 is a schematic diagram of a control system of a stereo garage system based on multiple AGV cooperation technology according to the present invention;
FIG. 2 is a schematic view of the garage body construction of the present invention;
FIG. 3 is a flowchart illustrating operation of matching appropriate parking spaces for operation of a vehicle to be parked by a genetic algorithm according to an embodiment of the present invention;
FIG. 4 is a selection diagram of a processing flow after receiving tasks to be stopped by two vehicles at the same time or to be taken by two vehicles at the same time in the embodiment of the present invention;
fig. 5 is a flowchart illustrating a specific process after two vehicles receive a task waiting for stopping at the same time in the embodiment of the present invention.
Fig. 6 is a layout diagram of a stereo garage and peripheral facilities thereof in the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In example 1, the number of elevator cars is 2.
A stereo garage system based on multiple AGV cooperation technology, as shown in fig. 2 and 6, comprising:
each layer of the garage main body structure is divided into a nine-grid structure, wherein a central grid of the nine-grid structure is an elevator shaft, and the rest grids are parking spaces;
the elevator car is used for transporting vehicles to go up or down, the number of the elevator cars is 2, and the elevator cars are vertically arranged in the elevator shaft;
the AGV comprises AGV trolleys, a control system and a control system, wherein the AGV trolleys are used for transporting vehicles to enter and exit an elevator car and enter and exit a parking space, and the number of the AGV trolleys is not less than that of the elevator car;
the positive height of the elevator shaft is the height of the garage main body structure plus the height of one elevator car layer, the negative height of the elevator shaft is at least (the number of the elevator cars is-1) × the height of each elevator car layer, namely the negative height of the elevator shaft is at least the height of one elevator car layer;
the garage main body structure is externally provided with a parking waiting area and a car taking waiting area which are shown in fig. 6.
Furthermore, the height of the elevator shaft sinking in the negative direction is 2 layers, and the overground layer and/or the underground layer are/is provided with an inlet and an outlet which can be reached by the elevator car.
Further, AGV cars may be distributed within the elevator car and/or parking spaces and/or parking waiting areas on various floors.
Furthermore, the parking waiting area and the car taking waiting area are arranged outside the ground layer of the garage main body structure or on a negative-going sinking layer, entrance guard rails are arranged at the entrances of the parking waiting area and the car taking waiting area and are connected with roads outside the garage area, and sidewalks are arranged on the sides of the roads.
Further, all four sides of the elevator car can be opened, and the AGV can enter and exit from any door of the elevator car.
Further, the system comprises a control system, as shown in fig. 1, the control system comprises a main control computer, a monitoring device, an AGV trolley control part and a car control part, the AGV trolley control part comprises 2 AGV trolley PLC controllers, and each AGV trolley PLC controller is respectively in control connection with a driving motor, a steering motor, a magnetic navigation sensor, a transfer mechanism and a pressure sensor of an AGV trolley; the lift car control part comprises an elevator lift car lifting PLC controller, and the elevator lift car lifting PLC controller is respectively in control connection with the floor sensor and lifting motors 1 and 2 of the two lift cars; the lifting motors 1 and 2 of the two elevator cars are respectively used for lifting the two elevator cars; each AGV dolly PLC controller, elevator car lift PLC controller are connected with alarm, protector, display respectively, and every AGV dolly PLC controller is connected with main control computer wireless communication through the communication card respectively, and elevator car lift PLC controller is connected with main control computer direct communication, and main control computer is connected with supervisory equipment.
Still include the online car APP of acceping, the online car APP of acceping carries out wireless communication with control system.
