Control method, system, equipment and medium for vehicle-carrying plate-type AGV stereo garage

Abstract

The present invention provides a control method, system, equipment and medium for a vehicle-carrying plate type AGV stereoscopic garage, including: a scheduling system generates a parking scheduling instruction according to a parking request or detects whether there is a first vehicle-carrying plate in an elevator according to a vehicle pickup request, and if not, generates a vehicle pickup scheduling instruction, and sends the parking scheduling instruction or the vehicle pickup scheduling instruction to an electrical control system and a first AGV trolley; the electrical control system controls the elevator to run from the ground to the underground garage layer according to the parking scheduling instruction or controls the elevator to run from the underground garage layer to the ground according to the vehicle pickup scheduling instruction; the first AGV trolley moves the second vehicle-carrying plate and the target vehicle from the elevator to the first parking space according to the parking scheduling instruction or moves the second vehicle-carrying plate and the target vehicle from the first parking space to the elevator according to the vehicle pickup scheduling instruction, thereby realizing automatic storage and retrieval of vehicles and improving parking or vehicle pickup efficiency.

Description

Technical Field

[0001] The present application relates to the field of intelligent garage technology, and in particular to a control method, system, equipment and medium for a vehicle-carrying plate-type AGV stereo garage. Background Art

[0002] With the development of economy, people's living standard is getting higher and higher, the number of cars is increasing, and the parking problem is becoming more and more prominent. Traditional flat parking lots occupy a large area and have low parking efficiency, which can hardly meet the parking needs of modern cities.

[0003] Among them, multi-story parking garages, as an efficient parking method, can greatly increase the number of parking spaces per unit area. However, in actual use, although multi-story parking garages can solve the problem of space utilization very well, for special-shaped multi-story parking garages or large multi-story parking garages, due to the complex terrain, the time spent by users in the process of parking and picking up cars becomes more and more prominent, resulting in low parking or picking up efficiency, which in turn affects the user experience. Summary of the invention

[0004] The embodiments of the present application provide a control method, system, device and medium for a vehicle-carrying plate-type AGV stereoscopic parking garage, aiming to solve the problem of low parking or vehicle retrieval efficiency existing in the prior art methods.

[0005] In the first aspect, an embodiment of the present application provides a control method for a vehicle-carrying plate-type AGV stereoscopic garage, which is applied to a control system of a vehicle-carrying plate-type AGV stereoscopic garage, wherein the system includes a lift, a dispatching system, an electrical control system, and multiple AGV trolleys, wherein the dispatching system is connected to the electrical control system and the multiple AGV trolleys, and the electrical control system is connected to the lift, and the method includes:

[0006] If the dispatching system receives a parking request or a pick-up request, it generates a parking dispatching instruction according to the parking request or detects whether there is a first vehicle loading plate in the elevator according to the pick-up request to obtain a detection result;

[0007] If the detection result is that the first vehicle loading plate is not in the elevator, the dispatching system generates a vehicle pickup dispatching instruction, and sends the vehicle storage dispatching instruction or the vehicle pickup dispatching instruction to the electrical control system and the first AGV trolley among the multiple AGV trolleys;

[0008] The electrical control system controls the elevator to run from the ground to the underground garage layer according to the parking scheduling instruction or controls the elevator to run from the underground garage layer to the ground according to the picking-up scheduling instruction;

[0009] The first AGV trolley moves to the elevator according to the parking scheduling instruction, and moves the second loading plate and the target vehicle from the elevator to the first parking space, or moves to the first parking space according to the vehicle picking scheduling instruction, and moves the second loading plate and the target vehicle from the first parking space to the elevator.

[0010] In a second aspect, an embodiment of the present application provides a control system for a vehicle-carrying plate-type AGV stereoscopic parking garage, the system comprising a lift, a dispatching system, an electrical control system, and a plurality of AGV trolleys, the dispatching system is connected to the electrical control system and the plurality of AGV trolleys, and the electrical control system is connected to the lift;

[0011] The dispatching system is used for, if receiving a parking request or a pick-up request, generating a parking dispatching instruction according to the parking request or detecting whether there is a first vehicle loading plate in the elevator according to the pick-up request to obtain a detection result;

[0012] The dispatching system is further configured to generate a vehicle pickup dispatching instruction if the detection result shows that the first vehicle loading plate is not in the elevator, and to send the vehicle storage dispatching instruction or the vehicle pickup dispatching instruction to the electrical control system and the first AGV trolley among the multiple AGV trolleys;

[0013] The electrical control system is used to control the elevator to run from the ground to the underground garage layer according to the parking scheduling instruction or to control the elevator to run from the underground garage layer to the ground according to the picking up scheduling instruction;

[0014] The first AGV trolley is used to move to the elevator according to the car storage scheduling instruction, and move the second car loading plate and the target vehicle from the elevator to the first parking space, or to move to the first parking space according to the car retrieval scheduling instruction, and move the second car loading plate and the target vehicle from the first parking space to the elevator.

