Method and apparatus for accessing a vehicle

Abstract

The present application relates to the technical field of storing and taking cars, and particularly relates to a car storing and taking method and device, which comprises the following steps: obtaining reservation storing and taking information, wherein the reservation storing and taking information comprises storing and taking state information, layer number information and bit number information; arranging the reservation storing and taking information according to the time sequence of the reservation storing and taking information and the storing and taking state information, and dividing the reservation storing and taking information set into a car storing sequence and a car taking sequence; and based on the current position of a vehicle carrying mechanism, if the layer number information of the next reservation storing and taking information in the car taking sequence is the same as the layer where the vehicle carrying mechanism is located, the vehicle carrying mechanism performs a car taking operation; if the layer number information of the next reservation storing and taking information in the car taking sequence is not the same as the layer where the vehicle carrying mechanism is located, the time consumed by the vehicle carrying mechanism to perform the next car taking operation and the next car storing operation is calculated respectively, and the car taking operation or the car storing operation corresponding to the shorter time is performed, so that the running time of the whole parking garage is optimized, and the waiting time for storing and taking cars is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of storage and retrieval vehicle, in particular to a storage and retrieval vehicle method and device. BACKGROUND

[0002] The ring well type parking garage is generally provided with a single exit and entrance, a plurality of parking layers are arranged in the garage, and a plurality of parking spaces in a ring shape are arranged in a single parking layer. A channel for storing and retrieving vehicles is formed at the middle position of the garage, and a carrying mechanism that can be lifted and rotated around the center line of the ring-shaped parking space is arranged in the channel, and the carrying mechanism is used for carrying the vehicle.

[0003] In the prior art, the storage and retrieval vehicle method used in the ring well type parking garage is generally as follows: the storage and retrieval is performed according to the arrangement order of the reservation information, but this method may cause the carrying mechanism to move empty, for example, the adjacent two times are both vehicle taking operations or the adjacent two times are both vehicle storing operations, which causes waste of time and prolongs the waiting time of the subsequent queued vehicles. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a storage and retrieval vehicle method and device to solve the above problems.

[0005] In order to achieve the above purpose, the present application provides a storage and retrieval vehicle method applied to a ring well type stereo parking garage, which comprises the following steps:

[0006] S1, obtaining a set of reservation storage and retrieval information, each reservation storage and retrieval information in the set of reservation storage and retrieval information comprising storage and retrieval state information, layer number information and bit number information;

[0007] S2, arranging the reservation storage and retrieval information according to the time sequence of the reservation storage and retrieval information and the storage and retrieval state information, and dividing the set of reservation storage and retrieval information into a vehicle storing sequence and a vehicle taking sequence;

[0008] S3, based on the current position of the vehicle carrying mechanism, if the layer number information in the next reservation storage and retrieval information in the vehicle taking sequence is the same as the layer where the vehicle carrying mechanism is located, the vehicle carrying mechanism performs a vehicle taking operation; if the layer number information in the next reservation storage and retrieval information in the vehicle taking sequence is not the same as the layer where the vehicle carrying mechanism is located, the time required for the vehicle carrying mechanism to perform the next vehicle taking operation and the next vehicle storing operation is calculated respectively, and the operation corresponding to the shorter time is performed.

[0009] Optionally, the calculation of the time required for the vehicle carrying mechanism to perform the next vehicle taking operation and the next vehicle storing operation respectively comprises:

[0010] T1 = (|A1| + |A2|) · t;

[0011] T2 = (|A2-A1|+|A2|) · t;

[0012] T1 is the time consumed by the next storing operation;

[0013] T2 is the time consumed by the next taking operation;

[0014] t is the time required for the moving mechanism to ascend or descend one floor;

[0015] A1 is the current standby floor of the moving mechanism;

[0016] A2 is the floor number information of the next storing or taking operation.

[0017] Optionally, the method further comprises: S4, judging the rotating direction of the vehicle moving mechanism based on the bit number information corresponding to the current position of the vehicle moving mechanism and the bit number information corresponding to the next taking or storing operation.

[0018] Optionally, the judging the rotating direction of the vehicle moving mechanism comprises:

[0019] A5 = A4-A3;

[0020]

[0021] Z is the rotating direction of the vehicle moving mechanism,

[0022] A5 is the difference between the target parking bit number and the parking bit number at the exit,

[0023] A3 is the current parking bit number of the vehicle moving mechanism,

[0024] A4 is the bit number of the next storing or taking operation,

[0025] 1 is that the vehicle moving mechanism rotates clockwise,

[0026] -1 is that the vehicle moving mechanism rotates counterclockwise,

[0027] a is the number of parking spaces in one floor of the parking garage.