A stereo garage parking method based on a multi-AGV cooperation technology adopts a stereo garage system based on the multi-AGV cooperation technology to park, and specifically comprises the following steps:
(I) parking step
(1.1) parking a vehicle to be parked in a parking waiting area, and detecting an idle elevator car and an AGV;
(1.2) the idle elevator cars and the idle AGV trolleys are matched into a group after receiving the instruction and run to the floor where the parking waiting area is located, and the AGV trolleys transport the vehicles into the elevator cars;
(1.3) the elevator car receives the command to move to a specified floor for waiting;
(1.4) an AGV trolley in the elevator car transports the vehicle to be parked to a designated parking space and then returns to the elevator car for waiting for a command;
(II) vehicle taking step
(2.1) the idle AGV car drives into the idle elevator car after receiving the instruction, and the elevator car runs to the floor where the vehicle to be taken is located after receiving the instruction;
(2.2) the AGV trolley in the elevator car receives the instruction, runs to a vehicle to be stopped and transports the vehicle to the elevator car;
(2.3) the elevator car receives the command to move to the floor where the car taking waiting area is located to wait;
(2.4) after the AGV trolley in the elevator car transports the vehicle to be fetched to the appointed position of the vehicle fetching waiting area, the AGV trolley returns to the elevator car or waits for a command in the parking waiting area;
(III) transporting AGV
(3.1) judging the number of AGV trolleys in the elevator car and in the parking waiting area in real time;
(3.2) automatically returning the AGV trolleys at the position exceeding the threshold value or transporting the AGV trolleys to the position lower than the threshold value through the idle elevator car.
Furthermore, the next access work task is detected and calculated in real time in a task period, the task planning is carried out, and the optimal path planning is carried out, so that the task can be completed in the shortest time.
Furthermore, the online access car APP can be used for reserving the access car, after receiving the reserved access car order, the online access car APP can calculate the optimal target floor parking space according to the reserved time, and the idle AGV car can be matched with the idle elevator car to pre-store the reserved car parking space in the target floor parking space; for car taking, the target vehicle can be transferred to the optimal parking space, the parking space of the optimal target floor is reserved for car parking, the target vehicle is stored and taken preferentially after entering a waiting area, and the reservation time of the same target floor is prior; and the system can adjust the car access shortcut channel in real time according to the car access time of all orders.
When the target parking space of the vehicle to be stored is positioned at the position of each layer of grid close to the elevator shaft, the vehicle can be directly stored and taken through the AGV; when the target parking spaces of the vehicles to be stored and taken are positioned at the four corners of each grid layer, if the current floor has idle parking spaces, the channels are moved out through the AGV trolleys, and then the vehicles are stored and taken through the AGV trolleys; when the target parking spaces of the vehicles to be taken are positioned at the four corners of each floor of grid, if no idle parking space exists on the current floor, the AGV trolleys are controlled to store the vehicles on one of the roads in one of the cars and then lift the cars, the cars are lifted to be space for opening, after the vehicles at the corners are taken out and leave the floors where the vehicles are located, the vehicles in the cars are parked in the nearby parking space areas, then the vehicles to be taken are taken out from the corners through the AGV trolleys, and the vehicles are descended to the exit by the other car until the vehicles are sent to the vehicle taking waiting area.
The working process of the invention is as follows:
parking process (assuming initial state, the first car and the second car are respectively parked at one floor and negative floor of the elevator shaft, and the first car and the second car are provided with AGV cars parked in idle positions)
1. The car owner drives the car to a parking waiting area of the stereo garage, the car owner can get off and leave at the time, the license plate recognition system and the monitoring system detect the car and transmit the license plate information and the model information of the car to the main control computer, and the main control computer stores the basic information of the car;
2. the main control computer detects the information of the idle parking spaces and the position information of the lift cars;
3. the master computer starts the charging timing. The main control computer sends an instruction to an AGV car PLC controller for controlling the AGV car, a driving motor of the AGV car parked in a first elevator car runs, the AGV car reaches a car to be parked in a parking waiting area along a specified path through a self magnetic navigation system, the width and the height of the car are measured through a photoelectric sensor, car size information is sent to the main control computer through a wireless transmission module, the main control computer stores and calculates proper parking spaces of two cars to be parked through a genetic algorithm, and then the AGV car returns to the first car in the original path; the operation process of the genetic algorithm is shown in fig. 3.
