Scheduling method, device and equipment of AGV type stereo garage and medium

Abstract

The invention relates to the technical field of intelligent scheduling, and provides an AGV type stereo garage scheduling method, device and equipment, and a medium, which can establish communication connection with a vehicle networking system of an automatic driving vehicle, and send an entrance map of an AGV type stereo garage to a target vehicle to assist the target vehicle to be automatically parked in a vehicle hall, thereby improving the parking efficiency. When the target vehicle is parked, the lifter is started to lift the target vehicle to a designated layer, an automatic driving path is planned, and a carrier AGV in the AGV type stereo garage is controlled to avoid the automatic driving path so as to assist the target vehicle to quickly and safely drive to the target parking space, so that parking scheduling of the automatic driving vehicle is realized, the parking efficiency is improved, and the parking cost is reduced. And the safety and rationality in the parking process are improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent scheduling technology, and in particular to a scheduling method, device, equipment and medium for an AGV-type stereo garage. Background Art

[0002] At present, with the advancement of technology and economic development, the utilization rate of vehicles is getting higher and higher, but the number of garages and parking spaces available to users is still limited. Therefore, multi-story parking garages are gradually put into use to solve the problem of difficulty in parking for users.

[0003] However, the currently used multi-story parking garages still have problems such as difficulty in parking and low parking efficiency due to the lack of reasonable scheduling. Summary of the invention

[0004] In view of the above, it is necessary to provide a scheduling method, device, equipment and medium for an AGV-type stereoscopic parking garage, aiming to solve the problem of unreasonable scheduling of the stereoscopic parking garage.

[0005] A dispatching method for an AGV-type stereoscopic garage, the dispatching method for an AGV-type stereoscopic garage comprising: In response to a parking request of a target vehicle to the AGV-type stereoscopic garage, detecting a vehicle type of the target vehicle; When the vehicle type is an autonomous driving vehicle, establishing a communication connection with the Internet of Vehicles system of the target vehicle; After successful connection, the entrance map of the AGV-type stereoscopic garage is sent to the target vehicle, and a first parking instruction for parking in the parking hall of the AGV-type stereoscopic garage is sent to the target vehicle; When a first parking completion signal fed back by the target vehicle based on the first parking instruction is detected, the vehicle hall door is closed, and the elevator is started to lift the target vehicle to a designated floor; After detecting that the target vehicle has arrived at the designated layer, a second parking instruction is sent to the target vehicle to park at the target parking space, and an automatic driving path for driving to the target parking space is allocated to the target vehicle, and the porter AGV in the AGV-type stereoscopic parking garage is controlled to avoid the automatic driving path; When a second parking completion signal fed back by the target vehicle based on the second parking instruction is detected, the number of remaining parking spaces in the AGV-type stereoscopic garage is updated, and the parking information of the target vehicle is recorded.

[0006] According to a preferred embodiment of the present invention, before closing the hall door, the method further includes: Activating a sensor device in the vehicle hall to detect whether the target vehicle has a collision risk; When there is no collision risk with the target vehicle, the vehicle hall door is closed.

[0007] According to a preferred embodiment of the present invention, the updating of the number of remaining parking spaces in the AGV-type stereoscopic garage and recording of the parking information of the target vehicle includes: Obtaining the current number of remaining parking spaces in the AGV-type stereoscopic garage, and subtracting one from the current number of remaining parking spaces to update the number of remaining parking spaces in the AGV-type stereoscopic garage; The communication information, vehicle information and the target parking space of the target vehicle are recorded as the parking information.

[0008] According to a preferred embodiment of the present invention, after detecting the vehicle type of the target vehicle, the method further includes: When the vehicle type is a non-autonomous driving vehicle, detecting the position information of the target vehicle in real time, and guiding the driver of the target vehicle to drive the target vehicle to a designated location according to the position information; When it is detected that the target vehicle has driven to the designated location and a parking confirmation signal for the target vehicle is received, a first accessible path to the target parking space is searched, and the porter AGV is dispatched to transport the target vehicle to the target parking space based on the first accessible path.

