Stereo garage parking scheduling method and system, storage medium and program product

Abstract

The invention discloses a stereo garage parking scheduling method and system, a storage medium and a program product, and the method comprises the following steps: obtaining vehicle information, and searching whether a stereo garage has a free area matched with the vehicle information or not according to the vehicle information; if a free area matched with the vehicle information exists, whether a free buffer parking space exists in the matched free area or not is retrieved, and when the free buffer parking space exists, the vehicle is suspended to the free buffer parking space; the method comprises the following steps: acquiring a matched idle area, searching whether idle stacking parking spaces exist in the matched idle area, calculating weights of all the idle stacking parking spaces according to a moving distance weight, a vehicle type level weight and a random value when a plurality of idle stacking parking spaces exist, distributing a vehicle to the idle stacking parking space with the maximum weight, and when only one idle stacking parking space exists, distributing the vehicle to the idle stacking parking space with the maximum weight. And distributing the vehicle to the idle stacking parking space.

Description

Technical Field

[0001] The present invention relates to the technical field of parking scheduling in garages, and in particular to a parking scheduling method, system, storage medium and program product for a three-dimensional garage. Background Art

[0002] A multi-story parking garage is an intelligent, three-dimensional logistics storage and transportation system that vertically stacks vehicles through multi-layer structures or mechanical devices to save ground space and increase parking capacity. It is mainly used to solve the problem of difficult parking in cities.

[0003] However, the existing parking space allocation strategy for multi-story garages mainly adopts a distance-first algorithm, that is, the vacant parking space closest to the vehicle entrance or request point is selected for allocation. The allocation rule is relatively simple and cannot cope with the complex situation in the multi-story garage parking process. When the parking spaces are of different sizes, it is easy to cause unreasonable allocation and failure to fully utilize the parking spaces. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a parking scheduling method for a three-dimensional garage, which makes full use of buffer parking spaces and allocates the weights of stacking parking spaces by calculating the weights of vehicle type levels and random factors, thereby overcoming the problem of unreasonable allocation in the prior art.

[0005] In order to achieve the above object, on the one hand, the present invention provides a parking scheduling method for a three-dimensional garage, wherein the three-dimensional garage includes multiple areas, each of which includes multiple buffer parking spaces and multiple stacking parking spaces, and the number of the buffer parking spaces is less than the number of the stacking parking spaces. The parking scheduling method for the three-dimensional garage includes the following steps:

[0006] Acquire vehicle information, and search the stereo garage for a vacant area matching the vehicle information according to the vehicle information, wherein the vehicle information includes a vehicle model, and terminate if there is no vacant area matching the vehicle information;

[0007] If there is an idle area matching the vehicle information, then search whether there is an idle buffer parking space in the matching idle area. If there is no idle buffer parking space, then end. If there is an idle buffer parking space, pause the vehicle at the idle buffer parking space.

[0008] Retrieve whether there is any vacant stacking parking space in the matching vacant area. When there are multiple vacant stacking parking spaces, calculate the weights of all the vacant stacking parking spaces according to the moving distance weight, vehicle type level weight and random value, and assign the vehicle to the vacant stacking parking space with the largest weight. When there is only one vacant stacking parking space, assign the vehicle to the vacant stacking parking space. If there is no vacant stacking parking space, end the process.

[0009] The weight calculation formula of the idle stacking parking space is:

[0010]

[0011] Wherein, d represents the weight of the idle stacking parking space, d1 represents the moving distance weight, d2 represents the vehicle type level weight, and d r Represents the random value, f1, f2, f r are coefficients and are all real numbers, f2>f1>f r .

[0012] The calculation formula of the moving distance weight is:

[0013] ;

[0014] Among them, D max represents the weighted length of the idle stacking parking space farthest from the idle buffer parking space in the stereo garage; x, y, z represent the coordinates of the idle stacking parking space; x0, y0, z0 represent the coordinates of the idle buffer parking space; f x 、f y 、f z They respectively represent the average speed of the stacker moving along the x-axis, y-axis, and z-axis, and the stacker is used to move the vehicle to the allocated vacant stacking parking space.

[0015] The calculation formula of the vehicle type level weight is:

[0016] ;

[0017] Among them, L0 represents the number of vehicle types supported by the current idle stacking parking space; L max Indicates the total number of vehicle types supported by the stereo garage.

[0018] The calculation formula of the random value is:

[0019] ;

[0020] Among them, S max Indicates the maximum impact factor of random factors; S min Indicates the minimum impact factor of random factors.