[0015] In the third aspect, an embodiment of the present application further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, it implements the control method of the vehicle-carrying plate-type AGV multi-story parking garage described in the first aspect above.

[0016] In a fourth aspect, an embodiment of the present application further provides a storage medium, wherein the storage medium stores a computer program, the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the control method of the vehicle-carrying plate-type AGV multi-story parking garage described in the first aspect above.

[0017] The present invention provides a control method, system, equipment and medium for a vehicle-carrying plate type AGV stereoscopic garage, including: a scheduling system generates a parking scheduling instruction according to a parking request or detects whether there is a first vehicle-carrying plate in an elevator according to a vehicle pickup request, and if not, generates a vehicle pickup scheduling instruction, and sends the parking scheduling instruction or the vehicle pickup scheduling instruction to an electrical control system and a first AGV trolley; the electrical control system controls the elevator to run from the ground to the underground garage layer according to the parking scheduling instruction or controls the elevator to run from the underground garage layer to the ground according to the vehicle pickup scheduling instruction; the first AGV trolley moves the second vehicle-carrying plate and the target vehicle from the elevator to the first parking space according to the parking scheduling instruction or moves the second vehicle-carrying plate and the target vehicle from the first parking space to the elevator according to the vehicle pickup scheduling instruction, thereby realizing automatic storage and retrieval of vehicles and improving parking or vehicle pickup efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 A schematic diagram of an application scenario of a control method for a vehicle-carrying plate-type AGV stereoscopic garage provided by an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of a control method for a vehicle-carrying plate-type AGV stereo garage provided in an embodiment of the present application;

[0021] Figure 3 A schematic block diagram of a control system for a vehicle-carrying plate-type AGV stereo garage provided in an embodiment of the present application;

[0022] Figure 4 A schematic block diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0025] It should also be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0026] It should be further understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0027] See also Figure 1 and 2 , Figure 1 A schematic diagram of an application scenario of a control method for a vehicle-carrying plate-type AGV stereoscopic garage provided by an embodiment of the present invention; Figure 2 A flow chart of a control method for a plate-type AGV stereo garage provided in an embodiment of the present invention; the control method for a plate-type AGV stereo garage is applied to a control system for a plate-type AGV stereo garage; wherein the system includes a dispatching system, an electrical control system, multiple AGV trolleys and an elevator, the dispatching system is connected to the electrical control system and the multiple AGV trolleys, and the electrical control system is connected to the elevator. In addition, the multiple AGV trolleys in this embodiment are not limited to the first AGV trolley and the second AGV trolley, and the user can set the number of AGV trolleys according to actual needs.

[0028] like Figure 2 As shown, the method includes steps S110 to S140.

[0029] S110: If the dispatching system receives a parking request or a pick-up request, it generates a parking dispatching instruction according to the parking request or detects whether there is a first vehicle loading plate in the elevator according to the pick-up request to obtain a detection result.

[0030] In this embodiment, before the dispatching system receives a parking request or a pick-up request, when the user drives the target vehicle to the entrance of the car hall of the stereo garage, if the electrical control system detects a ground sensing signal at the entrance of the car hall, it controls the car hall door of the stereo garage to open; at the same time, the car hall guidance and indication system in the electrical control system guides and instructs the user to enter the car hall until the target vehicle is placed; at this time, the license plate number of the target vehicle is identified by the recognition camera in the car hall guidance and indication system, and the parking position of the target vehicle is detected by the detection switches of the car hall length, width, height, extra width, etc. in the car hall guidance and indication system. If it is detected that the parking position of the target vehicle does not exceed the preset parking area, a first prompt message is generated; wherein, the first prompt message is used to prompt that the target vehicle is parked OK; if it is detected that the parking position of the target vehicle exceeds the preset parking area, a second prompt message is generated; wherein, the second prompt message is used to prompt the user to adjust the parking position of the target vehicle.

[0031] In addition, the system also includes an operation screen, which is arranged at the entrance of the car hall of the three-dimensional car park and is connected to the dispatching system. After the target vehicle is parked, the user can click the parking button or the pick-up button on the operation screen so that the dispatching system receives a parking request or a pick-up request. Wherein, if the dispatching system receives a parking request, it generates a parking dispatching instruction for controlling the electrical control system or the corresponding first AGV trolley according to the parking request; or if the dispatching system receives a pick-up request, it detects whether there is a first vehicle loading plate in the elevator according to the pick-up request to ensure that there is no first vehicle loading plate in the car hall when picking up the vehicle, thereby preparing for the corresponding first AGV trolley to enter the car hall.

[0032] In one embodiment, generating a parking dispatch instruction according to the parking request includes:

[0033] The dispatching system obtains an available parking space in the stereo garage according to the parking request;

[0034] The dispatching system screens the vacant parking spaces according to the vehicle information in the parking request to determine the first parking space;

[0035] The dispatching system generates the parking dispatching instruction according to the first parking space.