[0028] A parking and taking device applied to a ring-well type stereoscopic parking garage, characterized in that, comprising:

[0029] an acquisition module, configured to acquire a set of reservation storing and taking information, each reservation storing and taking information in the set of reservation storing and taking information comprising storing state information, floor number information and bit number information;

[0030] an arrangement module, configured to arrange the set of reservation storing and taking information according to the time sequence of the reservation storing and taking information and the storing state information, and divide the set of reservation storing and taking information into a storing sequence and a taking sequence;

[0031] a judging and calculating module, configured to, based on a current position of the vehicle carrying mechanism, if a floor information in the next reservation access information in the vehicle taking sequence is the same floor as the vehicle carrying mechanism, the vehicle carrying mechanism performs a vehicle taking operation; if the floor information in the next reservation access information in the vehicle taking sequence is not the same floor as the vehicle carrying mechanism, respectively calculate time consumed by the vehicle carrying mechanism to perform the next vehicle taking operation and the next vehicle storing operation, and perform the vehicle taking operation or the vehicle storing operation corresponding to the shorter time.

[0032] Optionally, the judging and calculating module is configured to:

[0033] T1 = (|A1| + |A2|) · t;

[0034] T2 = (|A2-A1| + |A2|) · t;

[0035] wherein T1 is the time consumed by the next vehicle storing operation;

[0036] T2 is the time consumed by the next vehicle taking operation;

[0037] t is the time required for the vehicle carrying mechanism to ascend or descend one floor;

[0038] A1 is the current standby floor of the vehicle carrying mechanism;

[0039] A2 is the floor information of the next vehicle storing or taking.

[0040] Optionally, the method further comprises:

[0041] a rotation optimizing module, configured to, based on the bit information corresponding to the current position of the vehicle carrying mechanism and the bit information corresponding to the next vehicle taking operation or storing operation, judge a rotation direction of the vehicle carrying mechanism.

[0042] Optionally, the rotation optimizing module is configured to:

[0043] A5 = A4-A3;

[0044]

[0045] wherein Z is the rotation direction of the vehicle carrying mechanism,

[0046] A5 is a difference between the target parking bit number and the parking bit number at the exit,

[0047] A3 is the current parking bit number of the vehicle carrying mechanism,

[0048] A4 is the bit number of the next vehicle storing or taking,

[0049] 1 is that the vehicle carrying mechanism rotates in the same direction as the vehicle taking direction,

[0050] -1 is the vehicle handling mechanism counterclockwise rotation,

[0051] a is the number of parking spaces in a parking garage.

[0052] The beneficial effects of the present application are:

[0053] The embodiment of the present application provides a method and device for storing and taking a vehicle, first obtaining reservation access information, the reservation access information includes access state information, layer number information and bit number information; then arranging the reservation access information according to the time sequence of the reservation access information and the access state information, dividing the reservation access information set into a vehicle storage sequence and a vehicle taking sequence; and based on the current position of the vehicle handling mechanism, if the layer number information in the next reservation access information in the vehicle taking sequence is the same as the layer where the vehicle handling mechanism is located, the vehicle handling mechanism performs a vehicle taking operation; if the layer number information in the next reservation access information in the vehicle taking sequence is not the same as the layer where the vehicle handling mechanism is located, the time consumed by the vehicle handling mechanism to perform the next vehicle taking operation and the next vehicle storage operation is calculated respectively, and the vehicle taking operation or the vehicle storage operation corresponding to the shorter time is performed, so that the running time of the entire parking garage is optimized, and the waiting time for storing and taking a vehicle is effectively reduced. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only a part of the present application, and other drawings can also be obtained by those skilled in the art without creative effort based on these drawings.

[0055] Figure 1 The step block diagram of the embodiment of the present application;

[0056] Figure 2 The time comparison diagram of three methods when the number of stored vehicles and the number of taken vehicles are not equal in the embodiment of the present application;

[0057] Figure 3 The time comparison diagram of three methods when the number of stored vehicles and the number of taken vehicles are equal in the embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of the present application more clear, the following will further describe the present application in combination with specific embodiments.