[0021] The stacking parking spaces include parking spaces that support bottom charging; the parking scheduling method for the three-dimensional garage also includes the following steps: when the vehicle enters the idle buffer parking space, the bottom of the vehicle is identified and it is determined whether it supports bottom charging; if the vehicle supports bottom charging, it is queried whether there is a parking space that supports bottom charging that matches the bottom charging model of the vehicle; if there is a parking space that supports bottom charging that matches the bottom charging model of the vehicle, the vehicle is preferentially allocated to the parking space; if there is no parking space that supports bottom charging that matches the bottom charging model of the vehicle or if the vehicle does not support bottom charging, the vehicle is allocated to a parking space that does not support bottom charging; if there is no parking space that does not support bottom charging, the process ends.

[0022] The stacking parking spaces also include exclusive parking spaces; before searching the three-dimensional parking garage based on the vehicle information to see whether there is an empty area matching the vehicle information, the following steps are also included: searching based on the vehicle information to see whether there is a matching exclusive parking space; if there is a matching exclusive parking space, the vehicle is allocated to the matching exclusive parking space; if not, proceed to the next step.

[0023] Some of the stacked parking spaces include outer parking spaces and inner parking spaces, and the parking scheduling method for the three-dimensional parking garage also includes: searching whether there is a matching vacant inner parking space based on the vehicle information; if there is a matching vacant inner parking space, the vehicle is preferentially allocated to the matching vacant inner parking space; if there is no matching vacant inner parking space, searching whether there is a matching vacant outer parking space; if there is a matching vacant outer parking space, the vehicle is allocated to the matching vacant outer parking space, and ending if there is no matching vacant outer parking space.

[0024] The parking scheduling method for the three-dimensional car park also includes the following steps: if there are multiple matching idle outer parking spaces, the lengths of all the matching idle outer parking spaces are calculated and sorted from short to long to form a first data set; the vehicle is assigned to the first idle outer parking space in the first data set that is greater than or equal to the length of the vehicle.

[0025] On the other hand, the present invention further provides a parking dispatching system for a three-dimensional garage, which adopts the above-mentioned parking dispatching method for a three-dimensional garage, and the parking dispatching system for a three-dimensional garage at least comprises:

[0026] A first search module is used to obtain vehicle information and search the stereo garage for a vacant area matching the vehicle information according to the vehicle information;

[0027] A first allocation module, configured to retrieve whether there is an idle buffer parking space in the matching idle area when the output of the first retrieval module is yes, and to stop the vehicle at the idle buffer parking space when there is an idle buffer parking space;

[0028] The second allocation module is used to retrieve whether there is an idle stacking parking space in the matched idle area. When there are multiple idle stacking parking spaces, the weights of all the idle stacking parking spaces are calculated based on the moving distance weight, the vehicle type level weight and the random value, and the vehicle is allocated to the idle stacking parking space with the largest weight. When there is only one idle stacking parking space, the vehicle is allocated to the idle stacking parking space.

[0029] On the other hand, the present invention also provides a computer-readable storage medium, which carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement the steps of the above-mentioned multi-story parking garage parking scheduling method.

[0030] On the other hand, the present invention further provides a computer program product, including computer-readable instructions, which, when executed on an electronic device, enable the electronic device to implement the steps of the above-mentioned parking scheduling method for a stereoscopic car park.

[0031] It can be seen from the above scheme that the advantages of the present invention are:

[0032] The present invention makes full use of buffer parking spaces and combines the weight calculation mechanism of stacking parking spaces to achieve more intelligent parking space allocation, thereby improving the rationality and dynamic response capability of resource allocation. Specifically, the following optimization strategies are adopted:

[0033] Moving distance weight based on path planning: By introducing the shortest path algorithm to optimize the moving path of the stacker, the empty driving rate and repeated operation times are effectively reduced, thus improving the operating efficiency of the logistics system.

[0034] Consider vehicle model-level weights of vehicle parameters: Based on the characteristics of different vehicle models, combined with heuristic allocation algorithms or multi-objective optimization models, parking space resources are reasonably allocated to maximize space utilization and ensure operational safety.

[0035] Introducing random factor adjustment of the probability model: enhancing the flexibility of parking space allocation, flexibly responding to emergencies or demand fluctuations, and avoiding efficiency bottlenecks caused by the overly rigid method of the present invention.