3, the AGV trolley detects an automobile on the transfer mechanism through a pressure sensor, a main control computer sends an instruction to an elevator car lifting PLC controller for controlling an elevator car lifting motor, the lifting motor 1 runs, and the first car and the automobile are transported to the floor of a target parking space;
4. in the ascending process of the first car, the main control computer sends an instruction to an elevator car lifting PLC controller for controlling an elevator car lifting motor, the lifting motor 2 transports the second car to a first layer of the garage, the AGV trolley of the second car is the same as the previous process at the moment, the car is transported to the second car, the main control computer generates an instruction to the elevator car lifting PLC controller for controlling the elevator car lifting motor again, and the second car and the car reach a target floor;
5. when the lift car reaches a specified floor, the main control computer sends an instruction to an AGV car PLC controller for controlling the AGV car, and the AGV car PLC controller controls a driving motor and a navigation system of the car to carry the car to reach a specified parking space through a specified path;
6. after detecting that the automobile successfully reaches the target parking space through the sensor, the main control computer sends an instruction to an AGV trolley PLC controller for controlling the AGV trolley, and controls a driving motor and a magnetic navigation system of the AGV trolley to enable the trolley to return to the car along a specified path;
7. the main control computer sends an instruction to an elevator car lifting PLC controller for controlling an elevator car lifting motor, the lifting motor 2 firstly transports the second car back to the underground to-be-transferred area to carry one floor or two floors, and the lifting motor 1 transports the first car back to the garage floor;
the process is a working process of the system under the condition that two cars need to be parked, when only one car needs to be parked, the second car is always in a standby state in a negative one layer or a negative two layer of an underground to-be-transferred area, and the system can complete work only by using the first car;
second, the process of taking the car
1. The method comprises the following steps that a vehicle owner clicks 'vehicle taking' on an APP, a main control computer receives a vehicle taking signal through a wireless communication module, and a target vehicle is determined through stored information;
2. the main control computer sends an instruction to a PLC (programmable logic controller) for controlling the lifting motor, a control car reaches the floor of a target vehicle, and then sends an instruction to a PLC (programmable logic controller) for controlling an AGV trolley, and the AGV trolley on the vehicle carrying plate transports the target vehicle to the car along a specified route through a driving motor and a magnetic navigation system;
3. the elevator car lifting PLC controller for controlling the elevator car lifter starts the lifting motor again to convey the car to a first floor, the AGV car transports the car to a car taking waiting area at the exit of the garage, the car returns to the original way, the car owner drives the car away, the main control computer detects that the car leaves through the monitoring system, the APP stops timing, and the parking fee is settled;
4. if the car owner does not drive the car away within the set time, the main control computer detects that the car does not leave through the monitoring system, the APP continues to charge, and the car-taking information is sent to the APP of the car owner through the wireless communication module.
Third, alarm
In the whole working process, the monitoring system can monitor the working condition of the system in real time and transmit information to the main control computer. If some equipment breaks down, the main control computer sends an instruction to the alarm system, the alarm system works, the alarm indicator lamp flickers, and workers are notified to maintain.
Wherein, the AGV dolly realizes the motion through the mode of magnetic navigation. A magnetic tape is arranged on a running path of the AGV trolley, and the AGV is guided by processing signals acquired by a magnetic navigation sensor.
In addition, the AGV trolley can realize all-around movement, and the method for taking the AGV at the four corners of the nine-square grid is as follows: when a car is in a parking space close to a lifting elevator shaft and a car taking road is completely blocked, the car AGV trolley on one road needs to be taken away and conveyed to other parking spaces, or stored in one car and then lifted (the car is lifted to a leaving space, and after the car at a corner is taken out and leaves the layer where the car is located, the car in the car can be parked in a nearby parking space region), then the car to be taken is taken out from the corner through the AGV trolley, and the car is lowered to an exit by using the other car until the car is sent to a driver to take the car; and when the vehicle is stored in a corner, the vehicle is simply transported to the corner by the AGV trolley and is arranged from inside to outside.