[0059] It should be noted that the technical terms or scientific terms used in the present application should be understood as the general meaning understood by those skilled in the art unless otherwise defined. The terms "first", "second" and the like used in the present application do not represent any order, number or importance, but are only used to distinguish different components. The terms "include" or "contain" and the like mean that the elements or objects before the terms cover the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects.

[0060] The specific structure of the ring well type three-dimensional parking garage in the method for accessing a vehicle proposed by one or more embodiments of the present specification can adopt the structure as described in the background art, or a similar structure in the prior art, and is not particularly limited.

[0061] As a first aspect of the present application, a method for accessing a vehicle is provided, comprising:

[0062] S1, obtaining a set of reservation access information, each reservation access information in the set of reservation access information comprising access state information, layer number information and bit number information;

[0063] S2, arranging the reservation access information according to the time sequence of the reservation access information and the access state information, and dividing the set of reservation access information into a storing column and a taking column;

[0064] S3, based on the current position of the vehicle handling mechanism, if the layer number information in the next reservation access information in the taking column is the same as the layer where the vehicle handling mechanism is located, the vehicle handling mechanism performs a taking operation; if the layer number information in the next reservation access information in the taking column is not the same as the layer where the vehicle handling mechanism is located, the time required for the vehicle handling mechanism to perform the next taking operation and the next storing operation is calculated respectively, and the taking operation or the storing operation corresponding to the shorter time is performed.

[0065] In the embodiments of the present application, after obtaining the set of reservation access information, the reservation access information is arranged according to the time sequence of the reservation access information and the access state information, and the set of reservation access information is divided into a storing column and a taking column. It is judged that if the layer number information in the next reservation access information in the taking column is the same as the layer where the vehicle handling mechanism is located, the vehicle handling mechanism performs a taking operation; if not, the time required for the vehicle handling mechanism to perform the next taking operation and the next storing operation is calculated respectively, and the taking operation or the storing operation corresponding to the shorter time is performed, so as to optimize the running time of the entire parking garage and effectively reduce the waiting time for storing and taking vehicles.

[0066] As an optional embodiment of the present application, the time consumed by the vehicle carrying mechanism to perform the next storing operation and the next taking operation, respectively, is calculated, including:

[0067] T1=(|A1|+|A2|)·t;

[0068] T2=(|A2-A1|+|A2|)·t;

[0069] wherein T1 is the time consumed by the next storing operation;

[0070] T2 is the time consumed by the next taking operation;

[0071] t is the time required for the carrying mechanism to ascend or descend one floor;

[0072] A1 is the current standby floor of the carrying mechanism;

[0073] A2 is the floor number information of the next storing or taking operation.

[0074] In the calculation process, when the last operation is storing, the floor number of A1 is the floor number of the last storing operation; when the last operation is taking, the floor number of A1 is zero; when the next operation is storing, the carrying mechanism needs to move from the current floor A1 to the ground floor and then move from the ground floor to A2, so T1 is calculated by the above calculation formula; when the next operation is taking, the carrying mechanism needs to move from the current floor to A2 and then move from A2 to the ground floor, so T2 is calculated by the above calculation formula. The time required for the adjacent two storing operations or taking operations is calculated by the above calculation formula, and the time required for each reservation storing or taking information in the storing number series or the taking number series is calculated. The minimum value is obtained, and the carrying mechanism motion path with the least time consumption is obtained, thereby reducing the time consumption of storing and taking.

[0075] As an optional embodiment of the present application, after judging the taking operation or the storing operation, the direction of rotation of the vehicle carrying mechanism is judged based on the bit number information corresponding to the current position of the vehicle carrying mechanism and the bit number information corresponding to the next taking operation or storing operation.

[0076] The rotation path of the vehicle carrying mechanism is ensured to be the shortest, and the situation that the rotation angle of the vehicle carrying mechanism is too large to cause time waste is prevented, thereby further optimizing the time required for taking or storing and reducing the waiting time in the whole cycle.