[0036] In this embodiment, the dispatching system includes a database for storing vehicle information, parking space information, user information and other data; and in order to obtain the vacant parking space of the AGV-type three-dimensional garage, the dispatching system obtains the vacant parking space from the database according to the parking request; and parses the parking request to obtain the vehicle information of the target vehicle; the dispatching system also screens the vacant parking space according to the size information in the vehicle information to obtain the first parking space that meets the target vehicle; wherein the size information in the vehicle information includes the size information such as the length, width and height of the target vehicle. Thus, the dispatching system can generate a parking dispatching instruction for controlling the electrical control system and the corresponding first AGV trolley according to the first parking space, and then send the generated parking dispatching instruction to the electrical control system and the corresponding first AGV trolley.

[0037] S120. If the detection result is that the first vehicle loading plate is not in the elevator, the dispatching system generates a vehicle pickup dispatching instruction, and sends the vehicle storage dispatching instruction or the vehicle pickup dispatching instruction to the electrical control system and the first AGV trolley among the multiple AGV trolleys.

[0038] In this embodiment, after the dispatching system detects whether there is a first vehicle loading plate in the elevator according to the vehicle pickup request, if the detection result is that there is no first vehicle loading plate in the elevator, the dispatching system directly generates a vehicle pickup dispatching instruction, and sends the vehicle storage dispatching instruction or the vehicle pickup dispatching instruction to the electrical control system and the first AGV trolley among the multiple AGV trolleys, so that the electrical control system and the corresponding first AGV trolley perform subsequent operations according to the vehicle storage dispatching instruction or the vehicle pickup dispatching instruction. Among them, the dispatching system generates the vehicle pickup dispatching instruction including: the dispatching system obtains the first parking space corresponding to the target vehicle from the database; and generates the vehicle pickup dispatching instruction according to the first parking space.

[0039] S130, the electrical control system controls the elevator to run from the ground to the underground garage layer according to the parking scheduling instruction, or controls the elevator to run from the underground garage layer to the ground according to the picking up scheduling instruction.

[0040] In this embodiment, the electrical control system includes a PLC controller. After receiving the parking scheduling instruction or the pickup scheduling instruction, the PLC controller in the electrical control system controls the elevator to run from the ground to the underground garage layer according to the parking scheduling instruction, or controls the elevator to run from the underground garage layer to the ground according to the pickup scheduling instruction, so as to prepare for the corresponding first AGV to enter the car hall for parking or pickup. The PLC controller can also be used to control the closing of the car hall door and the opening of the garage door of the underground garage layer according to the parking scheduling instruction, or to control the closing of the garage door of the underground garage layer and the opening of the car hall door according to the pickup scheduling instruction.

[0041] S140, the first AGV trolley moves to the elevator according to the vehicle storage scheduling instruction, and moves the second vehicle loading plate and the target vehicle from the elevator to the first parking space, or moves to the first parking space according to the vehicle retrieval scheduling instruction, and moves the second vehicle loading plate and the target vehicle from the first parking space to the elevator.

[0042] In this embodiment, each of the multiple AGVs includes a navigation and positioning system, a controller, and a hydraulic lifting mechanism, and the controller is connected to the navigation and positioning system and the hydraulic lifting mechanism. After the dispatching system sends the parking dispatching instruction or the picking-up dispatching instruction to the electrical control system and the corresponding first AGV trolley, the navigation and positioning system in the first AGV trolley receives the parking dispatching instruction and sends the parking dispatching instruction to the controller, and the controller controls the motor on the first AGV trolley to rotate and advance, so that the first AGV trolley moves to the elevator, and moves the second vehicle loading plate and the target vehicle from the elevator to the first parking space; wherein the controller can also be used to control the hydraulic lifting mechanism to lift the second vehicle loading plate and the target vehicle to a certain height, so as to store the second vehicle loading plate and the target vehicle in the first parking space; in addition, after the navigation and positioning system in the first AGV trolley receives the picking-up dispatching instruction, it sends the picking-up dispatching instruction to the controller, and the controller controls the motor to rotate and advance, so that the first AGV trolley moves to the first parking space, and moves the second vehicle loading plate and the target vehicle from the first parking space to the elevator; wherein the controller can also be used to control the hydraulic lifting mechanism to lift the second vehicle loading plate and the target vehicle to a certain height, so as to take the second vehicle loading plate and the target vehicle out of the first parking space.

[0043] In one embodiment, after step S110 and before step S140, the method further includes:

[0044] If the detection result is that the first vehicle loading plate is in the elevator, the dispatching system generates a plate removal instruction and a vehicle pickup dispatching instruction, and sends the plate removal instruction to the electrical control system and the second AGV trolley among the multiple AGV trolleys, and sends the vehicle pickup dispatching instruction to the first AGV trolley;

[0045] The electrical control system controls the lift to move to the underground garage level according to the vehicle plate removal instruction;

[0046] The second AGV trolley moves to the elevator according to the vehicle plate removal instruction, and moves the first vehicle loading plate from the elevator to the second parking space.

