Information control device and method for intelligent parking based on AGV

Abstract

An information control device and method based on AGV intelligent parking, by sampling the storage area length change information when different sampling speeds are set in the past, performing information regression on the sampled past information, constructing an information removal recognition model to pre-evaluate the moment when the storage area is insufficient under the current storage area capacity and sampling speed conditions, so as to perform useless information sorting, which is suitable for performing useless information sorting under different specific conditions to reduce the information storage load, and reduce the adverse effects of not sorting information in time on the subsequent sampled information storage. The low retention score of the bearing useless information is combined with the useless information to be removed together, and the above method is used to perform information control, which is suitable for effectively maintaining the reference of the retained sampled information for the subsequent AGV intelligent parking information analysis while reducing the sampled information storage load.

Description

Technical Field

[0001] The present invention belongs to the technical field of information control of intelligent parking, and specifically relates to an information control device and method for intelligent parking based on AGV. Background Art

[0002] Parking is easy and requires four aspects: first, sufficient parking space supply; second, parking space design should be inclusive; third, a complete parking management system (data analysis to guide quick parking is the key); fourth, reasonable charging standards. With the rapid development of the Internet industry, many places are working hard to promote the construction of intelligent parking facilities based on AGVs in the above four aspects. This intelligent parking mode based on AGVs is not only widely used in newly built intelligent parking garages, but also a good idea for the renovation of old parking lots. At least it can play a transitional role before the popularization of new intelligent three-dimensional parking garages.

[0003] For the AGV-based intelligent parking mode, safety control of the AGV robot working in the parking lot is essential, and it is often necessary to use the existing technical solution with patent publication number "CN213023988U" to perform safety control on the AGV robot, wherein a number of transmitters are used to sample relevant information of the AGV robot, that is, the information of the AGV's intelligent parking. The use of a number of transmitters to sample the AGV's intelligent parking information will face the defect of insufficient information storage area. Under the condition of insufficient information storage area, some useless information will often be generated in the sampled information. Such useless information not only fails to assist the analysis of the sampled information (the analysis is to determine whether the sampled information, that is, the AGV's intelligent parking information is abnormal), but also increases the storage load of the sampled information, which is often detrimental to the storage quality of the subsequently sampled information. Summary of the invention

[0004] In order to solve the defects in the prior art, the present invention proposes an information control device and method for intelligent parking based on AGV. When different sampling speeds are set, the length of information sampled by the transmitter stored in the same period is different, and the change of the residual length in the storage area is also different. By sampling the storage area length change information when different sampling speeds are set in the past, information regression is performed on the sampled past information, and an information removal recognition model is constructed to evaluate in advance the time when the storage area is insufficient under the current storage area capacity and sampling speed conditions, so as to perform useless information sorting. It is suitable to perform useless information sorting under different specific conditions to reduce the information storage load and reduce the adverse effects of not sorting information in time on the storage of subsequently sampled information. Instead of removing useless information, the retention score of acceptable useless information is analyzed, and the acceptable useless information with a high retention score is combined with the useless information for retention, so as to ensure the information of the intelligent parking of AGV sampled at the same time by all complete sensors, and the acceptable useless information with a low retention score is removed together with the useless information. The above method is used to perform information control, which is suitable for effectively maintaining the reference of the retained sampling information for the subsequent information analysis of the intelligent parking of AGV while reducing the storage load of the sampling information.

[0005] The present invention utilizes the following technical solutions.

[0006] An information control device for intelligent parking based on AGV, comprising:

[0007] The AGV robot used in the intelligent parking lot is provided with a plurality of transmitters, and the plurality of transmitters are electrically connected to the controller;

[0008] Any one of the plurality of transmitters is used to instantly sample the intelligent parking information of the AGV and transmit it to the controller; the controller is used to analyze the collected intelligent parking information of the AGV, and then store and analyze the intelligent parking information of the AGV on the controller after the analysis;

[0009] The units running on the controller include:

[0010] The sampling information analysis unit, the removal information analysis unit and the sampling information control unit, the sampling information analysis unit is used to select the time to perform useless information removal processing, the removal information analysis unit is used to analyze the removal urgency level of the sampled AGV intelligent parking information, select useless information and acceptable useless information, the sampling information control unit is used to analyze the retention score of the acceptable useless information, select the control mode of useless information and acceptable useless information according to the retention score, and remove or retain the AGV intelligent parking information according to the selected control mode.

