Three-dimensional parking equipment parking place obstacle elusion path control method
A three-dimensional parking and path control technology, applied in the direction of buildings, building types, buildings, etc. where cars are parked, can solve problems such as long time-consuming, inability to complete the movement, and complex algorithms
Inactive Publication Date: 2017-05-31
GUIZHOU AEROSPACE NANHAI SCI & TECH
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Problems solved by technology
[0002] Most of the existing three-dimensional parking equipment adopts the general search path algorithm. According to the constraints of the garage, the main consideration is how to move the vehicle-carrying board to reach the ground with the least number of action steps. The algorithm is complex and time-consuming. , especially for the situation that some of the vehicle boards are faulty and cannot be moved, it may take a long time to calculate the path but the movement cannot be completed due to the failure of the vehicle board
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Embodiment Construction
[0013] The technical solution of the present invention is further described below, but the scope of protection is not limited to the description.
[0014] The present invention provides a method for controlling a parking space obstacle avoidance path of a three-dimensional parking device, which is characterized in that it includes the following steps:
[0015] ①Take the detour node as the forward node, start from the origin, and advance to the target node;
[0016] ②During the progress of the forward node, judge whether the front is an unreachable node, until the front is the target node, then enter step ④, if it is not an unreachable node, take a step forward to the target, and it is still a forward node; if it is an unreachable node, use the front unreachable The node is the boundary, and the bypass nodes of the left and right branches are separated, trying to bypass the obstacles respectively;
[0017] ③After the bypass node bypasses the faulty node, it becomes the forward...
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The invention provides a three-dimensional parking equipment parking place obstacle elusion path control method. The method comprises the first step of adopting a circumvent node as an advance node, starting from an original point and advancing towards a target node; the second step of judging whether the front is a node which cannot be reached when the advance node is in the advancing process, executing the fourth step when the front is the target node, making a step forward if the front is not the node which cannot be reached, and still making the front as the advance node; if the front is the node which cannot be reached, using the front node which cannot be reached as a boundary, diving into a bypassing node with a left branch and a right branch, and trying to bypass an obstacle with the left branch and the right branch respectively; the third step of repeating the second step after the bypassing node bypasses a fault node and becomes the advance node again. By using a method of calculating and considering nodes which cannot be passed, a movement path through which a fault vehicle carrying plate can be bypassed can be effectively calculated. The operation efficiency of an algorithm is high; the three-dimensional parking equipment parking place obstacle elusion path control method has expandability, and can be easily combined with other algorithms; the number of times of motion of the vehicle carrying plate is reduced, and the time for parking or taking a vehicle is shortened.
Description
technical field [0001] The invention relates to a path control method for avoiding obstacles in parking spaces of three-dimensional parking equipment. Background technique [0002] Most of the existing three-dimensional parking equipment adopts the general search path algorithm. According to the constraints of the garage, the main consideration is how to move the vehicle-carrying board to reach the ground with the least number of action steps. The algorithm is complex and time-consuming. , especially for the situation that part of the vehicle board is faulty and cannot be moved, it may often take a long time to calculate the path but the movement cannot be completed due to the failure of the vehicle board. Contents of the invention [0003] In order to solve the above-mentioned technical problems, the present invention provides a method for controlling the avoidance path of parking space obstacles of the three-dimensional parking equipment. The moving path of the faulty v...
Claims
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IPC IPC(8): E04H6/42
CPCE04H6/426
Inventor 王银
Owner GUIZHOU AEROSPACE NANHAI SCI & TECH