[0047] In this embodiment, after the dispatching system detects whether there is a first vehicle loading plate in the elevator according to the vehicle pickup request, if the detection result is that there is the first vehicle loading plate in the elevator, the dispatching system directly generates a vehicle loading plate removal instruction and the vehicle pickup scheduling instruction, and sends the vehicle loading plate removal instruction to the electrical control system and the corresponding second AGV trolley, and sends the vehicle pickup scheduling instruction to the first AGV trolley; the PLC controller in the electrical control system controls the elevator to run to the underground garage layer according to the vehicle loading plate removal instruction, so that the second AGV trolley located in the underground garage layer can enter the elevator in the car hall. In addition, after the navigation and positioning system of the second AGV trolley receives the vehicle loading plate removal instruction, it sends the vehicle loading plate removal instruction to the controller, and the controller controls the motor to rotate and move forward, so that the second AGV trolley moves to the elevator, and moves the first vehicle loading plate from the elevator to the second parking space; wherein the controller can also be used to control the hydraulic lifting mechanism to lift the first vehicle loading plate to a certain height, so as to store the first vehicle loading plate in the second parking space, thereby facilitating subsequent vehicle pickup operations.

[0048] In one embodiment, the step of moving to the first parking space according to the vehicle pickup scheduling instruction and moving the second vehicle loading plate and the target vehicle from the first parking space to the elevator includes:

[0049] The first AGV parses the vehicle pickup scheduling instruction to obtain the first parking space;

[0050] The first AGV generates a first planned path and a second planned path according to the first parking space and a preset path optimization algorithm;

[0051] The first AGV moves to the first parking space according to the first planned path, and moves the second vehicle loading plate and the target vehicle from the first parking space to the elevator according to the second planned path.

[0052] In this embodiment, in order to move the first AGV cart to the first parking space or elevator, it moves to the first parking space according to the vehicle pickup scheduling instruction, and moves the second vehicle loading plate and the target vehicle from the first parking space to the elevator, specifically including: the navigation and positioning system in the first AGV cart parses the vehicle pickup scheduling instruction to obtain the first parking space; and the navigation and positioning system in the first AGV cart also obtains current position information and environmental information, and obtains a first path set and a second path set according to the current position information, the environmental information and the first parking space; at this time, the first AGV cart optimizes the first path set and the second path set according to the preset path optimization algorithm to generate a first planned path and a second planned path, so that the first AGV cart can move to the first parking space according to the first planned path, and move the second vehicle loading plate and the target vehicle from the first parking space to the elevator according to the second planned path, thereby realizing the vehicle pickup operation for the target vehicle. Finally, if the electrical control system detects that the target vehicle has been transported to the elevator and the first AGV has safely exited the vehicle hall, it controls the elevator to descend and at the same time controls the garage door of the underground garage to close. After the elevator descends into place, it controls the vehicle hall door to open, allowing the user to enter the vehicle hall and drive away the target vehicle.

[0053] In one embodiment, after the first AGV moves to the first parking space according to the first planned path, the method further includes:

[0054] If the first parking space is a high-rise parking space and there is a vehicle in a parking space below the first parking space, the dispatching system generates a vehicle moving instruction and sends the vehicle moving instruction to the first AGV vehicle;

[0055] The first AGV performs a vehicle moving operation on the vehicle located in the lower parking space of the first parking space according to the vehicle moving instruction.

[0056] In this embodiment, after the first AGV trolley moves to the first parking space according to the first planned path, if the first parking space is a high-rise parking space and there is a vehicle in the lower parking space of the first parking space, the scheduling system generates a moving vehicle instruction and sends the moving vehicle instruction to the first AGV trolley, so that the first AGV trolley can perform a moving vehicle operation on the vehicle located in the lower parking space of the first parking space according to the moving vehicle instruction, so that the first AGV trolley moves to the lower parking space of the first parking space, and controls the hydraulic lifting mechanism to lift a certain height, so as to facilitate the extraction of the second vehicle loading plate and the target vehicle, and then moves the second vehicle loading plate and the target vehicle from the first parking space to the elevator according to the second planned path. In addition, if the first parking space is a high-rise parking space and there is no vehicle in the lower parking space of the first parking space, the first AGV trolley directly moves to the lower parking space of the first parking space, and controls the hydraulic lifting mechanism to lift a certain height, so as to facilitate the extraction of the second vehicle loading plate and the target vehicle, and then moves the second vehicle loading plate and the target vehicle from the first parking space to the elevator according to the second planned path.

[0057] In one embodiment, the system further includes a monitoring system, wherein the monitoring system is connected to the scheduling system, and the method further includes:

[0058] The monitoring system monitors the operating status of each of the multiple AGVs in real time;

[0059] When any one of the multiple AGVs is in an idle state and the remaining power is less than a first preset power threshold, the monitoring system generates a first charging instruction and sends the first charging instruction to the scheduling system;

[0060] The dispatching system controls any one of the AGVs to move to the corresponding first charging parking space for charging according to the first charging instruction; or

[0061] When the remaining power of any one of the multiple AGVs within a preset time period is less than a second preset power threshold, the monitoring system generates a second charging instruction and sends the second charging instruction to the scheduling system;

[0062] The dispatching system controls any one of the AGV vehicles to move to the corresponding second charging parking space for charging according to the second charging instruction.