[0036] The method of the present invention not only improves the accuracy and adaptability of parking space allocation, but also significantly improves operating efficiency and fault tolerance through the organic combination of weight model and algorithm optimization, and is suitable for dynamic resource management in complex parking and retrieval scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic diagram of the flow of the parking scheduling method for a three-dimensional garage of the present invention;

[0038] Figure 2It is a structural schematic diagram of the three-dimensional car park of the present invention;

[0039] Figure 3 It is a schematic diagram of the scheduling sequence of inner parking spaces and outer parking spaces in the application scenario of elevator-like equipment of the present invention;

[0040] Figure 4 for Figure 1 Schematic diagram of the process of step S20 in (I);

[0041] Figure 5 for Figure 1 Schematic diagram of the process of step S20 (ii);

[0042] Figure 6 It is a schematic diagram of the scheduling sequence of inner parking spaces and outer parking spaces in the application scenario of belt drive equipment of the present invention;

[0043] Figure 7 for Figure 5 Schematic diagram of the process of step S213;

[0044] Figure 8 for Figure 1 Schematic diagram of the process of step S30;

[0045] Fig. 9 The structural schematic diagram of the parking dispatching system of the three-dimensional garage of the present invention (I);

[0046] Fig.10 The structural diagram of the parking dispatching system of the three-dimensional garage of the present invention (II);

[0047] Fig.11 is a structural schematic diagram of the first distribution module 21 (I);

[0048] Fig.12 is a structural schematic diagram of the first distribution module 21 (II);

[0049] Fig.13 It is a schematic diagram of the structure of the second distribution module 22.

[0050] Wherein, the reference numerals are:

[0051] 1- Stereoscopic car park;

[0052] Zone 1a-A;

[0053] Zone 1b-B;

[0054] 10- Stacking parking space;

[0055] 100-storage location;

[0056] 100a-Inner parking space;

[0057] 100b - outside parking space;

[0058] 11- Buffer parking space;

[0059] 110-free buffer parking space;

[0060] 12-VIP exclusive parking spaces;

[0061] 13- Lane;

[0062] 2-Three-dimensional garage parking dispatching system;

[0063] 20- first search module;

[0064] 200-first allocation unit;

[0065] 21- first distribution module;

[0066] 210-first detection unit;

[0067] 211-second allocation unit;

[0068] 212-third distribution unit;

[0069] 213- second detection unit;

[0070] 214-4th distribution unit;

[0071] 215- third detection unit;

[0072] 216-fifth distribution unit;

[0073] 22- second distribution module;

[0074] 220-first computing unit;

[0075] 221- second computing unit;

[0076] 222-third computing unit;

[0077] 223- fourth computing unit;

[0078] 224- fifth computing unit;

[0079] S10~S30, S200~S202, S210~213, S2130~2131, S300~S304-steps. DETAILED DESCRIPTION

[0080] The technical solution of the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments to further understand the purpose, solution and effect of the present invention, but it is not intended to limit the scope of protection of the claims attached to the present invention.

[0081] References to "an embodiment", "another embodiment", "this embodiment", etc. in the specification refer to the embodiment being described which may include specific features, structures or characteristics, but not every embodiment must include these specific features, structures or characteristics. In addition, such expressions do not refer to the same embodiment. Furthermore, when describing specific features, structures or characteristics in conjunction with an embodiment, whether or not there is an explicit description, it is indicated that incorporating such features, structures or characteristics into other embodiments is within the knowledge of those skilled in the art.

[0082] Certain words are used in the specification and subsequent claims to refer to specific components or parts. People of ordinary skill in the art should understand that technical users or manufacturers can refer to the same component or part with different nouns or terms. This specification and claims do not use differences in names as a way to distinguish components or parts, but use differences in the functions of components or parts as the criteria for distinction. "Including" and "including" mentioned throughout the specification and claims are open-ended terms and should be interpreted as "including but not limited to". In addition, the word "connected" here includes any direct and indirect electrical connection means. Indirect electrical connection means include connection through other devices.

[0083] Figure 1 A flowchart of a parking scheduling method for a three-dimensional garage provided by an embodiment of the present invention includes the following steps:

[0084] S10: Acquire vehicle information, and search the stereo garage to see if there is an empty area matching the vehicle information according to the vehicle information;

[0085] S20: If there is an idle area matching the vehicle information, then searching whether there is an idle buffer parking space in the matching idle area, and if there is an idle buffer parking space, pausing the vehicle at the idle buffer parking space;

[0086] S30: Retrieve whether there are any vacant stacking parking spaces in the matched vacant area. When there are multiple vacant stacking parking spaces, calculate the weights of all vacant stacking parking spaces based on the moving distance weight, vehicle type level weight and random value, and assign the vehicle to the vacant stacking parking space with the largest weight. When there is only one vacant stacking parking space, assign the vehicle to the vacant stacking parking space.