[0011] Preferably, the plurality of transmitters include: a current transmitter 1 and a voltage transmitter 1 provided at position 1 of the power supply line, a current transmitter 2 and a voltage transmitter 2 provided at position 2 of the power supply line of the AGV robot, a current transmitter 3 and a voltage transmitter 3 provided at position 3 of the power supply line of the AGV robot; a laser rangefinder provided at the front end of the AGV robot;

[0012] The laser rangefinder, current transmitter one, voltage transmitter one, current transmitter two, voltage transmitter two, current transmitter three or voltage transmitter three perform sampling on the intelligent parking information of AGV. The laser rangefinder is used to sample the distance value of the obstacle in front, the current transmitter one is used to sample the current value of position one, the voltage transmitter one is used to sample the voltage value of position one, the current transmitter two is used to sample the current value of position two, the voltage transmitter two is used to sample the voltage value of position two, the current transmitter three is used to sample the current value of position three, and the voltage transmitter three is used to sample the voltage value of position three. The distance value of the obstacle in front, the current value of position one, the voltage value of position one, the current value of position two, the voltage value of position two, the current value of position three or the voltage value of position three is the intelligent parking information of AGV, and the intelligent parking information of AGV is also the sampling information.

[0013] Preferably, the sampling information analysis unit includes an information length analysis subunit and an information removal selection subunit. The information length analysis subunit is used to obtain the time interval between the moment when the sampling information storage area is insufficient and the moment when the sampling information is started to be stored when different sampling speeds were set in the past, and the total length of information stored in the storage area. An information removal recognition mode is constructed according to the obtained information. The sampling speed is the time interval at which the transmitter samples the AGV's intelligent parking information once. The information removal selection subunit is used to send the currently set sampling speed and the residual length of the current storage area into the information removal recognition mode, and pre-evaluate the time interval between the moment when the storage area is insufficient and the current moment for the currently set sampling speed, and select to perform information removal processing when the storage area evaluated in advance is insufficient.

[0014] Preferably, the information removal and analysis unit includes a useless information selection subunit and a tolerant useless analysis subunit. The useless information selection subunit is used to store the information of the intelligent parking of the AGV sampled at the same time and by different transmitters as a cluster of information, obtain the time interval between the sampling time of different sampling information in the same cluster and the time when the corresponding sampling information is collected by the controller, analyze the removal urgency level of the information of different clusters according to the time interval, compare the removal urgency levels, and select the useless information. The tolerant useless analysis subunit is used to obtain the sampling time of the selected useless information, and treat the information of the intelligent parking of the AGV sampled at the same time as the selected useless information as tolerant useless information. The tolerant useless information is sampled and obtained by a transmitter different from the transmitter that samples the useless information.

[0015] Preferably, the sampling information manipulation unit includes a manipulation mode selection subunit and a sampling information processing subunit. The manipulation mode selection subunit is used to analyze the retention score of the acceptable useless information and set a critical value for the retention score. If the retention score is higher than the critical value, the selected information manipulation mode is to retain the acceptable useless information and the useless information sampled at the same time as the acceptable useless information; if the retention score is not higher than the critical value, the selected information manipulation mode is to remove the acceptable useless information and the useless information sampled at the same time as the acceptable useless information. The sampling information processing subunit is used to perform removal or retention processing on the sampled AGV's intelligent parking information according to the selected information manipulation mode when information removal processing is to be performed, and the time to perform information removal processing is the time when the storage area evaluated in advance is insufficient.

[0016] An information control method for intelligent parking based on AGV, comprising:

[0017] Any transmitter among the plurality of transmitters instantly samples the intelligent parking information of the AGV and transmits it to the controller. The sampled intelligent parking information of the AGV is also the sampling information;

[0018] The controller analyzes the received AGV intelligent parking information, and then stores and analyzes the AGV intelligent parking information on the controller;

[0019] After parsing, the method of storing and analyzing the AGV intelligent parking information on the controller includes:

[0020] Step 1, selecting a time to perform useless information removal processing;

[0021] Step 2, analyzing the urgency of removing the sampled information, and selecting useless information and acceptable useless information;

[0022] Step 3, analyzing the retention scores of the receptive useless information, and selecting the control mode of the useless information and the receptive useless information according to the retention scores;

[0023] Step 4: Delete or retain the sampled information according to the selected control mode.

[0024] Preferably, the information of the intelligent parking of the AGV sampled instantly by any one of the plurality of transmitters is:

[0025] Use a laser rangefinder to sample the distance value of the obstacle ahead, use current transmitter one to sample the current value at position one, use voltage transmitter one to sample the voltage value at position one, use current transmitter two to sample the current value at position two, use voltage transmitter two to sample the voltage value at position two, use current transmitter three to sample the current value at position three, and use voltage transmitter three to sample the voltage value at position three.

