Single-roadway double-trolley control method for stereo garage

Abstract

The invention discloses a single-roadway double-trolley control method for a stereo garage, which belongs to the technical field of stereo garages and comprises the following steps that a transverse-moving roadway is sequentially divided into a first working area, a cross working area and a second working area, a first transverse-moving trolley corresponds to the first working area, and a second transverse-moving trolley corresponds to the second working area; during parking, if no unoccupied parking space exists, the elevator cannot be entered, if the unoccupied parking space exists, parking distribution is started, and the area where the elevator is located is judged firstly; during car taking, car taking distribution begins, and the area where a car taking berth is located is judged firstly. According to the invention, the technical problem of how to realize safe and efficient scheduling of the two transverse moving trolleys in the single roadway in a control mode is solved, and the system is widely applied to three-dimensional garages.

Description

Technical Field

[0001] The invention belongs to the technical field of stereo garages, and in particular relates to a single-aisle double-trolley control method of a stereo garage. Background Art

[0002] At present, in a stereo garage, in order to improve the storage and retrieval efficiency of vehicles, two transverse trolleys are usually set in a transverse lane. Each transverse trolley is equipped with a carrier, which completes the longitudinal transportation of the vehicle. The transverse trolley is usually equipped with equipment for vehicle turning and can also have a rotation function. The advantages of this design are: First, the efficiency of vehicle storage and retrieval is maximized. Compared with the single-lane single-trolley solution, the two transverse trolleys in this solution can realize independent operation to achieve simultaneous storage and retrieval of two vehicles, greatly improving the efficiency of equipment storage and retrieval; second, the equipment fault tolerance rate is improved. In the case of equipment maintenance or equipment failure on a transverse trolley, the equipment to be repaired or the faulty equipment can be transferred to the end maintenance position, and the other transverse trolley completes the storage and retrieval task of this lane alone. The two transverse trolleys are backup for each other, which can effectively improve the equipment fault tolerance rate. However, if two transverse trolleys are designed in the same transverse lane, there is a risk of collision between the two transverse trolleys. How to achieve safe and efficient scheduling of two transverse trolleys in a single lane in terms of control has always been a technical problem that has troubled technical personnel in this field.

[0003] Therefore, in the field of multi-story garage technology, there is still a need for research and improvement on the single-aisle double-trolley control method of the multi-story garage. This is also a research hotspot and focus in the current field of multi-story garage technology, and it is also the starting point for the completion of the present invention. Summary of the invention

[0004] To this end, the technical problem to be solved by the present invention is: to provide a single-aisle double-trolley control method for a three-dimensional parking garage, so as to solve the technical problem of how to achieve safe and efficient scheduling of two transverse trolleys in a single aisle in terms of control method.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a single-lane double-trolley control method of a stereo garage, comprising the following steps:

[0006] S1. Divide the transverse lane into a first working area, a cross working area and a second working area in sequence. The first transverse trolley corresponds to the first working area, the second transverse trolley corresponds to the second working area, the first working area is provided with a first elevator, the cross working area is provided with a second elevator, and the second working area is provided with a third elevator;

[0007] S2. When parking a car, if there is no vacant parking space, the car cannot enter the elevator. If there is an vacant parking space, the parking allocation begins, and the elevator area is first determined;

[0008] S2.1 If the elevator is located in the first working area, then go to step S2.1.1 to determine whether there are any vacant parking spaces in the first working area. If there are vacant parking spaces, when the first transverse shifting trolley is idle, the first transverse shifting trolley performs the task, and the parking allocation task is completed. When the first transverse shifting trolley is not idle, return to the start of parking allocation and wait. If there are no vacant parking spaces in the first working area, then go to step S2.1.2 to determine whether there are any vacant parking spaces in the cross working area. If there are vacant parking spaces, when the first transverse shifting trolley is idle, the first transverse shifting trolley performs the task, and the parking allocation task is completed. When the first transverse shifting trolley is not idle, return to the start of parking allocation and wait. When the trolley is not idle and the second traverse trolley is idle, the second traverse trolley performs the task and the parking allocation task ends. When both the first traverse trolley and the second traverse trolley are not idle, the process returns to the start of parking allocation. If there are no vacant parking spaces in the cross-working area, the process goes to step S2.1.3 to determine whether there are vacant parking spaces in the second working area. If there are vacant parking spaces, when the second traverse trolley is idle, the second traverse trolley performs the task and the parking allocation task ends. When the second traverse trolley is not idle, the process returns to the start of parking allocation and waits. If there are no vacant parking spaces in the second working area, the parking allocation task ends.