[0009] According to a preferred embodiment of the present invention, the method further comprises: When receiving a pick-up request for the target vehicle, parsing the pick-up request to obtain the vehicle information; Determine the vehicle type according to the vehicle information; When the vehicle type is the autonomous driving vehicle, parsing the vehicle pickup request to obtain the communication information, and establishing a communication connection with the vehicle networking system of the target vehicle according to the communication information; After successful connection, a driving instruction is sent to the target vehicle to drive to the hall entrance; During the driving process of the target vehicle, the driving position of the target vehicle is collected in real time, and the porter AGV is controlled to avoid the target vehicle according to the driving position; When it is detected that the target vehicle has driven to the vehicle hall entrance and a completion signal based on the driving instruction fed back by the target vehicle is received, the lift is controlled to lift the target vehicle to the vehicle hall door and open the vehicle hall door; A signal is sent to the target vehicle to indicate that the target vehicle is leaving the AGV-type stereoscopic garage.

[0010] According to a preferred embodiment of the present invention, after determining the vehicle type according to the vehicle information, the method further includes: When the vehicle type is the non-autonomous driving vehicle, searching for a second accessible path to the vehicle hall entrance, and dispatching the porter AGV to transport the target vehicle to the vehicle hall entrance based on the second accessible path; When it is detected that the target vehicle is transported to the vehicle hall entrance, the elevator is started to lift the target vehicle to the vehicle hall door, and the vehicle hall door is opened.

[0011] According to a preferred embodiment of the present invention, the step of dispatching the porter AGV to transport the target vehicle to the vehicle hall entrance based on the second reachable path includes: Obtaining the target AGV closest to the target vehicle from the porter AGV; The target AGV is controlled to transport the target vehicle to the vehicle hall entrance based on the second accessible path, and other transporter AGVs except the target AGV are controlled to avoid the second accessible path.

[0012] A dispatching device for an AGV-type stereoscopic garage, the dispatching device for the AGV-type stereoscopic garage comprising: A detection unit, configured to detect a vehicle type of the target vehicle in response to a parking request of the target vehicle to the AGV-type stereoscopic garage; An establishing unit, configured to establish a communication connection with a vehicle networking system of the target vehicle when the vehicle type is an autonomous driving vehicle; A sending unit, configured to send the entrance map of the AGV-type stereo garage to the target vehicle after successful connection, and send a first parking instruction to the target vehicle to park in the parking hall of the AGV-type stereo garage; a starting unit, configured to close the hall door and start the elevator to lift the target vehicle to a designated floor when a first parking completion signal fed back by the target vehicle based on the first parking instruction is detected; A control unit, configured to, after detecting that the target vehicle has arrived at the designated layer, send a second parking instruction to the target vehicle to park at the target parking space, allocate an automatic driving path to the target vehicle for driving to the target parking space, and control the porter AGV in the AGV-type stereoscopic parking garage to avoid the automatic driving path; The updating unit is used to update the number of remaining parking spaces in the AGV-type stereoscopic garage and record the parking information of the target vehicle when a second parking completion signal fed back by the target vehicle based on the second parking instruction is detected.

[0013] A computer device, comprising: a memory storing at least one instruction; and The processor executes the instructions stored in the memory to implement the scheduling method of the AGV-type three-dimensional parking garage.

[0014] A computer-readable storage medium stores at least one instruction, and the at least one instruction is executed by a processor in a computer device to implement the scheduling method of the AGV-type stereoscopic parking garage.

[0015] It can be seen from the above technical solutions that the present invention can establish a communication connection with the Internet of Vehicles system of the autonomous driving vehicle, and send the entrance map of the AGV-type stereoscopic garage to the target vehicle to assist the target vehicle to automatically park in the parking hall, thereby improving the parking efficiency; start the elevator to lift the target vehicle to the designated floor, plan the autonomous driving path, and control the porter AGV in the AGV-type stereoscopic garage to avoid the autonomous driving path, so as to assist the target vehicle to drive quickly and safely to the target parking space, thereby realizing the parking scheduling of the autonomous driving vehicle, improving the parking efficiency, as well as the safety and rationality of the parking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flow chart of a preferred embodiment of the dispatching method of the AGV type stereo garage of the present invention; Figure 2 It is a functional module diagram of a preferred embodiment of the dispatching device of the AGV type stereo garage of the present invention; Figure 3 It is a structural schematic diagram of a computer device of a preferred embodiment of the present invention for implementing the scheduling method of an AGV-type stereoscopic car park. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] like Figure 1 FIG. 1 is a flow chart of a preferred embodiment of the scheduling method of the AGV type stereoscopic parking garage of the present invention. According to different requirements, the order of the steps in the flow chart can be changed, and some steps can be omitted.