[0063] In this embodiment, the AGV-type underground garage includes not only parking spaces but also charging spaces. In addition, the system also includes a monitoring system for real-time monitoring of the operating status of each of the multiple AGVs, and the monitoring system is connected to the dispatching system; the monitoring system can also be used to monitor the operating status of vehicles and garages in the AGV-type underground garage; in addition, each of the multiple AGVs is provided with one or more charging modes, and the charging modes can be idle charging, nighttime charging, and low-power charging. Among them, for the idle charging mode, when any one of the multiple AGVs is in an idle state and the remaining power is less than a first preset power threshold, the monitoring system generates a first charging instruction and sends the first charging instruction to the scheduling system; the scheduling system controls the any one of the AGVs to move to the corresponding first charging parking space for charging according to the first charging instruction; or for the nighttime charging mode, when the remaining power of any one of the multiple AGVs within a preset time period is less than a second preset power threshold, the monitoring system generates a second charging instruction and sends the second charging instruction to the scheduling system; wherein the preset time period may be night Time period; for example: from 12 am to 6 am; the dispatching system controls any one of the AGVs to move to the corresponding second charging parking space for charging according to the second charging instruction; in addition, for the low-power charging mode, when the remaining power of any one of the multiple AGVs is less than the third preset power threshold, the third target AGV no longer receives the work dispatching instruction, and the monitoring system generates a third charging instruction and sends the third charging instruction to the dispatching system; the dispatching system controls any one of the AGVs to move to the corresponding third charging parking space for charging according to the third charging instruction, thereby ensuring that each AGV has sufficient power when performing tasks.

[0064] In one embodiment, the system further includes a user terminal, and before generating the parking dispatch instruction according to the parking request, the system further includes:

[0065] The user terminal responds to the information acquisition instruction and acquires parking space information from the scheduling system according to the information acquisition instruction; wherein the parking space information includes the number of vacant parking spaces, parking space location distribution and parking space type.

[0066] In this embodiment, before generating the parking dispatch instruction according to the parking request, the user terminal also responds to the information acquisition instruction and obtains parking space information from the dispatch system according to the information acquisition instruction; wherein the parking space information includes the number of free parking spaces, the location distribution of parking spaces and the type of parking spaces; the information acquisition instruction is triggered by the user. Through the above embodiment, the user can obtain the parking space information of the AGV-type stereoscopic parking garage in time through the user terminal before parking or picking up the car, so as to avoid the situation that the parking space is full and the trip is in vain.

[0067] It can be seen from the above technical solutions that the present invention realizes automatic storage and retrieval of vehicles and improves the parking or storage efficiency.

[0068] The present application also provides a control system for a vehicle-carrying plate-type AGV stereo garage, which is used to execute any embodiment of the control method for the vehicle-carrying plate-type AGV stereo garage. Figure 3 , Figure 3 A schematic block diagram of a control system for a vehicle-carrying plate-type AGV stereoscopic garage provided in an embodiment of the present invention.

[0069] Among them, Figure 3 As shown, the control system 100 of the vehicle-carrying plate-type AGV multi-story parking garage includes a dispatching system 110, an electrical control system 120, multiple AGV carts 130 and an elevator 140; the dispatching system 110 is connected to the electrical control system 120 and the multiple AGV carts 130, and the electrical control system 120 is connected to the elevator 140; wherein, the multiple AGV carts 130 in this embodiment are not limited to including the first AGV cart and the second AGV cart, and the user can set the number of AGV carts according to actual needs.

[0070] The dispatching system 110 is used to generate a parking dispatching instruction according to the parking request or detect whether there is a first vehicle loading plate in the elevator 140 according to the vehicle pickup request to obtain a detection result if a parking request or a vehicle pickup request is received.

[0071] The dispatching system 110 is further configured to generate a vehicle pickup dispatching instruction if the detection result shows that the first vehicle loading plate is not in the elevator 140, and to send the vehicle storage dispatching instruction or the vehicle pickup dispatching instruction to the electrical control system 120 and the first AGV trolley among the multiple AGV trolleys 130;

[0072] The electrical control system 120 is used to control the elevator 140 to run from the ground to the underground garage layer according to the parking scheduling instruction or to control the elevator 140 to run from the underground garage layer to the ground according to the picking up scheduling instruction;

[0073] The first AGV trolley is used to move to the elevator 140 according to the parking scheduling instruction, and move the second loading plate and the target vehicle from the elevator 140 to the first parking space, or to move to the first parking space according to the vehicle picking scheduling instruction, and move the second loading plate and the target vehicle from the first parking space to the elevator 140.

[0074] In some embodiments, generating a parking scheduling instruction according to the parking request includes:

[0075] The dispatching system 110 is used to obtain an available parking space in the stereo garage according to the parking request;

[0076] The dispatching system 110 is further configured to screen the vacant parking spaces according to the vehicle information in the parking request to determine the first parking space;

[0077] The dispatching system 110 is further configured to generate the parking dispatching instruction according to the first parking space.