Parking and storing sequence principle of parking spaces: in the common situation, the height is higher after the lower part, and the edges are arranged at the corners; dynamically adjusting according to the appointment time and the user big data, and firstly, taking a vehicle to store a low floor; the two cars can take cars simultaneously, the upper part is taken from a high floor, and the lower part is taken from a car in a parking space below the high floor.
The idle AGV dolly can carry out reasonable dispatch to the vehicle in parking stall or the waiting area of stopping and getting the car, improves the quantity and the access efficiency of depositing the car.
As shown in fig. 4 and 5, the following is a processing flow after receiving a task that two vehicles wait to stop at the same time or two vehicles wait to take at the same time:
scheme 1: two vehicles enter a parking area, a main control computer detects the states of an idle parking space and a lifting motor, and a genetic algorithm is operated to calculate an optimal parking space; starting the AGV 1, and conveying the AGV 1 into the lifting motor 1; the No. 1 lifting motor ascends, and the No. 2 lifting motor ascends to a first floor; starting the AGV 2, and moving the AGV 2 into the lifting motor 2, and then moving the lifting motor 2 upwards; 1. the No. 2 lifting motor respectively reaches a target floor and stops running; 1. starting the AGV 2, and respectively transporting the vehicles 1 and 2 into the parking spaces; 1. no. 2 AGV returns 1, 2 elevator motor respectively.
And (2) a flow scheme: two vehicles enter a parking area, a main control computer detects the states of an idle parking space and a lifting motor, and a genetic algorithm is operated to calculate an optimal parking space; starting the AGV 1, and conveying the AGV 1 into the lifting motor 1; the No. 1 lifting motor ascends, and the No. 2 lifting motor ascends to a first floor; starting the AGV No. 2, and transporting the AGV into the lifting motor No. 2; the No. 1 lifting motor reaches a target floor and stops running; starting the AGV 1, and returning the AGV 1 to the lifting motor after the AGV transports the vehicle into a parking space; the No. 1 lifting motor ascends by one layer, and the No. 2 lifting motor ascends at the same time; the No. 2 lifting motor reaches a target floor and stops running; no. 2 AGV starts, returns No. 2 elevator motor after transporting the vehicle into the parking stall.
And (3) a flow path: two vehicles enter a parking area, a main control computer detects the states of an idle parking space and a lifting motor, and a genetic algorithm is operated to calculate an optimal parking space; 1. starting the AGV No. 2, and respectively transporting the vehicles No. 1 and No. 2 into the lifting motors No. 1 and No. 2; 1. starting the No. 2 lifting motor to ascend simultaneously; 1. the No. 2 lifting motor respectively reaches a target floor and stops running; 1. starting the AGV 2, and respectively transporting the vehicles 1 and 2 into the parking spaces; 1. no. 2 AGV returns 1, 2 elevator motor respectively.
And (4) a flow chart: two vehicles enter a parking area, a main control computer detects the states of an idle parking space and a lifting motor, and a genetic algorithm is operated to calculate an optimal parking space; 1. starting the AGV No. 2, and respectively transporting the vehicles No. 1 and No. 2 into the lifting motors No. 1 and No. 2; the No. 1 lifting motor ascends; the No. 1 lifting motor reaches a target floor and stops running; starting the AGV 1, and returning the AGV 1 to the lifting motor after the AGV transports the vehicle into a parking space; the No. 1 lifting motor ascends by one layer, and the No. 2 lifting motor ascends at the same time; the No. 2 lifting motor reaches a target floor and stops running; no. 2 AGV starts, returns No. 2 elevator motor after transporting the vehicle into the parking stall.
And (5) a flow chart: two vehicles enter a parking area, a main control computer detects the states of an idle parking space and a lifting motor, and a genetic algorithm is operated to calculate an optimal parking space; the No. 2 lifting motor rises to a first layer; starting the AGV No. 2, and transporting the AGV No. 2 into the lifting motor No. 2; the No. 2 lifting motor ascends; the No. 2 lifting motor reaches a target floor and stops running; starting the AGV 2, and returning the AGV 2 to the lifting motor after the AGV is conveyed into the parking space; the No. 2 lifting motor descends to a negative layer for standby, and the No. 1 lifting motor descends to a first layer after finishing the last task instruction; starting the AGV 1, and conveying the AGV 1 into the lifting motor 1; the No. 1 lifting motor ascends; the No. 1 lifting motor reaches a target floor and stops running; no. 1 AGV starts, returns 1 elevator motor after transporting the vehicle into the parking stall.