[0019] The scheduling method of the AGV-type stereoscopic parking garage is applied to one or more computer devices, which are devices that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and their hardware includes but is not limited to microprocessors, application specific integrated circuits (ASICs), programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0020] The computer device may be any electronic product that can perform human-computer interaction with a user, such as a personal computer, a tablet computer, a smart phone, a personal digital assistant (PDA), a game console, an interactive network television (IPTV), a smart wearable device, etc.

[0021] The computer device may also include a network device and / or a user device, wherein the network device includes, but is not limited to, a single network server, a server group consisting of multiple network servers, or a cloud consisting of a large number of hosts or network servers based on cloud computing.

[0022] The server can be an independent server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDN), as well as big data and artificial intelligence platforms.

[0023] Among them, Artificial Intelligence (AI) is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results.

[0024] AI basic technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, mechatronics, etc. AI software technologies mainly include computer vision technology, robotics technology, biometrics technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0025] The network where the computer device is located includes but is not limited to the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (VPN), etc.

[0026] This embodiment can be applied to an AGV (Automated Guided Vehicle) type stereoscopic garage, and can be specifically implemented through a dispatching system of the AGV type stereoscopic garage.

[0027] S10, in response to a parking request of a target vehicle to the AGV-type three-dimensional garage, detecting the vehicle type of the target vehicle.

[0028] In this embodiment, the AGV-type three-dimensional parking garage may include a parking hall (i.e., an entrance and exit), an elevator, a porter AGV, etc., and the garage may be divided into automatic parking spaces and mechanical parking spaces.

[0029] In this embodiment, the target vehicle is a vehicle that has a parking demand, such as a vehicle of a user shopping in a mall.

[0030] In this embodiment, when it is detected that the target vehicle enters the parking lot of the AGV-type three-dimensional parking garage, it is determined that the parking request is received.

[0031] In this embodiment, the vehicle type of the target vehicle may be detected by a vehicle identification, a vehicle model, and the like.

[0032] Specifically, the vehicle types may include autonomous driving vehicles and non-autonomous driving vehicles.

[0033] S11, when the vehicle type is an autonomous driving vehicle, establishing a communication connection with the Internet of Vehicles system of the target vehicle.

[0034] In this embodiment, a communication handshake may be established with the Internet of Vehicles system using communication technology to achieve a communication connection with the Internet of Vehicles system of the target vehicle.

[0035] S12, after successful connection, sending the entrance map of the AGV-type stereoscopic garage to the target vehicle, and sending the first parking instruction to the target vehicle to park in the parking hall of the AGV-type stereoscopic garage.

[0036] In this embodiment, the entrance map of the AGV-type three-dimensional garage can be imported into the target vehicle through the Internet of Vehicles technology.

[0037] S13, when a first parking completion signal fed back by the target vehicle based on the first parking instruction is detected, the vehicle hall door is closed, and the elevator is started to lift the target vehicle to a designated floor.

[0038] In this embodiment, the target vehicle automatically drives to the parking hall based on the first parking instruction, and after parking, the Internet of Vehicles system and the scheduling system of the AGV-type multi-story parking garage shake hands through a protocol to inform the AGV-type multi-story parking garage that the target vehicle has been parked.

[0039] Furthermore, before closing the hall door, the method further includes: Activating a sensor device in the vehicle hall to detect whether the target vehicle has a collision risk; When there is no collision risk with the target vehicle, the vehicle hall door is closed.

[0040] Through the above-mentioned embodiment, it is possible to ensure that the vehicle hall door is closed under safe conditions, so as to avoid unnecessary safety problems in the parking process caused by the target vehicle not being parked properly.

[0041] S14, after detecting that the target vehicle arrives at the designated layer, sends a second parking instruction to the target vehicle to park at the target parking space, allocates an automatic driving path to the target vehicle to drive to the target parking space, and controls the porter AGV in the AGV-type stereoscopic garage to avoid the automatic driving path.