[0077] As an optional embodiment of the present application, the direction of rotation of the vehicle carrying mechanism is judged, including:

[0078] A5=A4-A3;

[0079]

[0080] Wherein, the rotation direction of the vehicle carrying mechanism is Z,

[0081] A5 is the difference between the target parking space number and the parking space number at the exit,

[0082] A3 is the current parking space number of the vehicle carrying mechanism,

[0083] A4 is the number of the next parking or taking,

[0084] 1 is the clockwise rotation of the vehicle carrying mechanism,

[0085] -1 is the counterclockwise rotation of the vehicle carrying mechanism,

[0086] a is the number of parking spaces in a parking garage,

[0087] Wherein, a is the number of parking spaces in a parking garage, is the number of half of the parking spaces in a parking garage, since the parking spaces are distributed in a ring shape, the maximum and minimum values of the number of parking spaces are adjacent after one rotation, and when the difference between the number of parking spaces in two parking or taking operations is greater than the number of half of the parking spaces in a parking garage, it means that the rotation angle is greater than 180, and therefore the carrying mechanism only needs to move in the opposite direction until the target number is reached, thus optimizing the rotation angle of the vehicle carrying mechanism and saving the time of parking and taking.

[0088] Corresponding to the parking and taking method of the application, the application also provides a parking and taking device, comprising:

[0089] An acquisition module is configured to acquire a set of reservation information, each reservation information in the set of reservation information comprising taking state information, layer information and number information;

[0090] An arrangement module is configured to arrange the set of reservation information according to the time sequence of the reservation information and the taking state information, and divide the set of reservation information into a parking sequence and a taking sequence;

[0091] A judgment and calculation module is configured to, based on the current position of the vehicle carrying mechanism, if the layer information in the next reservation information in the taking sequence is the same as the layer where the vehicle carrying mechanism is located, the vehicle carrying mechanism performs a taking operation; if the layer information in the next reservation information in the taking sequence is not the same as the layer where the vehicle carrying mechanism is located, the time required for the vehicle carrying mechanism to perform the next taking operation and the next parking operation is calculated respectively, and the operation corresponding to the shorter time is performed.

[0092] In the embodiment of the present application, after obtaining the set of reservation access information, the reservation access information is arranged in time sequence and the access state information is arranged, and the set of reservation access information is divided into a parking number sequence and a taking number sequence; and it is judged that if the floor information in the next reservation access information in the taking number sequence is the same as the floor of the vehicle carrying mechanism, the vehicle carrying mechanism performs the taking operation; if not, the time consumed by the vehicle carrying mechanism to perform the next taking operation and the next parking operation is calculated respectively, and the taking operation or the parking operation corresponding to the shorter time is performed, so that the running time of the whole parking garage is optimized, and the waiting time for storing and taking vehicles is effectively reduced.

[0093] As an optional embodiment of the present application, the judging and calculating module is used for:

[0094] T1=(|A1|+|A2|)·t;

[0095] T2=(|A2-A1|+|A2|)·t;

[0096] Wherein, T1 is the time consumed by the next parking operation;

[0097] T2 is the time consumed by the next taking operation;

[0098] t is the time required for the carrying mechanism to ascend or descend one floor;

[0099] A1 is the current standby floor of the carrying mechanism;

[0100] A2 is the floor information of the next parking or taking.

[0101] In the calculation process, when the last operation is parking, the floor number of A1 is the floor number of the last parking operation, when the last operation is taking, the floor number of A1 is zero, when the next operation is parking, the carrying mechanism needs to move from the current floor A1 to the ground floor and then move from the ground floor to A2, so T1 is calculated by the above calculation formula, when the next operation is taking, the carrying mechanism needs to move from the current floor to A2 and then move from A2 to the ground floor, so T2 is calculated by the above calculation formula, the time required for the adjacent two times of parking operation or taking operation can be calculated by the above calculation formula, the time required for each reservation access information in the parking number sequence or the taking number sequence is calculated one by one, and the minimum value is obtained, that is, the carrying mechanism motion path with the least time consumption is obtained, so as to reduce the time consumed by storing and taking vehicles.

[0102] As an optional embodiment of the present application, when the time-consuming minimum operation time is the same, the vehicle taking operation with one layer less than the last vehicle storing operation is preferred, so as to prevent the difference between the layer numbers of the subsequent vehicle storing operation or vehicle taking operation from being too large, so that the vehicle carrying mechanism takes too long to transport, and the lifting time of the vehicle carrying mechanism of one layer is reserved as the rotation time of the vehicle carrying mechanism, so as to reduce the time required by the vehicle carrying mechanism when selecting the bit number.

[0103] As an optional embodiment of the present application, the rotation optimization module is further configured to determine the rotation direction of the vehicle carrying mechanism based on the bit number information corresponding to the current position of the vehicle carrying mechanism and the bit number information corresponding to the next vehicle taking operation or vehicle storing operation.