[0026] Preferably, in step 1, the method for selecting the time to perform useless information removal processing includes:

[0027] The sampling speed cluster for sampling the information of intelligent parking of AGV set in the past is X = {X1, X2, ..., X p}, where p represents the number of sampling speeds; when obtaining the information of the intelligent parking of the AGV sampled according to the sampling speed set in the past, the total length cluster of the information storage in the sampling information storage area is N = {N1, N2, ..., N p}; The time interval between the moment when the sampling information storage area is insufficient and the moment when the sampling information is started is u={u1,u2,...,u p}, forming information points {(X1, N1, u1), (X2, N2, u2), ..., (X p , N p ,u p )}, perform regression on the information points and construct the information removal recognition model: a = b*y+c*z+d, where b, c and d represent regression factors. According to the equation

[0028] and Derived b, c and d respectively, where X j represents the sampling speed of the intelligent parking information of AGV set for the jth time in the past, N j represents the total length of information stored in the sampling information storage area when the intelligent parking information of AGV is sampled according to the sampling speed set for the jth time, u jRepresents the time interval between the time when the sampling information storage area is insufficient and the time when the sampling information starts to be stored when the intelligent parking information of the AGV is sampled according to the sampling speed set for the jth time;

[0029] The currently set sampling speed is x, and the residual length of the current storage area is N'. Send x and N' into the information removal recognition mode: let y=x, z=N', and estimate in advance the time interval between the moment when the storage area is insufficient for the currently set sampling speed and the current moment: b*x+c*N'+d, and choose to perform the removal of sampling information when b*x+c*N'+d is pushed back from the current moment.

[0030] Preferably, step 2 further comprises: storing the intelligent parking information of the AGV sampled by different transmitters at the same time as a cluster of information, obtaining the time interval U={U1, U2, ...U} between the sampling time of different transmitters sampled by different transmitters in any cluster and the time when the corresponding sampling information is collected by the controller n}, where n represents the number of sampled information in a random cluster. The information sampled by a transmitter to the intelligent parking of AGV is regarded as one piece. According to the equation Calculate the removal urgency level L of a random cluster of information k , where U f The time interval between the sampling time of the intelligent parking information of the AGV sampled by the fth transmitter in any cluster and the time when the corresponding sampling information is received by the controller, and the removal urgency level cluster of the intelligent parking information of the AGV of all clusters stored in the calculation storage area is L = {L1, L2, ..., L k , ...L w}, where the total number of intelligent parking information of w clusters of AGVs is stored, and the critical amount of the removal urgency level is set to Compare the removal urgency level with the critical amount, select the intelligent parking information of several clusters of AGVs whose removal urgency level is higher than the critical amount as useless information, obtain the sampling time of the selected useless information, and treat the intelligent parking information of AGVs sampled at the same time as the selected useless information as acceptable useless information.

[0031] Preferably, step 3 further comprises: obtaining a time when any useless information is sampled is K, obtaining a sampling information cluster sampled at the same time as the random useless information is I = {I1, I2, ..., I s}, the sampling information sampled at the same time as any useless information belongs to the receiving useless information, s represents the number of sampling information sampled at the same time as any useless information, the corresponding sampling information is sampled by s different transmitters, and the next sampling information cluster obtained by sampling the corresponding s transmitters after time K is i = {i1, i2, ..., i s}, according to the equation Calculate the retention score Q of the corresponding s receiving useless information g , the retained fraction cluster of the acceptable useless information associated with different useless information calculated by the same method is Q = {Q1, Q2, ..., Q g , ..., Q h}, the acceptable useless information associated with the useless information is the sampled information sampled by different transmitters at the same time as the useless information, where v represents the vth sampled information sampled at the same time as any useless information, and the retention score threshold is set to Compare to Q g and if The selected information control mode is: to retain the s pieces of acceptable useless information together with the useless information sampled at the same time as the s pieces of acceptable useless information; conversely, the selected information control mode is: to remove the s pieces of acceptable useless information together with the useless information sampled at the same time as the s pieces of acceptable useless information.

[0032] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include:

[0033] When setting different sampling speeds, the length of information sampled by the transmitter stored in the same period is different, and the change of the residual length in the storage area is also different. By sampling the storage area length change information when setting different sampling speeds in the past, the sampled past information is regressed, and the information removal recognition model is constructed to estimate in advance the time when the storage area is insufficient under the current storage area capacity and sampling speed conditions, so as to perform useless information sorting, which is suitable for performing useless information sorting under different specific conditions to reduce the information storage load and reduce the adverse effects of not sorting information in time on the storage of subsequent sampled information. Instead of performing removal processing on useless information, the retention score of the receiving useless information is analyzed, and the receiving useless information with a high retention score is combined with the useless information for retention, so as to ensure the information of the intelligent parking of the AGV sampled at the same time with all the complete transmitters, and the receiving useless information with a low retention score is combined with the useless information for removal. The above method is used to perform information control, which is suitable for effectively maintaining the reference degree of the retained sampled information for the information analysis of the subsequent intelligent parking of the AGV while reducing the sampling information storage load. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a partial structural schematic diagram of the information control device based on AGV intelligent parking in the present invention;

[0035] Figure 2 It is a partial flow chart of the information control method of the AGV-based intelligent parking described in the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely expressed in combination with the drawings in the embodiments of the present invention. The embodiments expressed in this application are only part of the embodiments of the present invention, not all of them. According to the spirit of the present invention, other embodiments obtained by ordinary technicians in this field without creative work are all within the protection scope of the present invention.