[0042] In this embodiment, after detecting that the target vehicle arrives at the designated layer, the corresponding sensor device may be activated to detect again whether there is a safety problem, and after confirming that there is no safety problem, the second parking instruction to park at the target parking space is sent to the target vehicle.

[0043] The second parking instruction may be an automatic parking handshake sent to the target vehicle.

[0044] In the above embodiment, a reasonable driving path is assigned to the target vehicle, and the AGV in the warehouse is controlled to avoid, so as to free up a route for the autonomous driving vehicle to drive safely, which can assist the autonomous driving vehicle to drive to the designated location quickly and safely.

[0045] S15, when a second parking completion signal fed back by the target vehicle based on the second parking instruction is detected, the number of remaining parking spaces in the AGV-type stereoscopic garage is updated, and the parking information of the target vehicle is recorded.

[0046] In this embodiment, updating the number of remaining parking spaces in the AGV-type three-dimensional garage and recording the parking information of the target vehicle includes: Obtaining the current number of remaining parking spaces in the AGV-type stereoscopic garage, and subtracting one from the current number of remaining parking spaces to update the number of remaining parking spaces in the AGV-type stereoscopic garage; The communication information, vehicle information and the target parking space of the target vehicle are recorded as the parking information.

[0047] The communication information may include a device communication ID and the like.

[0048] The vehicle information may include license plate information and the like.

[0049] Through the above-mentioned embodiments, relevant parking information can be recorded after parking is completed to assist in subsequent quick retrieval.

[0050] In this embodiment, after detecting the vehicle type of the target vehicle, the method further includes: When the vehicle type is a non-autonomous driving vehicle, detecting the position information of the target vehicle in real time, and guiding the driver of the target vehicle to drive the target vehicle to a designated location according to the position information; When it is detected that the target vehicle has driven to the designated location and a parking confirmation signal for the target vehicle is received, a first accessible path to the target parking space is searched, and the porter AGV is dispatched to transport the target vehicle to the target parking space based on the first accessible path.

[0051] When it is detected that a parking signal based on the license plate information is received on the designated touch screen, it can be determined that the parking confirmation signal is received.

[0052] Through the above embodiments, for non-autonomous driving vehicles, the target vehicle can be automatically transported in combination with the reasonable scheduling of AGV, thereby assisting in reasonable parking.

[0053] In this embodiment, the method further includes: When receiving a pick-up request for the target vehicle, parsing the pick-up request to obtain the vehicle information; Determine the vehicle type according to the vehicle information; When the vehicle type is the autonomous driving vehicle, parsing the vehicle pickup request to obtain the communication information, and establishing a communication connection with the vehicle networking system of the target vehicle according to the communication information; After successful connection, a driving instruction is sent to the target vehicle to drive to the hall entrance; During the driving process of the target vehicle, the driving position of the target vehicle is collected in real time, and the porter AGV is controlled to avoid the target vehicle according to the driving position; When it is detected that the target vehicle has driven to the vehicle hall entrance and a completion signal based on the driving instruction fed back by the target vehicle is received, the lift is controlled to lift the target vehicle to the vehicle hall door and open the vehicle hall door; A signal is sent to the target vehicle to indicate that the target vehicle is leaving the AGV-type stereoscopic garage.

[0054] The vehicle pickup request may be triggered by the driver inputting license plate information on the designated touch screen.

[0055] Among them, by collecting the position of the autonomous driving vehicle in real time and dispatching the AGV to avoid it, a path and space can be freed up for the autonomous driving vehicle to travel safely and quickly to the vehicle hall entrance.

[0056] Among them, the completion signal based on the driving instruction can be realized through the handshake between the Internet of Vehicles system and the dispatching system.

[0057] Among them, after confirming that there is no safety risk through the sensor device, the elevator can be controlled to lift the target vehicle to the vehicle hall door, and after confirming that there is no safety risk, the vehicle hall door can be opened to assist the vehicle to safely leave the garage.