And (6) a flow path: two vehicles enter a parking area, a main control computer detects the states of an idle parking space and a lifting motor, and a genetic algorithm is operated to calculate an optimal parking space; starting the AGV No. 2, and transporting the AGV No. 2 into the lifting motor No. 2; the No. 1 lifting motor descends to a first layer after finishing the last task instruction; starting the AGV 1, and conveying the AGV 1 into the lifting motor 1; 1. starting the No. 2 lifting motor to ascend simultaneously; 1. the No. 2 lifting motor respectively reaches a target floor and stops running; 1. starting the AGV 2, and respectively transporting the vehicles 1 and 2 into the parking spaces; 1. no. 2 AGV returns 1, 2 elevator motor respectively.
Scheme 7: two vehicles enter a parking area, a main control computer detects the states of an idle parking space and a lifting motor, and a genetic algorithm is operated to calculate an optimal parking space; starting the AGV 2, and conveying the AGV 2 into a lifting motor; the No. 1 lifting motor descends to a first layer after finishing the last task instruction; starting the AGV 1, and conveying the AGV 1 into a lifting motor; the No. 1 lifting motor ascends; the No. 1 lifting motor reaches a target floor and stops running; starting the AGV 1, conveying the AGV 1 into a parking space, and returning to the lifting motor 1; the No. 1 lifting motor ascends by one layer, and the No. 2 lifting motor ascends at the same time; the No. 2 lifting motor reaches a target floor and stops running; no. 2 AGV starts, returns No. 2 elevator motor after transporting into the parking stall with No. 2 vehicles.
And (3) a process 8: the main control computer receives two vehicle taking task instructions; the No. 1 lifting motor ascends to a target floor; the No. 1 lifting motor stops running, and the No. 1 AGV transports the No. 1 vehicle into the No. 1 lifting motor; the No. 1 lifting motor ascends to the layer 1, and the No. 2 lifting motor ascends at the same time; the No. 2 lifting motor ascends to a target floor; stopping the operation of the No. 2 lifting motor, and transporting the No. 2 vehicle into the No. 2 lifting motor by the No. 2 AGV; the No. 2 lifting motor descends to a negative layer, and the No. 1 lifting motor descends to a first layer; AGV 1 transports the vehicle into a floor of the vehicle pick-up area. Meanwhile, the AGV 2 transports the vehicle into a negative layer vehicle taking area; AGV 1 returns elevator motor 1, and AGV 2 returns elevator motor 2 simultaneously.
And (3) a process 9: the main control computer receives two vehicle taking task instructions; 1. the No. 2 lifting motor moves upwards simultaneously; 1. the No. 2 lifting motor respectively reaches a target floor to stop running; the No. 1 AGV transports the No. 1 vehicle into the No. 1 lifting motor, and meanwhile, the No. 2 AGV transports the No. 2 vehicle into the No. 2 lifting motor; the No. 2 lifting motor descends to a negative layer, and the No. 1 lifting motor descends to a first layer; AGV 1 transports the vehicle into a floor of the vehicle pick-up area. Meanwhile, the AGV 2 transports the vehicle into a negative layer vehicle taking area; AGV 1 returns elevator motor 1, and AGV 2 returns elevator motor 2 simultaneously.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (11)

1. The utility model provides a stereo garage system based on many AGV collaborative technology which characterized in that includes:
each layer of the garage main body structure is divided into a nine-square grid structure, wherein a central square grid of the nine-square grid structure is an elevator shaft, and the rest square grids are parking spaces;
the elevator car is used for transporting vehicles to go up or down, the number of the elevator cars is at least 2, and the elevator cars are vertically arranged in an elevator shaft;
the AGV comprises AGV trolleys, a control system and a control system, wherein the AGV trolleys are used for transporting vehicles to enter and exit an elevator car and enter and exit a parking space, and the number of the AGV trolleys is not less than that of the elevator car;
the positive height of the elevator shaft is not lower than the height of the garage main body structure, and the negative height of the elevator shaft is at least (the number of the elevator cars is-1) × the height of each layer of elevator cars;
and a parking waiting area and a car taking waiting area are arranged outside the garage main body structure.