[0087] Specifically, before a vehicle enters the multi-story parking garage, it obtains vehicle information, including license plate number, vehicle model, estimated parking time, etc.

[0088] like Figure 2As shown, the three-dimensional parking garage 1 can be divided into multiple areas, such as area A 1a and area B 1b, and each area is provided with multiple stacking parking spaces 10, multiple buffer parking spaces 11, and multiple VIP exclusive parking spaces 12. This embodiment stipulates the shelf positions of the three-dimensional parking garage 1, the track for the stacker (not shown in the figure) to move is the lane 13, and the position where the user temporarily parks the vehicle 3 is the buffer parking space 11; the stacker is used to move the vehicle 3 from the buffer parking space 11 to the stacking parking space 10; it is defined that the two sides of the lane 13 are two stacks (only one side is shown as a stack in the figure), and the parking space on the stack is the stacking parking space 10; for each stack, there are multiple layers from bottom to top, such as Figure 3 The following are the first, second and third layers from bottom to top; please refer to Figure 2 and Figure 3 , a vertical stacking parking space 10 is a row; a row of a certain layer is defined as a storage space 100; usually, a storage space 100 includes an inner parking space 100a and an outer parking space 100b, or there may be only one outer parking space (not shown). The VIP exclusive parking space 12 is a designated parking space, that is, a designated parking space is reserved in the shelf for a designated vehicle. If a VIP vehicle enters, it will be allocated to the designated VIP exclusive parking space 12.

[0089] When allocating parking spaces, step S10 also includes the following steps:

[0090] A search is performed based on the vehicle information to determine whether there is a matching exclusive parking space. If there is a matching exclusive parking space, the vehicle is allocated to the matching exclusive parking space.

[0091] Specifically, when allocating parking spaces, the VIP exclusive parking spaces 12 are allocated first, and for non-exclusive parking spaces, a judgment needs to be made based on the type of vehicle 3 .

[0092] In a multi-area scenario, as shown in steps S10 to S20, firstly, the area where the vehicle 3 can be stored is obtained according to the allocation of the stacking parking space 10 and the vehicle information, and then, the area is randomly selected according to the occupancy of the buffer parking space 11, such as Figure 2 , the new vehicle 3 will be assigned to the idle buffer parking space 110 in zone B 1b. If there are multiple idle buffer parking spaces, it will be randomly assigned to an idle buffer parking space.

[0093] Some stacking parking spaces 10 are also provided with parking spaces supporting bottom charging (not shown), such as Figure 4 As shown, step S20 also includes the following steps:

[0094] S200: When the vehicle enters an empty buffer parking space, the bottom of the vehicle is identified and whether bottom charging is supported;

[0095] S201: If the vehicle supports bottom charging, query whether there is a parking space that supports bottom charging that matches the bottom charging model of the vehicle. If there is a parking space that supports bottom charging that matches the bottom charging model of the vehicle, the vehicle is preferentially allocated to the parking space;

[0096] S202: If there is no parking space supporting bottom charging that matches the bottom charging model of the vehicle or if the vehicle does not support bottom charging, the vehicle is allocated to a parking space that does not support bottom charging.

[0097] Specifically, after the vehicle 3 enters the vacant buffer parking space 110, the image of the vehicle 3 is obtained through a camera (not shown in the figure), and the vehicle information such as the front overhang, rear overhang, wheelbase, vehicle length, vehicle width and vehicle height of the vehicle 3 is further calculated based on these images; these vehicle information are used for verification during the parking process to prevent vehicle specifications from being incorrect or modified, causing a collision accident. After the alignment of the vehicle 3 is completed, the position of the bottom charging interface of the vehicle 3 is scanned by a camera (not shown in the figure) prefabricated in the buffer parking space 11, and it is determined whether the vehicle 3 supports bottom charging and its charging model based on the scanning results.

[0098] If the vehicle supports bottom charging, it will be stored in a stacking parking space that supports bottom charging first. If not, it will be stored in a stacking parking space that does not support bottom charging. Try not to store it in an inappropriate stacking parking space. For vehicles that do not support bottom charging, it will be stored in a stacking parking space that does not support bottom charging first. If it is full, you can use a stacking parking space that supports bottom charging.