[0058] In this embodiment, after determining the vehicle type according to the vehicle information, the method further includes: When the vehicle type is the non-autonomous driving vehicle, searching for a second accessible path to the vehicle hall entrance, and dispatching the porter AGV to transport the target vehicle to the vehicle hall entrance based on the second accessible path; When it is detected that the target vehicle is transported to the vehicle hall entrance, the elevator is started to lift the target vehicle to the vehicle hall door, and the vehicle hall door is opened.

[0059] The step of dispatching the porter AGV to transport the target vehicle to the vehicle hall entrance based on the second reachable path includes: Obtaining the target AGV closest to the target vehicle from the porter AGV; The target AGV is controlled to transport the target vehicle to the vehicle hall entrance based on the second accessible path, and other transporter AGVs except the target AGV are controlled to avoid the second accessible path.

[0060] Through the above embodiments, for non-autonomous driving vehicles, an accessible path can be automatically planned, and the non-autonomous driving vehicle can be transported to the vehicle hall door through reasonable scheduling of the AGV, so that the non-autonomous driving vehicle can leave the garage more quickly.

[0061] This embodiment configures a reasonable AGV-type three-dimensional parking garage scheduling plan for autonomous driving vehicles and non-autonomous driving vehicles, so that different types of vehicles can park and pick up vehicles quickly and safely.

[0062] It can be seen from the above technical solutions that the present invention can establish a communication connection with the Internet of Vehicles system of the autonomous driving vehicle, and send the entrance map of the AGV-type stereoscopic garage to the target vehicle to assist the target vehicle to automatically park in the parking hall, thereby improving the parking efficiency; start the elevator to lift the target vehicle to the designated floor, plan the autonomous driving path, and control the porter AGV in the AGV-type stereoscopic garage to avoid the autonomous driving path, so as to assist the target vehicle to drive quickly and safely to the target parking space, thereby realizing the parking scheduling of the autonomous driving vehicle, improving the parking efficiency, as well as the safety and rationality of the parking process.

[0063] like Figure 2 As shown, it is a functional module diagram of a preferred embodiment of the scheduling device of the AGV-type stereo garage of the present invention. The scheduling device 11 of the AGV-type stereo garage includes a detection unit 110, an establishment unit 111, a sending unit 112, a startup unit 113, a control unit 114, and an update unit 115. The module / unit referred to in the present invention refers to a series of computer program segments that can be executed by a processor and can complete fixed functions, which are stored in a memory. In this embodiment, the functions of each module / unit will be described in detail in subsequent embodiments.

[0064] The detection unit 110 is used to detect the vehicle type of the target vehicle in response to the parking request of the target vehicle to the AGV-type stereo garage; The establishing unit 111 is used to establish a communication connection with the Internet of Vehicles system of the target vehicle when the vehicle type is an autonomous driving vehicle; The sending unit 112 is used to send the entrance map of the AGV-type stereo garage to the target vehicle after successful connection, and send a first parking instruction to the target vehicle to park in the parking hall of the AGV-type stereo garage; The starting unit 113 is used to close the vehicle hall door and start the elevator to lift the target vehicle to a designated floor when detecting a first parking completion signal fed back by the target vehicle based on the first parking instruction; The control unit 114 is used to send a second parking instruction to the target vehicle to park at the target parking space after detecting that the target vehicle has arrived at the designated layer, and to allocate an automatic driving path to the target vehicle to drive to the target parking space, and to control the porter AGV in the AGV-type stereoscopic parking garage to avoid the automatic driving path; The updating unit 115 is used to update the number of remaining parking spaces in the AGV-type stereoscopic garage and record the parking information of the target vehicle when detecting the second parking completion signal fed back by the target vehicle based on the second parking instruction.

[0065] It can be seen from the above technical solutions that the present invention can establish a communication connection with the Internet of Vehicles system of the autonomous driving vehicle, and send the entrance map of the AGV-type stereoscopic garage to the target vehicle to assist the target vehicle to automatically park in the parking hall, thereby improving the parking efficiency; start the elevator to lift the target vehicle to the designated floor, plan the autonomous driving path, and control the porter AGV in the AGV-type stereoscopic garage to avoid the autonomous driving path, so as to assist the target vehicle to drive quickly and safely to the target parking space, thereby realizing the parking scheduling of the autonomous driving vehicle, improving the parking efficiency, as well as the safety and rationality of the parking process.