[0078] In some embodiments, after obtaining the detection result, the process of moving to the first parking space according to the vehicle pickup scheduling instruction and before moving the second vehicle loading plate and the target vehicle from the first parking space to the lift 140 further includes:

[0079] The dispatching system 110 is used for generating a vehicle plate removal instruction and a vehicle pickup dispatching instruction if the detection result shows that the first vehicle plate is present in the elevator 140, and sending the vehicle plate removal instruction to the electrical control system 120 and the second AGV trolley among the multiple AGV trolleys 130, and sending the vehicle pickup dispatching instruction to the first AGV trolley;

[0080] The electrical control system 120 is used to control the lift 140 to move to the underground garage level according to the vehicle plate removal instruction;

[0081] The second AGV is used to move to the elevator 140 according to the vehicle plate removal instruction, and move the first vehicle loading plate from the elevator 140 to the second parking space.

[0082] In some embodiments, the step of moving to the first parking space according to the vehicle pickup scheduling instruction and moving the second vehicle loading plate and the target vehicle from the first parking space to the elevator 140 includes:

[0083] The first AGV is used to parse the vehicle pickup scheduling instruction to obtain the first parking space;

[0084] The first AGV is further used to generate a first planned path and a second planned path according to the first parking space and a preset path optimization algorithm;

[0085] The first AGV vehicle is further configured to move to the first parking space according to the first planned path, and to move the second vehicle loading plate and the target vehicle from the first parking space to the elevator 140 according to the second planned path.

[0086] In some embodiments, after the first AGV moves to the first parking space according to the first planned path, the method further includes:

[0087] The dispatching system 110 is configured to generate a vehicle moving instruction if the first parking space is a high-level parking space and there is a vehicle in a parking space below the first parking space, and send the vehicle moving instruction to the first AGV vehicle;

[0088] The first AGV is used to perform a vehicle moving operation on a vehicle located in a lower parking space of the first parking space according to the vehicle moving instruction.

[0089] In some embodiments, the system 100 further includes a monitoring system 150, wherein the monitoring system 150 is connected to the dispatching system 110, and the system further includes:

[0090] The monitoring system 150 is used to monitor the operating status of each AGV 130 in the multiple AGVs 130 in real time;

[0091] The monitoring system 150 is further configured to generate a first charging instruction when any one of the multiple AGVs 130 is in an idle state and the remaining power is less than a first preset power threshold, and send the first charging instruction to the scheduling system 110;

[0092] The dispatching system 110 is used to control any one of the AGVs to move to the corresponding first charging parking space for charging according to the first charging instruction; and / or

[0093] The monitoring system 150 is further configured to generate a second charging instruction when the remaining power of any one of the plurality of AGVs 130 is less than a second preset power threshold within a preset time period, and send the second charging instruction to the scheduling system 110;

[0094] The dispatching system 110 is used to control any one of the AGVs to move to the corresponding second charging parking space for charging according to the second charging instruction.

[0095] In some embodiments, the system 100 further includes a user terminal 160, and before generating the parking dispatch instruction according to the parking request, the system 100 further includes:

[0096] The user terminal 160 is used to respond to the information acquisition instruction and obtain the parking space information from the scheduling system 110 according to the information acquisition instruction;

[0097] The parking space information includes the number of vacant parking spaces, the location distribution of parking spaces and the types of parking spaces.

[0098] It should be noted that technicians in the relevant field can clearly understand that the specific implementation process of the control system of the above-mentioned vehicle-carrying plate AGV stereogram car park can refer to the corresponding description in the aforementioned method embodiment, and for the convenience and brevity of description, it will not be repeated here.

[0099] The control system of the above-mentioned vehicle-carrying plate type AGV three-dimensional garage can be implemented in the form of a computer program, and the computer program can be used in Figure 4 Runs on the computer device shown.

[0100] See also Figure 4 , Figure 4 Schematic block diagram of a computer device provided in an embodiment of the present application. The computer device 500 is a server, which may be an independent server or a server cluster composed of multiple servers.

[0101] See also Figure 4 The computer device 500 includes a processor 502 , a memory and a network interface 505 connected via a device bus 501 , wherein the memory may include a storage medium 503 and an internal memory 504 .

[0102] The storage medium 503 can store an operating system 5031 and a computer program 5032. When the computer program 5032 is executed, the processor 502 can execute a control method for a vehicle-carrying plate-type AGV stereoscopic parking garage.

[0103] The processor 502 is used to provide computing and control capabilities to support the operation of the entire computer device 500 .

[0104] The internal memory 504 provides an environment for the operation of the computer program 5032 in the storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can execute the control method of the vehicle-carrying plate-type AGV three-dimensional parking garage.

[0105] The network interface 505 is used for network communication, such as providing data information transmission, etc. Those skilled in the art will understand that Figure 4The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device 500 to which the solution of the present application is applied. The specific computer device 500 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0106] The processor 502 is used to run the computer program 5032 stored in the memory to implement the control method of the vehicle-carrying plate-type AGV stereoscopic parking garage disclosed in the embodiment of the present application.