[0037] like Figure 1 As shown, the information control device for intelligent parking based on AGV of the present invention comprises:

[0038] The AGV robot used in the intelligent parking lot is provided with a plurality of transmitters, and the plurality of transmitters are electrically connected to the controller;

[0039] Any one of the plurality of transmitters is used to instantly sample the intelligent parking information of the AGV and transmit it to the controller; the sampled intelligent parking information of the AGV is also the sampling information.

[0040] The controller is used to analyze the collected AGV intelligent parking information (the analysis is that the controller determines whether the collected sampling information, that is, the AGV intelligent parking information is abnormal), and then stores and analyzes the AGV intelligent parking information on the controller after analysis;

[0041] The units running on the controller include:

[0042] The sampling information analysis unit, the removal information analysis unit and the sampling information control unit, the sampling information analysis unit is used to select the time to perform useless information removal processing, the removal information analysis unit is used to analyze the removal urgency level of the sampled AGV intelligent parking information, select useless information and acceptable useless information, the sampling information control unit is used to analyze the retention score of the acceptable useless information, select the control mode of useless information and acceptable useless information according to the retention score, and remove or retain the AGV intelligent parking information according to the selected control mode.

[0043] In a preferred but non-restrictive implementation method of the present invention, the plurality of transmitters include: a current transmitter 1 and a voltage transmitter 1 provided at position 1 of the power supply line, a current transmitter 2 and a voltage transmitter 2 provided at position 2 of the power supply line of the AGV robot, and a current transmitter 3 and a voltage transmitter 3 provided at position 3 of the power supply line of the AGV robot; a laser rangefinder provided at the front end of the AGV robot; the current transmitter 1, the voltage transmitter 1, the current transmitter 2, the voltage transmitter 2, the current transmitter 3, the voltage transmitter 3 and the laser rangefinder are all electrically connected to the controller; the specific positions of position 1 of the power supply line of the AGV robot, position 2 of the power supply line of the AGV robot, and position 3 of the power supply line of the AGV robot can be set according to specific requirements.

[0044] The laser rangefinder, current transmitter one, voltage transmitter one, current transmitter two, voltage transmitter two, current transmitter three or voltage transmitter three perform sampling on the intelligent parking information of AGV. The laser rangefinder is used to sample the distance value of the obstacle in front, the current transmitter one is used to sample the current value of position one, the voltage transmitter one is used to sample the voltage value of position one, the current transmitter two is used to sample the current value of position two, the voltage transmitter two is used to sample the voltage value of position two, the current transmitter three is used to sample the current value of position three, and the voltage transmitter three is used to sample the voltage value of position three. The distance value of the obstacle in front, the current value of position one, the voltage value of position one, the current value of position two, the voltage value of position two, the current value of position three or the voltage value of position three is the intelligent parking information of AGV, and the intelligent parking information of AGV is also the sampling information.

[0045] In a preferred but non-restrictive implementation method of the present invention, the sampling information analysis unit includes an information length analysis subunit and an information removal selection subunit. The information length analysis subunit is used to obtain the time interval between the moment when the sampling information storage area is insufficient and the moment when the sampling information is started to be stored when different sampling speeds are set in the past, and the total information storage length of the storage area (the storage area is the area set on the controller for storing the information of the intelligent parking of the AGV). An information removal recognition mode is constructed according to the obtained information. The sampling speed is the time interval at which the transmitter samples the information of the intelligent parking of the AGV. The information removal selection subunit is used to send the currently set sampling speed and the residual length of the current storage area into the information removal recognition mode, and pre-evaluate the time interval between the moment when the storage area is insufficient and the current moment for the currently set sampling speed, and select to perform information removal processing when the storage area evaluated in advance is insufficient.

[0046] In a preferred but non-restrictive implementation method of the present invention, the information removal and analysis unit includes a useless information selection subunit and a tolerant useless analysis subunit. The useless information selection subunit is used to store the information of the intelligent parking of the AGV sampled at the same time and by different transmitters as a cluster of information, obtain the time interval between the sampling time of different sampling information in the same cluster and the time when the corresponding sampling information is collected by the controller, analyze the removal urgency level of the information of different clusters according to the time interval, compare the removal urgency levels, and select the useless information. The tolerant useless analysis subunit is used to obtain the sampling time of the selected useless information, and treat the information of the intelligent parking of the AGV sampled at the same time as the selected useless information as tolerant useless information. The tolerant useless information is sampled and obtained by a transmitter different from the transmitter that samples the useless information.

[0047] In a preferred but non-restrictive implementation method of the present invention, the sampling information manipulation unit includes a manipulation mode selection subunit and a sampling information processing subunit. The manipulation mode selection subunit is used to analyze the retention score of the acceptable useless information and set a critical value for the retention score. If the retention score is higher than the critical value, the selected information manipulation mode is: retaining the acceptable useless information together with the useless information sampled at the same time as the acceptable useless information; if the retention score is not higher than the critical value, the selected information manipulation mode is: removing the acceptable useless information together with the useless information sampled at the same time as the acceptable useless information. The sampling information processing subunit is used to perform removal or retention processing on the sampled AGV's intelligent parking information according to the selected information manipulation mode when information removal processing is to be performed, and the time to perform information removal processing is the time when the storage area evaluated in advance is insufficient.