[0066] like Figure 3 FIG. 1 is a schematic diagram of the structure of a computer device of a preferred embodiment of the scheduling method for an AGV-type stereoscopic car park according to the present invention.

[0067] The computer device 1 may include a memory 12, a processor 13 and a bus, and may also include a computer program stored in the memory 12 and executable on the processor 13, such as a scheduling program for an AGV-type stereoscopic parking garage.

[0068] Those skilled in the art will appreciate that the schematic diagram is merely an example of the computer device 1 and does not constitute a limitation on the computer device 1. The computer device 1 may be a bus-type structure or a star-type structure. The computer device 1 may also include more or less other hardware or software than shown in the diagram, or a different arrangement of components. For example, the computer device 1 may also include input and output devices, network access devices, etc.

[0069] It should be noted that the computer device 1 is only an example, and other existing or future electronic products that are suitable for the present invention should also be included in the protection scope of the present invention and included here by reference.

[0070] The memory 12 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a mobile hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. In some embodiments, the memory 12 may be an internal storage unit of the computer device 1, such as a mobile hard disk of the computer device 1. In other embodiments, the memory 12 may also be an external storage device of the computer device 1, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the computer device 1. Further, the memory 12 may also include both an internal storage unit and an external storage device of the computer device 1. The memory 12 may not only be used to store application software and various types of data installed in the computer device 1, such as the code of the scheduling program of the AGV-type stereo garage, etc., but also be used to temporarily store data that has been output or is to be output.

[0071] In some embodiments, the processor 13 may be composed of an integrated circuit, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and combinations of various control chips. The processor 13 is the control core (Control Unit) of the computer device 1, and uses various interfaces and lines to connect various components of the entire computer device 1, and executes various functions and processes data of the computer device 1 by running or executing programs or modules stored in the memory 12 (for example, executing the scheduling program of the AGV-type stereoscopic parking garage, etc.), and calling data stored in the memory 12.

[0072] The processor 13 executes the operating system of the computer device 1 and various installed applications. The processor 13 executes the applications to implement the steps in the above-mentioned scheduling method embodiments of the AGV-type stereoscopic parking garage, for example Figure 1 Steps shown.

[0073] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory 12 and executed by the processor 13 to implement the present invention. The one or more modules / units may be a series of computer-readable instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the computer device 1. For example, the computer program may be divided into a detection unit 110, a creation unit 111, a sending unit 112, a startup unit 113, a control unit 114, and an update unit 115.

[0074] The above-mentioned integrated unit implemented in the form of a software function module can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, and includes a number of instructions for enabling a computer device (which can be a personal computer, a computer device, or a network device, etc.) or a processor to execute the part of the scheduling method of the AGV-type stereoscopic parking garage described in each embodiment of the present invention.

[0075] If the module / unit integrated in the computer device 1 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware devices through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of each of the above-mentioned method embodiments can be implemented.

[0076] The computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory, etc.

[0077] Furthermore, the computer-readable storage medium may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the blockchain node, etc.

[0078] The blockchain referred to in this invention is a new application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanism, encryption algorithm, etc. Blockchain is essentially a decentralized database, a string of data blocks generated by cryptographic methods. Each data block contains a batch of network transaction information, which is used to verify the validity of its information (anti-counterfeiting) and generate the next block. Blockchain can include the blockchain underlying platform, platform product service layer, and application service layer.

[0079] The bus can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 The bus is represented by only one straight line, but it does not mean that there is only one bus or one type of bus. The bus is configured to realize the connection and communication between the memory 12 and at least one processor 13, etc.

[0080] Although not shown, the computer device 1 may also include a power source (such as a battery) for supplying power to various components. Preferably, the power source may be logically connected to the at least one processor 13 through a power management device, so that the power management device can realize functions such as charging management, discharging management, and power consumption management. The power source may also include any components such as one or more DC or AC power sources, recharging devices, power failure detection circuits, power converters or inverters, and power status indicators. The computer device 1 may also include a variety of sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be repeated here.

[0081] Furthermore, the computer device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is usually used to establish a communication connection between the computer device 1 and other computer devices.