[0104] The rotation path of the vehicle carrying mechanism is ensured to be the shortest, so as to prevent the vehicle carrying mechanism from rotating too much and wasting time, thereby further optimizing the time required for vehicle taking or storing and reducing the waiting time in the whole cycle.

[0105] As an optional embodiment of the present application, the rotation optimization module is configured to:

[0106] A5=A4-A3;

[0107]

[0108] The rotation direction of the vehicle carrying mechanism is Z,

[0109] A5 is the difference between the target parking bit number and the parking bit number at the exit,

[0110] A3 is the current parking bit number of the vehicle carrying mechanism,

[0111] A4 is the bit number of the next vehicle storing or taking,

[0112] 1 is that the vehicle carrying mechanism rotates clockwise,

[0113] -1 is that the vehicle carrying mechanism rotates counterclockwise,

[0114] a is the number of parking spaces in one layer of the parking garage.

[0115] a is the number of parking spaces in one layer of the parking garage, is the number of half parking spaces in one layer of the parking garage. Since the parking spaces are arranged in a ring shape, the maximum and minimum values of the bit number are adjacent after one rotation. When the difference between the bit numbers of the two vehicle storing operations or vehicle taking operations is greater than the number of half parking spaces in one layer of the parking garage, it means that the rotation angle is greater than 180°, and therefore the vehicle carrying mechanism only needs to move in the opposite direction until the target bit number is reached. Thus, the rotation angle of the vehicle carrying mechanism is optimized, and the time for storing or taking vehicles is saved.

[0116] As an optional embodiment of the present application, the parking garage generally has a priority storing or taking method and a standby method, the priority storing or taking method takes storing or taking as priority, and the vehicle carrying mechanism moves to the ground layer and resets after the last storing or taking operation is completed, waiting for the next operation. The standby method is to complete the storing or taking operation according to the reservation time sequence, and the vehicle carrying mechanism still stays at the position after the storing or taking operation is completed. The cross storing or taking method can adapt to more use scenarios, and is more suitable for the environment with frequent storing or taking, and prevents the vehicle carrying mechanism from being empty when storing or taking is frequent.

[0117] As an optional embodiment of the present application, in the mall environment, when storing or taking is frequent, in order to ensure that the ring well type parking garage has higher working efficiency, the data is grouped according to time and the number of storing or taking operations, that is, a certain number of storing or taking operations in a certain time period. In the S2 step, if the storing or taking number sequence is empty, the parking garage system performs the priority taking method or the priority storing method, and the cross storing or taking method is used for each group of data. If the number of storing or taking in a certain time period is less than the specified number of storing or taking, it means that the storing or taking of the parking garage is in the off-season, and the standby method is executed.

[0118] The following describes a specific embodiment in combination with Figures 2-3 .

[0119] Suppose that the lifting speed of the vehicle carrying mechanism is 1 m / s, the height of one parking layer is 2.2 m, the time required for lifting or lowering one layer is 2.2 s, the time for the rotating disc to rotate half a circle is 2 s, and the total number of layers of the parking garage is 5, and the number of parking spaces in each layer is 10. The following uses two groups of random storing and taking data to compare the time consumption of the three scheduling methods. In Table 1, the number of storing and the number of taking are not equal. In Table 2, the number of storing and the number of taking are equal.

[0120] Table 1

[0121]

[0122] Table 2

[0123]

[0124] Wherein the first digit in the bracket is the layer information, and the second digit is the digit information, which is substituted into the access car method provided by the application, since it is a hypothetical case, the information acquisition step of S1 step directly skips and enters S2 step, the information of table one and table two is divided and arranged to obtain table three, table four, table five and table six, table three is the corresponding car storage sequence of the data in table one, table four is the corresponding car taking sequence of the data in table one, table five is the corresponding car storage sequence of the data in table two, and table six is the corresponding car taking sequence of the data in table two.

[0125] Table three

[0126]

[0127] Table four

[0128]

[0129] Table five

[0130]

[0131] Table six

[0132]

[0133] The data of table three to table six is substituted into step S3, the time of the data is calculated, the time required for subsequent car taking is obtained, and the minimum time is selected from among them to obtain, for example, Figure 2 and Figure 3 In the case that the number of stored cars and the number of taken cars are not equal, the cross access method is 15.4s faster than the standby method; in the case that the number of stored cars and the number of taken cars are equal, the cross access method is 5s faster than the standby method.