[0048] like Figure 2 As shown, the information control method of intelligent parking based on AGV described in the present invention includes:

[0049] Any transmitter among the plurality of transmitters instantly samples the intelligent parking information of the AGV and transmits it to the controller. The sampled intelligent parking information of the AGV is also the sampling information;

[0050] In a preferred but non-limiting implementation method of the present invention, any one of the plurality of transmitters instantly samples the information of the intelligent parking of the AGV:

[0051] Use a laser rangefinder to sample the distance value of the obstacle ahead, use current transmitter one to sample the current value at position one, use voltage transmitter one to sample the voltage value at position one, use current transmitter two to sample the current value at position two, use voltage transmitter two to sample the voltage value at position two, use current transmitter three to sample the current value at position three, and use voltage transmitter three to sample the voltage value at position three.

[0052] The controller performs analysis on the collected AGV intelligent parking information (the analysis is that the controller determines whether the collected sampling information, that is, the AGV intelligent parking information is abnormal), and then stores and analyzes the AGV intelligent parking information on the controller after analysis;

[0053] After parsing, the method of storing and analyzing the AGV intelligent parking information on the controller includes:

[0054] Step 1, selecting a time to perform useless information removal processing;

[0055] In a preferred but non-limiting implementation method of the present invention, in step 1, the method of selecting the time to perform useless information removal processing includes:

[0056] The sampling speed cluster for sampling the information of intelligent parking of AGV set in the past is X = {X1, X2, ..., X p}, where p represents the number of sampling speeds; when obtaining the information of the intelligent parking of the AGV sampled according to the sampling speed set in the past, the total length cluster of the information storage in the sampling information storage area is N = {N1, N2, ..., N p}; The time interval between the moment when the sampling information storage area is insufficient and the moment when the sampling information is started is u={u1,u2,...,u p}, forming information points {(X1, N1, u1), (X2, N2, u2), ..., (X p , N p ,u p )}, perform regression on the information points and construct the information removal recognition model: a = b*y+c*z+d, where b, c and d represent regression factors. According to the equation

[0057] and Derived b, c and d respectively, where X j represents the sampling speed of the intelligent parking information of AGV set for the jth time in the past, N j represents the total length of information stored in the sampling information storage area when the intelligent parking information of AGV is sampled according to the sampling speed set for the jth time, u j Represents the time interval between the time when the sampling information storage area is insufficient and the time when the sampling information starts to be stored when the intelligent parking information of the AGV is sampled according to the sampling speed set for the jth time;

[0058] The currently set sampling speed is x, and the residual length of the current storage area is N'. Send x and N' into the information removal recognition mode: let y=x, z=N', and estimate in advance the time interval between the moment when the storage area is insufficient for the currently set sampling speed and the current moment: b*x+c*N'+d, and choose to perform the removal of sampling information when b*x+c*N'+d is pushed back from the current moment.

[0059] Step 2, analyzing the urgency of removing the sampled information, and selecting useless information and acceptable useless information;

[0060] In a preferred but non-restrictive implementation method of the present invention, step 2 further includes: storing the intelligent parking information of the AGV sampled by different transmitters at the same time as a cluster of information, obtaining the time interval U between the sampling time of different transmitters sampled by different transmitters in any cluster and the time when the corresponding sampling information is collected by the controller = {U1, U2, ...U n}, where n represents the number of sampled information in a random cluster. The information sampled by a transmitter to the intelligent parking of AGV is regarded as one piece. According to the equation Calculate the removal urgency level L of a random cluster of information k , where U f The time interval between the sampling time of the intelligent parking information of the AGV sampled by the fth transmitter in any cluster and the time when the corresponding sampling information is received by the controller, and the removal urgency level cluster of the intelligent parking information of the AGV of all clusters stored in the calculation storage area is L = {L1, L2, ..., L k , ...L w}, where the total number of intelligent parking information of w clusters of AGVs is stored, and the critical amount of the removal urgency level is set to Compare the removal urgency level with the critical amount, select the intelligent parking information of several clusters of AGVs whose removal urgency level is higher than the critical amount as useless information, obtain the sampling time of the selected useless information, and treat the intelligent parking information of AGVs sampled at the same time as the selected useless information as acceptable useless information.

[0061] When it comes to setting different sampling speeds, the length of information sampled by the transmitter stored in the same period is different, and the change of the residual length in the storage area is also different. By sampling the storage area length change information when setting different sampling speeds in the past, the sampled past information is regressed, and an information removal recognition model is constructed to predict the time when the storage area is insufficient under the current storage area capacity and sampling speed conditions, so as to perform useless information sorting. It is suitable to perform useless information sorting under different specific conditions to reduce the information storage load and reduce the adverse effects of not sorting information in time on the storage of subsequent sampled information.