[0099] For a parking space 100 including an inner parking space 100a and an outer parking space 100b, Figure 3 and Figure 5 As shown, step S20 also includes:

[0100] S210: Searching whether there is a matching vacant inner parking space based on the vehicle information;

[0101] S211: If there is a matching vacant inner parking space, the vehicle is preferentially allocated to the matching vacant inner parking space;

[0102] S212: If there is no matching vacant inner parking space, then searching whether there is a matching vacant outer parking space;

[0103] S213: If there is a matching vacant outer parking space, the vehicle is allocated to the matching vacant outer parking space.

[0104] Example 1: The application scenario is elevator-like equipment:

[0105] The elevator-like equipment moves the vehicle with the vehicle carrier, so the vehicle can be directly sent to the inner parking space 100a. The scheduling logic is as follows Figure 3 As shown, specifically, for example, the first and third floors are high parking spaces, which can park relatively tall vehicles such as SUVs. The second floor is a car parking space, which can only park cars under 1.55 meters. The dotted parking spaces are reserved parking spaces. Preferably, the reserved parking spaces are outer parking spaces 100b on one side, that is, a certain storage space 100 includes an inner parking space 100a and a reserved parking space. The reserved parking spaces are used to facilitate moving the car when a parking failure occurs. For elevator-like equipment, a smaller number of reserved parking spaces can be set. Figure 3 The middle line indicates the parking order. The inner parking space 100a is allocated first. When the inner parking space 100a is insufficient, the outer parking space 100b is allocated.

[0106] For a relatively tall vehicle such as an SUV, the inner parking space 100a of the third floor is first allocated, then the inner parking space 100a of the first floor is allocated, then the outer parking space 100b of the third floor is allocated, and finally the outer parking space 100b of the first floor is allocated. In this way, the rack space of the garage can be fully utilized and the vehicles can be allocated more evenly. If the user has a shorter parking time, the first floor can be allocated first. The inner parking space 100a of the third floor is allocated first if the expected parking time is longer.

[0107] For sedans, the inner parking spaces 100a on the second floor are allocated first, and then the outer parking spaces 100b on the second floor. If the parking spaces on the second floor are all full, the sedans are parked on the third floor or the first floor according to the parking order of the SUVs.

[0108] Example 2: The application scenario is belt drive equipment:

[0109] For belt-driven equipment, vehicles cannot be directly stored in the inner parking space 100a. Instead, vehicles are placed on the shelves through conveyor belts. When a later vehicle is stored, the previous vehicle is directly pushed to the inner parking space 100a. The scheduling logic is as follows: Figure 6 As shown in the figure, for belt-driven equipment, due to the large belt transmission error, it is necessary to avoid repeated vehicle movement to avoid accidents. Therefore, a larger number of reserved parking spaces can be set, for example Figure 6 In the system, a reserved storage space is set for each type of vehicle for moving the vehicle. The reserved storage space is located at the edge to facilitate moving the vehicle.

[0110] For belt drive equipment, such as Figure 7 As shown, step S213 also includes the following steps:

[0111] S2130: If there are multiple matching vacant outer parking spaces, calculate the lengths of all matching vacant outer parking spaces and sort them from short to long to form a first data set;

[0112] S2131: Allocate the vehicle to the first vacant outer parking space in the first data set that is greater than or equal to the vehicle length.

[0113] Specifically, first exclude parking spaces with a height smaller than the vehicle. Calculate the remaining lengths of all unoccupied outer parking spaces 100b, and use a quick sort algorithm to sort them in positive order (from short to long) according to the remaining lengths. Obtain the first parking space whose remaining length exceeds the vehicle length and assign it to the current vehicle.

[0114] By selecting the outer parking space 100b with the smallest remaining length, it is possible to retain as large an outer parking space 100b as possible, thereby ensuring that as many vehicles as possible can be stored.

[0115] In step S30: after obtaining all the free stacking parking spaces, Figure 8 As shown, step S30 also includes:

[0116] S300: Calculate the moving distance weight, and the specific calculation method is formula (1):

[0117] (1)

[0118] In formula (1), D max represents the weighted length of the idle stacking parking space farthest from the idle buffer parking space in the stereo garage (e.g., stereo garage 1); x, y, z represent the coordinates of the idle stacking parking space; x0, y0, z0 represent the coordinates of the idle buffer parking space; f x 、f y 、f z They respectively represent the average speed of the stacker moving along the x-axis, y-axis and z-axis, and the stacker is used to move the vehicle to the allocated stacking parking space.