[0082] Optionally, the computer device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), or a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device. The display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the computer device 1 and to display a visual user interface.

[0083] It should be understood that the embodiment is for illustration only and the scope of the patent application is not limited to this structure.

[0084] It can be understood by those skilled in the art that Figure 3 The structure shown does not constitute a limitation on the computer device 1, and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0085] Combination Figure 1 The memory 12 in the computer device 1 stores a plurality of instructions to implement a scheduling method for an AGV-type stereoscopic parking garage, and the processor 13 can execute the plurality of instructions to implement: In response to a parking request of a target vehicle to the AGV-type stereoscopic garage, detecting a vehicle type of the target vehicle; When the vehicle type is an autonomous driving vehicle, establishing a communication connection with the Internet of Vehicles system of the target vehicle; After successful connection, the entrance map of the AGV-type stereoscopic garage is sent to the target vehicle, and a first parking instruction for parking in the parking hall of the AGV-type stereoscopic garage is sent to the target vehicle; When a first parking completion signal fed back by the target vehicle based on the first parking instruction is detected, the vehicle hall door is closed, and the elevator is started to lift the target vehicle to a designated floor; After detecting that the target vehicle has arrived at the designated layer, a second parking instruction is sent to the target vehicle to park at the target parking space, and an automatic driving path for driving to the target parking space is allocated to the target vehicle, and the porter AGV in the AGV-type stereoscopic parking garage is controlled to avoid the automatic driving path; When a second parking completion signal fed back by the target vehicle based on the second parking instruction is detected, the number of remaining parking spaces in the AGV-type stereoscopic garage is updated, and the parking information of the target vehicle is recorded.

[0086] Specifically, the specific implementation method of the processor 13 for the above instructions can refer to Figure 1 The description of the relevant steps in the corresponding embodiments will not be repeated here.

[0087] It should be noted that the data involved in this case were all obtained legally.

[0088] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

[0089] The present invention can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present invention can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present invention can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0090] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0091] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0092] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0093] Therefore, no matter from which point of view, the embodiments should be regarded as illustrative and non-restrictive, and the scope of the present invention is limited by the appended claims rather than the above description, so it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any attached figure mark in the claims should not be regarded as limiting the claims involved.

[0094] In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the present invention can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A dispatching method for an AGV-type stereo garage, characterized in that: The dispatching method of the AGV type stereo garage includes: In response to a parking request of a target vehicle to the AGV-type stereoscopic garage, detecting a vehicle type of the target vehicle; When the vehicle type is an autonomous driving vehicle, establishing a communication connection with the Internet of Vehicles system of the target vehicle; After successful connection, the entrance map of the AGV-type stereoscopic garage is sent to the target vehicle, and a first parking instruction for parking in the parking hall of the AGV-type stereoscopic garage is sent to the target vehicle; When a first parking completion signal fed back by the target vehicle based on the first parking instruction is detected, the vehicle hall door is closed, and the elevator is started to lift the target vehicle to a designated floor; After detecting that the target vehicle has arrived at the designated layer, a second parking instruction is sent to the target vehicle to park at the target parking space, and an automatic driving path for driving to the target parking space is allocated to the target vehicle, and the porter AGV in the AGV-type stereoscopic parking garage is controlled to avoid the automatic driving path; When a second parking completion signal fed back by the target vehicle based on the second parking instruction is detected, the number of remaining parking spaces in the AGV-type stereoscopic garage is updated, and the parking information of the target vehicle is recorded.

2. The dispatching method of the AGV type stereo garage as claimed in claim 1, characterized in that: Before closing the hall door, the method further comprises: Activating a sensor device in the vehicle hall to detect whether the target vehicle has a collision risk; When there is no collision risk with the target vehicle, the vehicle hall door is closed.

3. The dispatching method of the AGV type stereo garage as claimed in claim 1, characterized in that: The updating of the number of remaining parking spaces in the AGV-type three-dimensional garage and recording the parking information of the target vehicle includes: Obtaining the current number of remaining parking spaces in the AGV-type stereoscopic garage, and subtracting one from the current number of remaining parking spaces to update the number of remaining parking spaces in the AGV-type stereoscopic garage; The communication information, vehicle information and the target parking space of the target vehicle are recorded as the parking information.