[0062] Step 3, analyzing the retention scores of the receptive useless information, and selecting the control mode of the useless information and the receptive useless information according to the retention scores;

[0063] In a preferred but non-limiting implementation method of the present invention, step 3 further comprises: obtaining a time when a random useless information is sampled as K, obtaining a sampling information cluster of the random useless information sampled at the same time as I = {I1, I2, ..., I s}, the sampling information sampled at the same time as any useless information belongs to the receiving useless information, s represents the number of sampling information sampled at the same time as any useless information, the corresponding sampling information is sampled by s different transmitters, and the next sampling information cluster obtained by sampling the corresponding s transmitters after time K is i = {i1, i2, ..., i s}, according to the equation Calculate the retention score Q of the corresponding s receiving useless information g , the retained fraction cluster of the acceptable useless information associated with different useless information calculated by the same method is Q = {Q1, Q2, ..., Q g , ..., Q h}, the acceptable useless information associated with the useless information is the sampled information sampled by different transmitters at the same time as the useless information, where v represents the vth sampled information sampled at the same time as any useless information, and the retention score threshold is set to Compare to Q g and if The selected information manipulation mode is: the s pieces of tolerant useless information are retained together with the useless information sampled at the same time as the s pieces of tolerant useless information; conversely, the selected information manipulation mode is: the s pieces of tolerant useless information are removed together with the useless information sampled at the same time as the s pieces of tolerant useless information;

[0064] Because the information of the intelligent parking of the AGV sampled by all the complete sensors at the same time has a reference for the subsequent analysis of the sampled information, after selecting out the useless information, if the useless information is directly removed, it will often cause the information of the intelligent parking of the AGV sampled at the same time as the useless information to have a weakened reference for the information analysis of the intelligent parking of the subsequent AGV, and then it will become useless information, that is, acceptable useless information. Therefore, the useless information is not removed, but the retention score of the acceptable useless information is analyzed, and the acceptable useless information with a high retention score is combined with the useless information for retention, so as to ensure the information of the intelligent parking of the AGV sampled by all the complete sensors at the same time, and the acceptable useless information with a low retention score is combined with the useless information for removal. The above method is used to perform information control, which is suitable for effectively maintaining the reference of the retained sampled information for the subsequent analysis of the intelligent parking of the AGV while reducing the storage load of the sampled information.

[0065] Just as: the random useless information obtained is the distance value of the obstacle in front sampled by the laser rangefinder at 12:35, the sampling information sampled by other transmitters at 12:35 is the bearing useless information associated with the corresponding useless information, the current value of position one sampled by current transmitter one at 12:35 is 1.4 amperes, the voltage value of position one sampled by voltage transmitter one at 12:35 is 600 volts, the current value of position two sampled by current transmitter two at 12:35 is 440 amperes, the voltage value of position two sampled by voltage transmitter two at 12:35 is 15 volts, and the current transmitter three at 12 The current value at position three sampled at 12:35 is 6 amperes, and the voltage value at position three sampled by voltage transmitter three at 12:35 is 200 volts. The corresponding sampling information cluster of the six transmitters after 12:35 is i={1.42,620,420,15,4,200}, and the retention score of the corresponding six acceptable useless information is Q1≈7.0. The retention score cluster of the acceptable useless information associated with different useless information calculated by the same method is Q={Q1, Q2, Q3}={7.0,11.6,4.4}, and the retention score critical value is set to The selected information control mode is: remove the six tolerant useless information together with the distance value (useless information) of the obstacle ahead sampled by the laser rangefinder at 12:35.

[0066] Step 4: Delete or retain the sampled information according to the selected control mode.

[0067] The beneficial effects of the present invention are that, compared with the prior art, the technical effects of the present invention include:

[0068] When setting different sampling speeds, the length of information sampled by the transmitter stored in the same period is different, and the change of the residual length in the storage area is also different. By sampling the storage area length change information when setting different sampling speeds in the past, the sampled past information is regressed, and the information removal recognition model is constructed to estimate in advance the time when the storage area is insufficient under the current storage area capacity and sampling speed conditions, so as to perform useless information sorting, which is suitable for performing useless information sorting under different specific conditions to reduce the information storage load and reduce the adverse effects of not sorting information in time on the storage of subsequent sampled information. Instead of performing removal processing on useless information, the retention score of the receiving useless information is analyzed, and the receiving useless information with a high retention score is combined with the useless information for retention, so as to ensure the information of the intelligent parking of the AGV sampled at the same time with all the complete transmitters, and the receiving useless information with a low retention score is combined with the useless information for removal. The above method is used to perform information control, which is suitable for effectively maintaining the reference degree of the retained sampled information for the information analysis of the subsequent intelligent parking of the AGV while reducing the sampling information storage load.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not deviate from the spirit and scope of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An information control device for intelligent parking based on AGV, characterized in that: include: The AGV robot used in the intelligent parking lot is provided with a plurality of transmitters, and the plurality of transmitters are electrically connected to the controller; Any one of the plurality of transmitters is used to instantly sample the intelligent parking information of the AGV and transmit it to the controller; the controller is used to analyze the collected intelligent parking information of the AGV, and then store and analyze the intelligent parking information of the AGV on the controller after the analysis; The units running on the controller include: The sampling information analysis unit, the removal information analysis unit and the sampling information control unit, the sampling information analysis unit is used to select the time to perform the useless information removal processing, the removal information analysis unit is used to analyze the removal urgency level of the sampled AGV intelligent parking information, select the useless information and the acceptable useless information, the sampling information control unit is used to analyze the retention score of the acceptable useless information, select the control mode of the useless information and the acceptable useless information according to the retention score, and perform removal or retention processing on the AGV intelligent parking information according to the selected control mode; The information removal and analysis unit includes a useless information selection subunit and a tolerant useless analysis subunit. The useless information selection subunit is used to store the information of the intelligent parking of the AGV sampled at the same time and by different transmitters as a cluster of information, obtain the time interval between the sampling time of different sampling information in the same cluster and the time when the corresponding sampling information is collected by the controller, analyze the removal urgency level of the information of different clusters according to the time interval, compare the removal urgency level, and select the useless information. The tolerant useless analysis subunit is used to obtain the sampling time of the selected useless information, and treat the information of the intelligent parking of the AGV sampled at the same time as the selected useless information as tolerant useless information. The tolerant useless information is sampled by a transmitter different from the transmitter that samples the useless information.

2. The information control device for intelligent parking based on AGV according to claim 1 is characterized in that: The plurality of transmitters include: a current transmitter 1 and a voltage transmitter 1 provided at position 1 of the power supply line, a current transmitter 2 and a voltage transmitter 2 provided at position 2 of the power supply line of the AGV robot, a current transmitter 3 and a voltage transmitter 3 provided at position 3 of the power supply line of the AGV robot; a laser rangefinder provided at the front end of the AGV robot; The laser rangefinder, current transmitter one, voltage transmitter one, current transmitter two, voltage transmitter two, current transmitter three or voltage transmitter three perform sampling on the intelligent parking information of AGV. The laser rangefinder is used to sample the distance value of the obstacle in front, the current transmitter one is used to sample the current value of position one, the voltage transmitter one is used to sample the voltage value of position one, the current transmitter two is used to sample the current value of position two, the voltage transmitter two is used to sample the voltage value of position two, the current transmitter three is used to sample the current value of position three, and the voltage transmitter three is used to sample the voltage value of position three. The distance value of the obstacle in front, the current value of position one, the voltage value of position one, the current value of position two, the voltage value of position two, the current value of position three or the voltage value of position three is the intelligent parking information of AGV, and the intelligent parking information of AGV is also the sampling information.

3. The information control device for intelligent parking based on AGV according to claim 2 is characterized in that: The sampling information analysis unit includes an information length analysis subunit and an information removal selection subunit. The information length analysis subunit is used to obtain the time interval between the moment when the sampling information storage area is insufficient and the starting time of storing the sampling information when different sampling speeds were set in the past, and the total length of information stored in the storage area. According to the obtained information, an information removal recognition mode is constructed. The sampling speed is the time interval at which the transmitter samples the AGV's intelligent parking information once. The information removal selection subunit is used to send the currently set sampling speed and the residual length of the current storage area into the information removal recognition mode, and pre-evaluate the time interval between the moment when the storage area is insufficient and the current time for the currently set sampling speed, and select to perform information removal processing when the pre-evaluated storage area is insufficient.

4. The information control device for intelligent parking based on AGV according to claim 3 is characterized in that: The sampling information manipulation unit includes a manipulation mode selection subunit and a sampling information processing subunit. The manipulation mode selection subunit is used to analyze the retention score of the acceptable useless information and set a critical value for the retention score. If the retention score is higher than the critical value, the selected information manipulation mode is to retain the acceptable useless information together with the useless information sampled at the same time as the acceptable useless information; if the retention score is not higher than the critical value, the selected information manipulation mode is to remove the acceptable useless information together with the useless information sampled at the same time as the acceptable useless information. The sampling information processing subunit is used to perform removal or retention processing on the sampled AGV intelligent parking information according to the selected information manipulation mode when information removal processing is to be performed, and the time to perform information removal processing is the time when the storage area evaluated in advance is insufficient.