[0134] Those skilled in the art should understand that the above discussion of any embodiment is only exemplary and is not intended to imply that the scope (including claims) of the application is limited to these examples; under the idea of the application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the application as described above. In order to be brief, they are not provided in details.

[0135] The present application is intended to cover all such alternatives, modifications and variations as fall within the broad scope of the appended claims. Accordingly, any and all such modifications, variations, omissions, and equivalents are intended to be encompassed by the present application.

Claims

1. A method for storing and retrieving vehicles, applied to a circular shaft-type automated parking garage, characterized in that, Includes the following steps: S1. Obtain a set of reservation access information, wherein each reservation access information in the set includes access status information, layer information, and bit information; S2. Arrange the reservation and retrieval information according to the time sequence of the reservation and retrieval information and the retrieval status information, and divide the reservation and retrieval information set into a vehicle storage number column and a vehicle retrieval number column; S3. Based on the current position of the vehicle handling mechanism, if the floor number information in the next reservation storage information in the vehicle retrieval sequence is on the same floor as the vehicle handling mechanism, the vehicle handling mechanism will perform a retrieval operation; if the floor number information in the next reservation storage information in the vehicle retrieval sequence is not on the same floor as the vehicle handling mechanism, calculate the time required for the vehicle handling mechanism to perform the next retrieval operation and the next storage operation respectively, and perform the retrieval operation or storage operation corresponding to the shorter time. The calculation of the time required for the vehicle handling mechanism to perform the next vehicle retrieval operation and the next vehicle storage operation includes: ； ； in, Time is spent preparing for the next parking operation; Time will be spent on the next vehicle retrieval operation; t is the time required for the conveying mechanism to rise or fall one floor; This is the current standby floor for the moving equipment. This provides information on the floor number for the next parking or retrieval of the vehicle. S4. Based on the bit information corresponding to the current position of the vehicle handling mechanism and the bit information corresponding to the next vehicle retrieval or storage operation, determine the rotation direction of the vehicle handling mechanism. The determination of the rotation direction of the vehicle handling mechanism includes; wherein; ； ； Where Z represents the rotation direction of the vehicle handling mechanism. This is the difference between the target number of parking spaces and the number of parking spaces at the exit. The current number of parking spaces for the vehicle handling facility. This will be the number of digits for the next parking or retrieval. 1 represents the clockwise rotation of the vehicle handling mechanism. -1 indicates that the vehicle handling mechanism rotates counterclockwise. 'a' represents the number of parking spaces in the first-floor parking garage.

2. A vehicle storage and retrieval device, applied to a circular shaft-type automated parking garage, characterized in that, include: The acquisition module is used to acquire a set of reservation access information, wherein each reservation access information in the set includes access status information, layer information, and bit information; The sorting module is used to sort the reservation information according to the time order and the reservation status information, and divide the reservation information set into a parking number column and a retrieval number column. The judgment and calculation module is used to determine whether the vehicle handling mechanism is on the same floor as the vehicle handling mechanism if the floor number information in the next reservation storage information in the vehicle retrieval sequence is on the same floor as the vehicle handling mechanism, and if the floor number information in the next reservation storage information in the vehicle retrieval sequence is not on the same floor as the vehicle handling mechanism, it calculates the time required for the vehicle handling mechanism to perform the next retrieval operation and the next storage operation, and performs the retrieval operation or storage operation corresponding to the shorter time. The judgment and calculation module is used for; ； ； in, Time is spent preparing for the next parking operation; Time will be spent on the next vehicle retrieval operation; t is the time required for the conveying mechanism to rise or fall one floor; This is the current standby floor for the moving equipment. This provides information on the floor number for the next parking or retrieval of the vehicle. The rotation optimization module is used to determine the rotation direction of the vehicle handling mechanism based on the bit information corresponding to the current position of the vehicle handling mechanism and the bit information corresponding to the next vehicle retrieval or storage operation; the rotation optimization module is used for: ； ； Where Z represents the rotation direction of the vehicle handling mechanism. This is the difference between the target number of parking spaces and the number of parking spaces at the exit. The current number of parking spaces for the vehicle handling facility. This will be the number of digits for the next parking or retrieval. 1 represents the clockwise rotation of the vehicle handling mechanism. -1 indicates that the vehicle handling mechanism rotates counterclockwise. 'a' represents the number of parking spaces in the first-floor parking garage.

Images