[0107] Those skilled in the art will understand that Figure 4 The embodiments of the computer device shown in the figure do not constitute a limitation on the specific composition of the computer device. In other embodiments, the computer device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. For example, in some embodiments, the computer device may only include a memory and a processor. In such embodiments, the structure and function of the memory and the processor are the same as those of the embodiment of the present invention. Figure 4 The embodiments shown are consistent and will not be described again here.

[0108] It should be understood that in the embodiment of the present application, the processor 502 may be a central processing unit (CPU), and the processor 502 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0109] In another embodiment of the present application, a computer-readable storage medium is provided. The computer-readable storage medium may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the control method of the vehicle-carrying plate-type AGV stereoscopic garage disclosed in the embodiment of the present application is implemented.

[0110] It will be clear to those skilled in the art that, for the convenience and simplicity of description, the specific working process of the above-described equipment, devices and units can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. It will be appreciated by those of ordinary skill in the art that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0111] In the several embodiments provided in the present application, it should be understood that the disclosed equipment, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, and units with the same function may be combined into one unit. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices or units, or may be electrical, mechanical or other forms of connection.

[0112] The units described as separate components may or may not be physically separated, and the components displayed as units 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 units may be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0113] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or 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 software functional units.

[0114] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a background server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a magnetic disk or an optical disk.

[0115] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for a vehicle-carrying plate-type AGV stereo garage, applied to the control system of a vehicle-carrying plate-type AGV stereo garage, the system comprising a dispatching system, an electrical control system, multiple AGV trolleys and a lift, the dispatching system is connected to the electrical control system and the multiple AGV trolleys, the electrical control system is connected to the lift, and is characterized in that: The method comprises: If the dispatching system receives a parking request, it generates a parking dispatching instruction according to the parking request, and sends the parking dispatching instruction to the electrical control system and the first AGV car among the multiple AGV cars; The electrical control system controls the lift to move from the ground to the underground garage level according to the parking dispatch instruction; The first AGV moves to the elevator according to the parking scheduling instruction, and moves the second vehicle loading plate and the target vehicle from the elevator to the first parking space; If the dispatching system receives a vehicle pickup request, it detects whether there is a first vehicle loading plate in the elevator according to the vehicle pickup request and obtains a detection result; If the detection result is that the first vehicle loading plate is not in the elevator, the dispatching system generates a vehicle picking dispatching instruction, and sends the vehicle picking dispatching instruction to the electrical control system and the first AGV trolley among the multiple AGV trolleys; The electrical control system controls the elevator to run from the underground garage floor to the ground according to the vehicle pickup dispatch instruction; The first AGV moves to the first vehicle pickup position according to the vehicle pickup scheduling instruction, and moves the second vehicle loading plate and the target vehicle from the first vehicle pickup position to the elevator; After the detection result is obtained, the first AGV moves to the first vehicle pickup position according to the vehicle pickup scheduling instruction, and before the second vehicle loading plate and the target vehicle are moved from the first vehicle pickup position to the elevator, it also includes: If the detection result is that the first vehicle loading plate is in the elevator, the dispatching system generates a plate removal instruction and a vehicle pickup dispatching instruction, and sends the plate removal instruction to the electrical control system and the second AGV trolley among the multiple AGV trolleys, and sends the vehicle pickup dispatching instruction to the first AGV trolley; The electrical control system controls the lift to move to the underground garage level according to the vehicle plate removal instruction; The second AGV moves to the elevator according to the vehicle plate removal instruction, and moves the first vehicle loading plate from the elevator to the second parking space; The first AGV moves to the first vehicle pickup position according to the vehicle pickup scheduling instruction, and moves the second vehicle loading plate and the target vehicle from the first vehicle pickup position to the elevator, including: The first AGV parses the vehicle pickup scheduling instruction to obtain the first vehicle pickup parking space; The first AGV generates a first planned path and a second planned path according to the first parking space for picking up a vehicle and a preset path optimization algorithm; The first AGV moves to the first vehicle pickup position according to the first planned path, and moves the second vehicle loading plate and the target vehicle from the first vehicle pickup position to the elevator according to the second planned path; After the first AGV moves to the first vehicle pickup position according to the first planned path, the method further includes: If the first parking space for picking up a vehicle is a high-rise parking space and there is a vehicle in a parking space below the first parking space for picking up a vehicle, the dispatching system generates a vehicle moving instruction and sends the vehicle moving instruction to the first AGV vehicle; The first AGV performs a vehicle moving operation on the vehicle located in the lower parking space of the first vehicle pickup space according to the vehicle moving instruction.

2. The control method of the vehicle-carrying plate-type AGV stereo garage according to claim 1 is characterized in that: The generating of the parking dispatch instruction according to the parking request comprises: The dispatching system obtains an available parking space in the stereo garage according to the parking request; The dispatching system screens the vacant parking spaces according to the vehicle information in the parking request to determine the first parking space; The dispatching system generates the parking dispatching instruction according to the first parking space.