2. The stereo garage system based on multiple AGV collaborative technology according to claim 1, wherein the elevator shaft is provided with 1 floor or more below ground, and the above ground floor and/or the below ground floor are/is provided with an entrance/exit accessible to the elevator car.
3. The stereo garage system based on the AGV collaboration technology as claimed in claim 2, wherein the AGV carts can be distributed in the elevator cars and/or parking spaces and/or parking waiting areas of each floor.
4. The stereo garage system based on many AGV collaborative technology of claim 3, characterized in that, parking waiting area, the waiting area of getting the car set up outside the above ground floor or the underground exit of garage major structure, parking waiting area, the entrance department of waiting area of getting the car set up entrance guard's railing to be connected with garage district's outside road, the lane limit is provided with the pavement.
5. The stereo garage system based on multiple AGV collaboration technology as claimed in claim 4, wherein all four sides of the elevator car can be opened, and the AGV can enter and exit from any door of the elevator car.
6. The stereo garage system based on the multiple AGV cooperative technology is characterized by further comprising a control system, wherein the control system comprises a main control computer, a monitoring device, an AGV trolley control part and a car control part, the AGV trolley control part comprises a plurality of AGV trolley PLC controllers, and each AGV trolley PLC controller is respectively in control connection with a driving motor, a steering motor, a magnetic navigation sensor, a transfer mechanism and a pressure sensor of the AGV trolley; the lift car control part comprises an elevator lift car lifting PLC controller, and the elevator lift car lifting PLC controller is respectively in control connection with the floor sensor and the lifting motor of each lift car; each AGV dolly PLC controller, elevator car lift PLC controller are connected with alarm, protector, display respectively, every AGV dolly PLC controller respectively through the communication card with the wireless communication of main control computer is connected, elevator car lift PLC controller and main control computer direct communication are connected, the main control computer with supervisory equipment connects.
7. The stereo garage system based on multiple AGV cooperative technologies according to claim 6, further comprising an online access vehicle APP, wherein the online access vehicle APP is in wireless communication with the control system.
8. A stereo garage parking method based on a multi-AGV cooperation technology is characterized in that the method adopts the stereo garage system based on the multi-AGV cooperation technology of any one of claims 1 to 7 to park, and specifically comprises the following steps:
(I) parking step
(1.1) parking a vehicle to be parked in a parking waiting area, and detecting an idle elevator car and an AGV;
(1.2) the idle elevator cars and the idle AGV trolleys are matched into a group after receiving the instruction and run to the floor where the parking waiting area is located, and the AGV trolleys transport the vehicles into the elevator cars;
(1.3) the elevator car receives the command to move to a specified floor for waiting;
(1.4) an AGV trolley in the elevator car transports the vehicle to be parked to a designated parking space and then returns to the elevator car for waiting for a command;
(II) vehicle taking step
(2.1) the idle AGV car drives into the idle elevator car after receiving the instruction, and the elevator car runs to the floor where the vehicle to be taken is located after receiving the instruction;
(2.2) the AGV trolley in the elevator car receives the instruction, runs to a vehicle to be stopped and transports the vehicle to the elevator car;
(2.3) the elevator car receives the command to move to the floor where the car taking waiting area is located to wait;
(2.4) after the AGV trolley in the elevator car transports the vehicle to be fetched to the appointed position of the vehicle fetching waiting area, the AGV trolley returns to the elevator car or waits for a command in the parking waiting area;
(III) transporting AGV
(3.1) judging the number of AGV trolleys in the elevator car and in the parking waiting area in real time;
(3.2) automatically returning the AGV trolleys at the position exceeding the threshold value or transporting the AGV trolleys to the position lower than the threshold value through the idle elevator car.