[0009] S2.2. If the elevator is located in the cross-working area, go to step S2.2.1 to determine whether there are any vacant parking spaces in the cross-working area. If there are vacant parking spaces, when the first transverse shifting trolley is idle, the first transverse shifting trolley performs the task and the parking allocation task is completed. When the first transverse shifting trolley is not idle and the second transverse shifting trolley is idle, the second transverse shifting trolley performs the task and the parking allocation task is completed. When both the first transverse shifting trolley and the second transverse shifting trolley are not idle, return to the start of parking allocation. If there are no vacant parking spaces in the cross-working area, go to step S2.2.2 to determine whether there are any vacant parking spaces in the first working area. Berth, if there is a vacant berth, when the first transverse shift trolley is idle, the first transverse shift trolley performs the task, and the parking allocation task ends. When the first transverse shift trolley is not idle, it returns to the parking allocation start and waits. If there is no vacant berth in the first working area, it enters step S2.2.3 to determine whether there is a vacant berth in the second working area. If there is a vacant berth, when the second transverse shift trolley is idle, the second transverse shift trolley performs the task, and the parking allocation task ends. When the second transverse shift trolley is not idle, it returns to the parking allocation start and waits. If there is no vacant berth in the second working area, the parking allocation task ends.

[0010] S2.3. If the elevator is located in the second working area, then go to step S2.3.1 to determine whether there are any vacant parking spaces in the second working area. If there are vacant parking spaces, when the second transverse shift trolley is idle, the second transverse shift trolley performs the task, and the parking allocation task ends. When the second transverse shift trolley is not idle, return to the start of parking allocation and wait. If there are no vacant parking spaces in the second working area, then go to step S2.3.2 to determine whether there are any vacant parking spaces in the cross working area. If there are vacant parking spaces, when the second transverse shift trolley is idle, the second transverse shift trolley performs the task, and the parking allocation task ends. When the second transverse shift trolley is not idle, return to the start of parking allocation and wait. When the trolley is not idle and the first transverse shift trolley is idle, the first transverse shift trolley performs the task and the parking allocation task ends. When both the first transverse shift trolley and the second transverse shift trolley are not idle, the process returns to the start of parking allocation. If there are no vacant parking spaces in the cross-working area, the process goes to step S2.3.3 to determine whether there are any vacant parking spaces in the first working area. If there are any vacant parking spaces, when the first transverse shift trolley is idle, the first transverse shift trolley performs the task and the parking allocation task ends. When the first transverse shift trolley is not idle, the process returns to the start of parking allocation and waits. If there are no vacant parking spaces in the first working area, the parking allocation task ends.

[0011] As an improvement, in S3, when picking up a car, the car picking allocation starts, and the area where the parking space for picking up the car is located is first determined;

[0012] S3.1 If the car pick-up parking space is located in the first working area, then go to step S3.1.1 to determine whether there is an idle elevator in the first working area. If there is an idle elevator, when the first transverse moving trolley is idle, the first transverse moving trolley performs the task, and the car pick-up allocation task is completed. When the first transverse moving trolley is not idle, return to the start of car pick-up allocation and wait. If there is no idle elevator in the first working area, then go to step S3.1.2 to determine whether there is an idle elevator in the cross working area. If there is an idle elevator, when the first transverse moving trolley is idle, the first transverse moving trolley performs the task, and the car pick-up allocation task is completed. When the first transverse moving trolley When it is not idle and the second transverse trolley is idle, the second transverse trolley performs the task and the car picking allocation task ends. When both the first transverse trolley and the second transverse trolley are not idle, the process returns to the start of car picking allocation. If there is no idle elevator in the cross-working area, the process goes to step S3.1.3 to determine whether there is an idle elevator in the second working area. If there is an idle elevator, when the second transverse trolley is idle, the second transverse trolley performs the task and the car picking allocation task ends. When the second transverse trolley is not idle, the process returns to the start of car picking allocation and waits. If there is no idle elevator in the second working area, the process returns to the start of car picking allocation and needs to wait.