[0119] Specifically, since the stacker moves up and down slower than the horizontal movement and consumes more power, formula (1) can be modified to the following formula (2):

[0120] (2)

[0121] Since the moving distance in the y-axis direction is basically the same during each parking process, only the distances of the x-axis and z-axis are calculated in formula (2). The garage coordinate values ​​are in millimeters and need to be standardized to the meter level, so 1000 is used to convert to meters; 100 represents the farthest distance the stacker moves, in meters, which is used to organize the data between 1 and 10; 5 represents the ratio of the time spent on the stacker's lifting and lateral movement, which is used to reduce the lifting and lateral movement.

[0122] S301: Calculate the vehicle model level weight, and the calculation formula is formula (3):

[0123] (3)

[0124] In formula (3), L0 represents the number of vehicle types supported by the current idle stacking parking space; L max Indicates the total number of vehicle types supported by the stereo garage, such as SUVs, sedans, trucks, etc. Each vehicle type can be divided into multiple categories based on wheelbase, body size, weight, etc. In actual application, try to use parking spaces with high matching degree and reserve large parking spaces to park more vehicles.

[0125] Specifically, formula (3) can be, for example, the following formula (4):

[0126] (4)

[0127] In formula (4), count() is a counting function. For example, the number of vehicle types supported by a stereo garage is about 4-10. By using "100 / number of vehicle types supported by a parking space", this weighted data can be aggregated to between 10 and 25. In this way, stacking parking spaces that support fewer vehicle types can be given priority, thereby improving the utilization efficiency of the stereo garage.

[0128] S302: Calculate a random value according to the allocation of stacking parking spaces in the area, and the calculation formula is as follows (5):

[0129] (5)

[0130] In formula (5), S max Indicates the maximum impact factor of random factors, for example, it can be set to 1; S min Indicates the minimum impact factor of the random factor, for example, it can be set to 0.

[0131] S303: Calculate the final weight of the stacking parking space, and the calculation formula is as follows (6):

[0132] (6)

[0133] In formula (6), f1, f2, f r are coefficients and are all real numbers, f2>f1>f r f1 represents the weight coefficient of the moving distance, which can be set to 30, and f2 represents the weight coefficient of the vehicle type level, which can be set to 60; f r The coefficient representing the random value can be set to 10. Setting a larger value for the vehicle type weight coefficient can reserve large parking spaces and improve the utilization rate of the stereo garage.

[0134] S304: Use a greedy algorithm to calculate the maximum weight.

[0135] Assign the stacking parking space with the largest weight to the vehicle.

[0136] The parking scheduling method for a three-dimensional garage of the present invention can optimize the moving path of the stacker by considering the moving distance weight, reduce empty driving and repeated operations, and improve working efficiency; the vehicle type level weight can ensure that different vehicle types (such as SUVs and sedans) get suitable parking spaces according to their needs, and optimize the utilization rate and allocation efficiency of parking spaces; the introduction of random factors can increase the flexibility of the parking space allocation method, better cope with emergencies or unpredictable changes, and avoid being too rigid.

[0137] The following is a system embodiment corresponding to the above method embodiment. This embodiment can be implemented in conjunction with the above embodiment. The relevant technical details mentioned in the above embodiment are still valid in this embodiment. In order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the above embodiment.

[0138] like Fig. 9 FIG. 1 is a schematic diagram of a parking scheduling system 2 for a three-dimensional garage provided by another embodiment of the present invention. The parking scheduling system 2 for a three-dimensional garage adopts the parking scheduling method for a three-dimensional garage (such as Figure 1 The method shown in the figure) is used to allocate parking spaces, including:

[0139] The first search module 20 is used to obtain vehicle information and search whether there is an empty area in the three-dimensional parking garage that matches the vehicle information according to the vehicle information;

[0140] A first allocation module 21 is configured to retrieve whether there is an idle buffer parking space in the matching idle area when the output of the first retrieval module is yes, and if there is an idle buffer parking space, suspend the vehicle in the idle buffer parking space;

[0141] The second allocation module 22 is used to retrieve whether there is an idle stacking parking space in the matched idle area. When there are multiple idle stacking parking spaces, the weights of all the idle stacking parking spaces are calculated based on the moving distance weight, the vehicle type level weight and the random value, and the vehicle is allocated to the idle stacking parking space with the largest weight. When there is only one idle stacking parking space, the vehicle is allocated to the idle stacking parking space.

[0142] In this embodiment, if Fig.10 As shown, the first search module 20 further includes a first allocation unit 200, which is used to search whether there is a matching exclusive parking space according to the vehicle information, and if there is a matching exclusive parking space, allocate the vehicle to the matching exclusive parking space.