9. The stereo garage parking method based on multiple AGV cooperative technology of claim 8, wherein the next work task is detected and calculated in real time within a task period, and the task planning is performed, and the optimal path planning is performed to achieve the task completion in the shortest time.
10. The stereo garage parking method based on the multiple AGV collaborative technology according to claim 9, wherein reserved access to the vehicle can be performed through an online access vehicle APP, after the online access vehicle APP receives a reserved access vehicle order, an optimal target floor parking space can be calculated according to reserved time, and an idle AGV car can be matched with an idle elevator car to pre-store reserved vehicle parking spaces in the target floor parking space; for car taking, the target vehicle can be transferred to the optimal parking space, the parking space of the optimal target floor is reserved for car parking, the target vehicle is stored and taken preferentially after entering a waiting area, and the reservation time of the same target floor is prior; and the system can adjust the car access shortcut channel in real time according to the car access time of all orders.
11. The stereo garage parking method based on the multiple AGV collaborative technology according to claim 10, wherein when a target parking space of a vehicle to be stored is located at a position of each floor grid close to an elevator shaft, the vehicle can be directly stored and taken through an AGV; when the target parking spaces of the vehicles to be stored and taken are positioned at the four corners of each grid layer, if the current floor has idle parking spaces, the channels are moved out through the AGV trolleys, and then the vehicles are stored and taken through the AGV trolleys; when the target parking spaces of the vehicles to be taken are positioned at the four corners of each floor grid, if no idle parking space exists on the current floor, the AGV trolley is controlled to store the vehicles on one of the roads in one of the elevator cars and then lift or store other vacant spaces, after the vehicles at the corners are taken out and leave the floors where the vehicles are located, the vehicles in the elevator cars are parked in the nearby parking space areas, then the vehicles to be taken are taken out from the corners through the AGV trolley, and the vehicles are descended to the exit by using the other idle car until the vehicles are sent to the vehicle taking waiting area.
CN202011591010.9A 2020-12-29 2020-12-29 Stereo garage system based on multiple AGV (automatic guided vehicle) cooperation technology and parking method Pending CN112727187A (en)

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CN113359728A (en) * 2021-06-04 2021-09-07 广州达泊智能科技有限公司 Scheduling method and device based on stereo parking garage and computer medium
CN113963569A (en) * 2021-09-17 2022-01-21 中通服网盈科技有限公司 Intelligent scenic spot comprehensive management system

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CN210370095U (en) * 2019-05-30 2020-04-21 广西云高智能停车设备有限公司 Plane moving type stereo parking garage with two lifting cars
CN111456516A (en) * 2020-05-18 2020-07-28 卢映锟 Nine palace check intelligence garage parking

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Publication number Priority date Publication date Assignee Title
CN105863334A (en) * 2015-01-22 2016-08-17 傅礼铭 Tower type garage
CN107724749A (en) * 2017-09-05 2018-02-23 张士勇 One kind building claustra formula stereo garage control method
CN108320576A (en) * 2018-03-16 2018-07-24 上海芭比信息技术服务有限公司 Intelligent three-dimensional garage reservation parking/withdrawing system based on Internet of Things and method
CN109345643A (en) * 2018-09-26 2019-02-15 南京理工大学 A kind of wisdom parking AGV system
CN210370095U (en) * 2019-05-30 2020-04-21 广西云高智能停车设备有限公司 Plane moving type stereo parking garage with two lifting cars
CN111456516A (en) * 2020-05-18 2020-07-28 卢映锟 Nine palace check intelligence garage parking

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113359728A (en) * 2021-06-04 2021-09-07 广州达泊智能科技有限公司 Scheduling method and device based on stereo parking garage and computer medium
CN113963569A (en) * 2021-09-17 2022-01-21 中通服网盈科技有限公司 Intelligent scenic spot comprehensive management system

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Application publication date: 20210430