3. The control method of the vehicle-carrying plate-type AGV stereo garage according to claim 1 is characterized in that: The system further includes a monitoring system, which is connected to the dispatching system. The method further includes: The monitoring system monitors the operating status of each of the multiple AGVs in real time; When any one of the multiple AGVs is in an idle state and the remaining power is less than a first preset power threshold, the monitoring system generates a first charging instruction and sends the first charging instruction to the scheduling system; The dispatching system controls any one of the AGVs to move to the corresponding first charging parking space for charging according to the first charging instruction; or When the remaining power of any one of the multiple AGVs within a preset time period is less than a second preset power threshold, the monitoring system generates a second charging instruction and sends the second charging instruction to the scheduling system; The dispatching system controls any one of the AGV vehicles to move to the corresponding second charging parking space for charging according to the second charging instruction.

4. The control method of the vehicle-carrying plate-type AGV stereo garage according to claim 1 is characterized in that: The system further includes a user terminal, and before generating a parking dispatch instruction according to the parking request, the system further includes: The user terminal responds to the information acquisition instruction and acquires parking space information from the scheduling system according to the information acquisition instruction; The parking space information includes the number of vacant parking spaces, the location distribution of parking spaces and the types of parking spaces.

5. A control system for a vehicle-carrying plate-type AGV stereo garage, characterized in that: The system includes a dispatching system, an electrical control system, a plurality of AGV trolleys and an elevator, wherein the dispatching system is connected to the electrical control system and the plurality of AGV trolleys, and the electrical control system is connected to the elevator; The dispatching system is used for generating a parking dispatching instruction according to the parking request if a parking request is received, and sending the parking dispatching instruction to the electrical control system and the first AGV trolley among the multiple AGV trolleys; The electrical control system is used to control the elevator to run from the ground to the underground garage level according to the parking dispatch instruction; The first AGV trolley is used to move to the elevator according to the parking scheduling instruction, and move the second vehicle loading plate and the target vehicle from the elevator to the first parking space; The dispatching system is further configured to detect whether there is a first vehicle loading plate in the elevator according to the vehicle picking request if a vehicle picking request is received, and obtain a detection result; The dispatching system is further configured to generate a vehicle pickup dispatching instruction if the detection result shows that the first vehicle loading plate is not in the elevator, and send the vehicle pickup dispatching instruction to the electrical control system and the first AGV trolley among the multiple AGV trolleys; The electrical control system is also used to control the elevator to run from the underground garage floor to the ground according to the car pickup dispatch instruction; The first AGV trolley is further used to move to the first vehicle pickup parking position according to the vehicle pickup scheduling instruction, and move the second vehicle loading plate and the target vehicle from the first vehicle pickup parking position to the elevator; After obtaining the detection result, the first AGV trolley is further used to move to the first vehicle pickup position according to the vehicle pickup scheduling instruction, and before moving the second vehicle loading plate and the target vehicle from the first vehicle pickup position to the elevator, it also includes: The dispatching system is further configured to generate a vehicle plate removal instruction and a vehicle pickup dispatching instruction if the detection result indicates that the first vehicle plate is present in the elevator, and send the vehicle plate removal instruction to the electrical control system and the second AGV trolley among the multiple AGV trolleys, and send the vehicle pickup dispatching instruction to the first AGV trolley; The electrical control system is also used to control the lift to run to the underground garage level according to the vehicle plate removal instruction; The second AGV trolley is used to move to the elevator according to the vehicle plate removal instruction, and move the first vehicle loading plate from the elevator to the second parking space; The first AGV trolley is further used to move to the first vehicle pickup parking position according to the vehicle pickup scheduling instruction, and move the second vehicle loading plate and the target vehicle from the first vehicle pickup parking position to the elevator, including: The first AGV is further used to parse the vehicle pickup scheduling instruction to obtain the first vehicle pickup parking space; The first AGV is further configured to generate a first planned path and a second planned path according to the first parking space for picking up a vehicle and a preset path optimization algorithm; The first AGV is further configured to move to the first vehicle pickup position according to the first planned path, and to move the second vehicle loading plate and the target vehicle from the first vehicle pickup position to the elevator according to the second planned path; The first AGV is further configured to move to the first vehicle pickup position according to the first planned path, and further includes: The dispatching system is further configured to generate a vehicle moving instruction if the first vehicle pickup parking space is a high-level parking space and there is a vehicle in a lower-level parking space of the first vehicle pickup parking space, and send the vehicle moving instruction to the first AGV vehicle; The first AGV is further configured to perform a vehicle moving operation on a vehicle located in a lower parking space of the first vehicle pickup space according to the vehicle moving instruction.

6. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, it implements the control method of the vehicle-carrying plate-type AGV stereoscopic garage as described in any one of claims 1-4.

7. A storage medium, characterized in that: The storage medium stores a computer program, which includes program instructions. When the program instructions are executed by the processor, the processor executes the control method of the vehicle-carrying plate-type AGV stereoscopic garage according to any one of claims 1 to 4.

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