[0143] In this embodiment, if Fig.11 As shown, the first allocation module 21 also includes:

[0144] The first detection unit 210 is used to identify the bottom of the vehicle and determine whether bottom charging is supported when the vehicle enters an empty buffer parking space;

[0145] The second allocation unit 211 is used for querying whether there is a parking space supporting bottom charging that matches the bottom charging model of the vehicle when the output of the first detection unit 210 is yes, and if there is a parking space supporting bottom charging that matches the bottom charging model of the vehicle, the vehicle is preferentially allocated to the parking space;

[0146] The third allocating unit 212 is configured to allocate the vehicle to a parking space that does not support bottom charging if there is no parking space that supports bottom charging and matches the bottom charging model of the vehicle or if the vehicle does not support bottom charging.

[0147] like Fig.12 As shown, the first allocation module 21 also includes:

[0148] The second detection unit 213 is used to search whether there is a matching vacant inner parking space according to the vehicle information;

[0149] The fourth allocation unit 214 is configured to allocate the vehicle to the matching vacant inner parking space preferentially when the output of the second detection unit 213 is yes;

[0150] The third detection unit 215 is used to retrieve whether there is a matching vacant outer parking space when the output of the second detection unit 213 is no;

[0151] The fifth allocating unit 216 is configured to allocate the vehicle to the matching vacant outer parking space when the output of the third detecting unit 215 is yes.

[0152] In this embodiment, if Fig.13 As shown, the second allocation module 22 also includes:

[0153] The first calculation unit 220 is used to calculate the moving distance weight, and the specific calculation method is formula (1);

[0154] The second calculation unit 221 is used to calculate the vehicle type level weight, and the calculation formula is formula (3);

[0155] The third calculation unit 222 is used to calculate the random value according to the allocation of parking spaces in the area, and the calculation formula is formula (5);

[0156] The fourth calculation unit 223 is used to calculate the final weight of the stacking parking space, and the calculation formula is formula (6);

[0157] The fifth calculation unit 224 is used to calculate the maximum weight by using a greedy algorithm.

[0158] The parking dispatching system 2 of the three-dimensional garage prefabricates the size information of each type of vehicle (vehicle), the size information of each parking space, and the size information of vehicles suitable for parking in each size of parking space.

[0159] The parking scheduling method of the three-dimensional garage is used to allocate appropriate parking spaces according to the size of the vehicle and the availability of parking spaces.

[0160] In another embodiment, the present invention further provides a computer-readable storage medium, which carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement the above-mentioned parking scheduling method for a three-dimensional parking garage (for example Figure 1 steps of the method shown).

[0161] It should be understood that the storage medium in the embodiment of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0162] In another embodiment, the present invention further provides a computer program product, including computer-readable instructions, which, when executed on an electronic device, enable the electronic device to implement the above-mentioned parking scheduling method for a three-dimensional parking garage (such as Figure 1 steps of the method shown).

[0163] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which belong to the protection scope of the present invention.

Claims

1. A parking scheduling method for a three-dimensional garage, characterized in that: The three-dimensional parking garage includes a plurality of areas, each of which includes a plurality of buffer parking spaces and a plurality of stacking parking spaces, the number of the buffer parking spaces is less than the number of the stacking parking spaces, and the parking scheduling method of the three-dimensional parking garage includes the following steps: Acquire vehicle information, and search the stereo garage for an empty area matching the vehicle information according to the vehicle information, wherein the vehicle information includes the vehicle model, and if there is no empty area matching the vehicle information, then end; If there is an idle area matching the vehicle information, then search whether there is an idle buffer parking space in the matching idle area. If there is no idle buffer parking space, then end. If there is an idle buffer parking space, pause the vehicle at the idle buffer parking space. Retrieve whether there is any vacant stacking parking space in the matching vacant area. When there are multiple vacant stacking parking spaces, calculate the weights of all the vacant stacking parking spaces according to the moving distance weight, vehicle type level weight and random value, and assign the vehicle to the vacant stacking parking space with the largest weight. When there is only one vacant stacking parking space, assign the vehicle to the vacant stacking parking space. If there is no vacant stacking parking space, end the process.

2. The parking scheduling method of a three-dimensional garage according to claim 1 is characterized in that: The weight calculation formula of the idle stacking parking space is: in, represents the weight of the idle stacking parking space, represents the moving distance weight, represents the weight of the vehicle model level, Represents the random value, f1, f2, f r are coefficients and are all real numbers, f2>f1>f r .

