A method, device and storage medium for accessing and retrieving vehicle path planning in an intelligent parking garage
A path planning and parking garage technology, applied in vehicle position/route/height control, motor vehicles, transportation and packaging, etc., can solve the problems of large investment and consumption, and achieve the effect of avoiding competition and conflict of path resources
Active Publication Date: 2021-03-16
SHANTOU UNIV
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Or use lidar to build indoor maps to provide maps for AGV. These two methods require great investment and consumption.
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[0037] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0038] Aiming at the problem of AGV transport vehicle path planning in the intelligent parking garage, the present invention, from the perspective of modeling the intelligent parking garage, for the entrance, exit, obstacle, aisle and parking space of the parking lot, from the perspective of image processing, Generate different gray-level map environments according to different elements, and select the appropriate structure from the morphological expansion operation mode to generate the corresponding parking potential energy map and pick-up potential energy map from the original gray-scale map of the smart parking garage, and complete the comparison. The path planning problem of parking and picking up a car is a path along which the potential energy decreases. And...
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The embodiment of the present invention discloses a method for planning the vehicle access path in an intelligent parking garage, proposes a modeling method for the intelligent parking garage environment, and based on this modeling method, combines the morphological expansion operation of image processing to realize AGV Path planning problem, and a dynamic time window method is proposed to solve problems such as deadlock and collision conflicts in the path planning process. To solve the environmental modeling problem of smart parking garages, it is no longer necessary to use sensors to build maps, and maps similar to the parking lot environment can be manually generated for AGV work. Embodiments of the present invention also provide a device and storage medium for vehicle access path planning in an intelligent parking garage. By using the present invention, it is possible to successfully avoid path resource competition and conflicts in a relatively short period of time. Complete vehicle access and parking tasks. It has the advantages of high degree of automation of vehicle access, high cost performance and high safety and reliability.
Description
technical field [0001] The present invention relates to the technical field of parking and picking up cars in smart parking lots, in particular to a path planning method, device and storage medium for AGVs in smart parking garages to access cars. Background technique [0002] With the rapid development of technology and economy, the continuous expansion of urban scale, the sharp increase of urban population density, the sharp increase of car ownership, and the insufficient supply of urban parking spaces, the problems of urban traffic congestion and difficult parking spaces have become increasingly serious. In this context, how to maximize the use of limited land resources to provide more convenient services for the development of the city, and provide the necessary parking spaces for the increasing number of cars is an urgent problem for many big city planners today, and based on AGV (Automated Guided Vehicle)'s mobile intelligent parking garage came into being, and it can s...
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IPC IPC(8): G05D1/02G06T7/11G06T7/136
CPCG05D1/0214G05D1/0253G06T7/11G06T7/136G06T2207/10004G06T2207/30264
Inventor 范衠姚利谢红辉朱贵杰李冲王宇鹏
Owner SHANTOU UNIV