4. The dispatching method of the AGV type stereo garage as claimed in claim 3, characterized in that: After detecting the vehicle type of the target vehicle, the method further includes: When the vehicle type is a non-autonomous driving vehicle, detecting the position information of the target vehicle in real time, and guiding the driver of the target vehicle to drive the target vehicle to a designated location according to the position information; When it is detected that the target vehicle has driven to the designated location and a parking confirmation signal for the target vehicle is received, a first accessible path to the target parking space is searched, and the porter AGV is dispatched to transport the target vehicle to the target parking space based on the first accessible path.

5. The dispatching method of the AGV type stereo garage as claimed in claim 4, characterized in that: The method further comprises: When receiving a pick-up request for the target vehicle, parsing the pick-up request to obtain the vehicle information; Determine the vehicle type according to the vehicle information; When the vehicle type is the autonomous driving vehicle, parsing the vehicle pickup request to obtain the communication information, and establishing a communication connection with the Internet of Vehicles system of the target vehicle according to the communication information; After successful connection, a driving instruction is sent to the target vehicle to drive to the hall entrance; During the driving process of the target vehicle, the driving position of the target vehicle is collected in real time, and the porter AGV is controlled to avoid the target vehicle according to the driving position; When it is detected that the target vehicle has driven to the vehicle hall entrance and a completion signal based on the driving instruction fed back by the target vehicle is received, the lift is controlled to lift the target vehicle to the vehicle hall door and open the vehicle hall door; A signal is sent to the target vehicle to indicate that the target vehicle is leaving the AGV-type stereoscopic garage.

6. The dispatching method of the AGV type stereo garage as claimed in claim 5, characterized in that: After determining the vehicle type according to the vehicle information, the method further includes: When the vehicle type is the non-autonomous driving vehicle, searching for a second accessible path to the vehicle hall entrance, and dispatching the porter AGV to transport the target vehicle to the vehicle hall entrance based on the second accessible path; When it is detected that the target vehicle is transported to the vehicle hall entrance, the elevator is started to lift the target vehicle to the vehicle hall door, and the vehicle hall door is opened.

7. The dispatching method of the AGV type stereo garage as claimed in claim 6, characterized in that: The step of dispatching the porter AGV to transport the target vehicle to the vehicle hall entrance based on the second reachable path includes: Obtaining the target AGV closest to the target vehicle from the porter AGV; The target AGV is controlled to transport the target vehicle to the vehicle hall entrance based on the second accessible path, and other transporter AGVs except the target AGV are controlled to avoid the second accessible path.

8. A dispatching device for an AGV-type stereo garage, characterized in that: The dispatching device of the AGV type three-dimensional parking garage includes: A detection unit, configured to detect a vehicle type of the target vehicle in response to a parking request of the target vehicle to the AGV-type stereoscopic garage; An establishing unit, configured to establish a communication connection with a vehicle networking system of the target vehicle when the vehicle type is an autonomous driving vehicle; A sending unit, configured to send the entrance map of the AGV-type stereo garage to the target vehicle after successful connection, and send a first parking instruction to the target vehicle to park in the parking hall of the AGV-type stereo garage; a starting unit, configured to close the hall door and start the elevator to lift the target vehicle to a designated floor when a first parking completion signal fed back by the target vehicle based on the first parking instruction is detected; A control unit, configured to, after detecting that the target vehicle has arrived at the designated layer, send a second parking instruction to the target vehicle to park at the target parking space, allocate an automatic driving path to the target vehicle for driving to the target parking space, and control the porter AGV in the AGV-type stereoscopic parking garage to avoid the automatic driving path; The updating unit is used to update the number of remaining parking spaces in the AGV-type stereoscopic garage and record the parking information of the target vehicle when a second parking completion signal fed back by the target vehicle based on the second parking instruction is detected.

9. A computer device, characterized in that: The computer device comprises: a memory storing at least one instruction; and A processor executes instructions stored in the memory to implement the scheduling method for the AGV-type stereoscopic parking garage as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction, and the at least one instruction is executed by a processor in a computer device to implement the scheduling method for an AGV-type stereoscopic parking garage as described in any one of claims 1 to 7.

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