3. The parking scheduling method of a three-dimensional garage according to claim 2 is characterized in that: The calculation formula of the moving distance weight is: ； Among them, D max represents the weighted length of the idle stacking parking space farthest from the idle buffer parking space in the stereo garage; x, y, z represent the coordinates of the current idle stacking parking space; x0, y0, z0 represent the coordinates of the idle buffer parking space; f x 、f y 、f z They respectively represent the average speeds of the stacker moving along the x-axis, y-axis, and z-axis, and the stacker is used to move the vehicle to the allocated vacant stacking parking space.

4. The parking scheduling method of a three-dimensional garage according to claim 2 is characterized in that: The calculation formula of the vehicle type level weight is: ； Among them, L0 represents the number of vehicle types supported by the current idle stacking parking space; L max Indicates the total number of vehicle types supported by the stereo garage.

5. The parking dispatching method of a three-dimensional garage according to claim 2, characterized in that: The calculation formula of the random value is: ； Among them, S max Indicates the maximum impact factor of random factors; S min Indicates the minimum impact factor of random factors.

6. The parking dispatching method of a three-dimensional garage according to claim 1, characterized in that: The stacked parking spaces include parking spaces that support bottom charging; the parking scheduling method for the three-dimensional garage also includes the following steps: When the vehicle enters the idle buffer parking space, identifying the bottom of the vehicle and determining whether bottom charging is supported; If the vehicle supports bottom charging, query whether there is a parking space that supports bottom charging that matches the bottom charging model of the vehicle; If there is a parking space that supports bottom charging and matches the bottom charging model of the vehicle, the vehicle is preferentially allocated to the parking space; If there is no parking space supporting bottom charging that matches the bottom charging model of the vehicle or if the vehicle does not support bottom charging, the vehicle is assigned to a parking space that does not support bottom charging.

7. The parking dispatching method of a three-dimensional garage according to claim 1, characterized in that: The stacking parking spaces also include exclusive parking spaces; and before searching the three-dimensional parking garage to see whether there is an idle area matching the vehicle information according to the vehicle information, the following steps are also included: Searching whether there is a matching exclusive parking space based on the vehicle information; If there is a matching exclusive parking space, the vehicle is allocated to the matching exclusive parking space; If there is no matching exclusive parking space, proceed to the next step.

8. The parking dispatching method of a three-dimensional garage according to claim 1, characterized in that: Some of the stacked parking spaces include outer parking spaces and inner parking spaces, and the parking scheduling method for the three-dimensional garage further includes the following steps: Searching whether there is a matching vacant inner parking space according to the vehicle information; If there is a matching vacant inner parking space, the vehicle is allocated to the matching vacant inner parking space; If there is no matching vacant inner parking space, then check whether there is a matching vacant outer parking space; If there is a matching vacant outer parking space, the vehicle is allocated to the matching vacant outer parking space; If there is no matching vacant outer parking space, then end.

9. The parking dispatching method of a three-dimensional garage according to claim 8, characterized in that: The following steps are also included: If there are multiple matching vacant outer parking spaces, calculate the lengths of all the matching vacant outer parking spaces and sort them from short to long to form a first data set; The vehicle is assigned to a first vacant outer parking space in the first data set that is greater than or equal to the vehicle length.

10. A parking dispatching system for a three-dimensional garage, characterized in that: The parking dispatching method for a three-dimensional garage according to any one of claims 1 to 9 is adopted, and the parking dispatching system for a three-dimensional garage at least comprises: A first search module is used to obtain vehicle information and search the stereo garage for a vacant area matching the vehicle information according to the vehicle information; A first allocation module, configured to retrieve whether there is an idle buffer parking space in the matching idle area when the output of the first retrieval module is yes, and to stop the vehicle at the idle buffer parking space when there is an idle buffer parking space; The second allocation module is used to retrieve whether there is an idle stacking parking space in the matched idle area. When there are multiple idle stacking parking spaces, the weights of all the idle stacking parking spaces are calculated based on the moving distance weight, the vehicle type level weight and the random value, and the vehicle is allocated to the idle stacking parking space with the largest weight. When there is only one idle stacking parking space, the vehicle is allocated to the idle stacking parking space.

11. A computer-readable storage medium, characterized in that: The storage medium carries one or more computer programs, and when the one or more computer programs are executed by an electronic device, the electronic device can implement the steps of the parking scheduling method for a three-dimensional garage as described in any one of claims 1 to 9.

12. A computer program product, characterized in that It comprises computer-readable instructions, and when the computer-readable instructions are executed on an electronic device, the electronic device implements the steps of the parking scheduling method of a three-dimensional garage as claimed in any one of claims 1 to 9.

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