5. An information control method for intelligent parking based on AGV, characterized in that: include: Any transmitter among the plurality of transmitters instantly samples the intelligent parking information of the AGV and transmits it to the controller. The sampled intelligent parking information of the AGV is also the sampling information; The controller analyzes the received AGV intelligent parking information, and then stores and analyzes the AGV intelligent parking information on the controller; After parsing, the method of storing and analyzing the AGV intelligent parking information on the controller includes: Step 1, selecting a time to perform useless information removal processing; Step 2, analyzing the urgency of removing the sampled information, and selecting useless information and acceptable useless information; Step 3, analyzing the retention scores of the receptive useless information, and selecting the control mode of the useless information and the receptive useless information according to the retention scores; Step 4, removing or retaining the sampled information according to the selected control mode; Step 2 also includes: storing the intelligent parking information of the AGV sampled by different transmitters at the same time as a cluster of information, obtaining the time interval U between the sampling time of different transmitters sampled by different transmitters in a random cluster and the time when the corresponding sampling information is collected by the controller n }, where n represents the number of sampled information in a random cluster. The information sampled by a transmitter to the intelligent parking of AGV is regarded as one piece. According to the equation Calculate the removal urgency level L of a random cluster of information k , where U f The time interval between the sampling time of the intelligent parking information of the AGV sampled by the fth transmitter in any cluster and the time when the corresponding sampling information is received by the controller, and the removal urgency level cluster of the intelligent parking information of the AGV of all clusters stored in the calculation storage area is L = {L1, L2, ..., L k , ...L w }, where the total number of intelligent parking information of w clusters of AGVs is stored, and the critical amount of the removal urgency level is set to Compare the removal urgency level with the critical amount, select the intelligent parking information of several clusters of AGVs whose removal urgency level is higher than the critical amount as useless information, obtain the sampling time of the selected useless information, and treat the intelligent parking information of AGVs sampled at the same time as the selected useless information as acceptable useless information.

6. The information control method for intelligent parking based on AGV according to claim 5 is characterized in that: The information of the intelligent parking of the AGV sampled instantly by any one of the several transmitters is: Use a laser rangefinder to sample the distance value of the obstacle ahead, use current transmitter one to sample the current value at position one, use voltage transmitter one to sample the voltage value at position one, use current transmitter two to sample the current value at position two, use voltage transmitter two to sample the voltage value at position two, use current transmitter three to sample the current value at position three, and use voltage transmitter three to sample the voltage value at position three.

7. The information control method for intelligent parking based on AGV according to claim 6 is characterized in that: In step 1, a method for selecting a time to perform useless information removal processing includes: The sampling speed cluster for sampling the information of intelligent parking of AGV set in the past is X = {X1, X2, ..., X p }, where p represents the number of sampling speeds; when obtaining the information of the intelligent parking of the AGV sampled according to the sampling speed set in the past, the total length cluster of the information storage in the sampling information storage area is N = {N1, N2, ..., N p }; The time interval between the moment when the sampling information storage area is insufficient and the moment when the sampling information is started is u={u1,u2,...,u p }, forming information points {(X1, N1, u1), (X2, N2, u2), ..., (X p , N p ,u p )}, perform regression on the information points and construct the information removal recognition model: a = b*y+c*z+d, where b, c and d represent regression factors. According to the equation and Derived b, c and d respectively, where X j represents the sampling speed of the intelligent parking information of AGV set for the jth time in the past, N j represents the total length of information stored in the sampling information storage area when the intelligent parking information of AGV is sampled according to the sampling speed set for the jth time, u j Represents the time interval between the time when the sampling information storage area is insufficient and the time when the sampling information starts to be stored when the intelligent parking information of the AGV is sampled according to the sampling speed set for the jth time; The currently set sampling speed is x, and the residual length of the current storage area is N'. Send x and N' into the information removal recognition mode: let y=x, z=N', and estimate in advance the time interval between the moment when the storage area is insufficient for the currently set sampling speed and the current moment: b*x+c*N'+d, and choose to perform the removal of sampling information when b*x+c*N'+d is pushed back from the current moment.

8. The information control method for intelligent parking based on AGV according to claim 7 is characterized in that: Step 3 also includes: obtaining a time K at which a random useless information is sampled, obtaining a sampling information cluster I = {I1, I2, ..., I s }, the sampling information sampled at the same time as any useless information belongs to the receiving useless information, s represents the number of sampling information sampled at the same time as any useless information, the corresponding sampling information is sampled by s different transmitters, and the next sampling information cluster obtained by sampling the corresponding s transmitters after time K is i = {i1, i2, ..., i s }, according to the equation Calculate the retention score Q of the corresponding s receiving useless information g , the retained fraction cluster of the acceptable useless information associated with different useless information calculated by the same method is Q = {Q1, Q2, ..., Q g , ..., Q h }, the acceptable useless information associated with the useless information is the sampled information sampled by different transmitters at the same time as the useless information, where v represents the vth sampled information sampled at the same time as any useless information, and the retention score threshold is set to Compare to Q g and if The selected information control mode is: to retain the s pieces of acceptable useless information together with the useless information sampled at the same time as the s pieces of acceptable useless information; conversely, the selected information control mode is: to remove the s pieces of acceptable useless information together with the useless information sampled at the same time as the s pieces of acceptable useless information.

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