[0013] S3.2. If the car pick-up parking space is located in the cross-working area, then go to step S3.2.1 to determine whether there is an idle elevator in the cross-working area. If there is an idle elevator, when the first transverse moving trolley is idle, the first transverse moving trolley performs the task and the car pick-up allocation task is completed. When the first transverse moving trolley is not idle and the second transverse moving trolley is idle, the second transverse moving trolley performs the task and the car pick-up allocation task is completed. When both the first transverse moving trolley and the second transverse moving trolley are not idle, return to the start of car pick-up allocation. If there is no vacant parking space in the cross-working area, then go to step S3.2.2 to determine whether there is an idle elevator in the first working area. If there is an idle elevator, when the first transverse trolley is idle, the first transverse trolley performs the task, and the car picking allocation task is completed. When the first transverse trolley is not idle, it returns to the start of car picking allocation and waits. If there is no idle elevator in the first working area, enter step S3.2.3 to determine whether there is an idle elevator in the second working area. If there is an idle elevator, when the second transverse trolley is idle, the second transverse trolley performs the task, and the car picking allocation task is completed. When the second transverse trolley is not idle, it returns to the start of car picking allocation and waits. If there is no idle elevator in the second working area, it returns to the start of car picking allocation and needs to wait.

[0014] S3.3. If the car pick-up parking space is located in the second working area, go to step S3.3.1 to determine whether there is an idle elevator in the second working area. If there is an idle elevator, when the second transverse moving trolley is idle, the second transverse moving trolley performs the task, and the car pick-up allocation task is completed. When the second transverse moving trolley is not idle, return to the start of car pick-up allocation and wait. If there is no idle elevator in the second working area, go to step S2.3.2 to determine whether there is an idle elevator in the cross working area. If there is an idle elevator, when the second transverse moving trolley is idle, the second transverse moving trolley performs the task, and the car pick-up allocation task is completed. When the car is not idle and the first transverse moving trolley is idle, the first transverse moving trolley performs the task and the car picking allocation task is completed. When both the first transverse moving trolley and the second transverse moving trolley are not idle, it returns to the start of car picking allocation; if there is no idle elevator in the cross-working area, enter step S3.3.3 to determine whether there is an idle elevator in the first working area. If there is an idle elevator, when the first transverse moving trolley is idle, the first transverse moving trolley performs the task and the car picking allocation task is completed. When the first transverse moving trolley is not idle, it returns to the start of car picking allocation and waits; if there is no idle elevator in the first working area, it returns to the start of car picking allocation and needs to wait.

[0015] As a further improvement, it also includes an avoidance scheduling control step. When the first transverse moving trolley and the second transverse moving trolley receive the avoidance instruction, the avoidance scheduling control step is executed preferentially.

[0016] As a further improvement, the avoidance scheduling control step includes:

[0017] S4.1 When the first traverse trolley has a task and the second traverse trolley has no task, determine whether the activity area of ​​the first traverse trolley when performing the task overlaps with the working area of ​​the second traverse trolley:

[0018] S4.1.1 If the activity area of ​​the first traverse trolley when performing the task overlaps with the working area of ​​the second traverse trolley, the second traverse trolley is controlled to leave the activity range of the first traverse trolley when performing the task, so that the activity area of ​​the first traverse trolley when performing the task does not overlap with the working area of ​​the second traverse trolley, and the avoidance action of the second traverse trolley is completed;

[0019] S4.1.2 The activity area of ​​the first traverse trolley when performing tasks does not overlap with the working area of ​​the second traverse trolley, and the second traverse trolley does not need to avoid it;

[0020] S4.2 When the first traverse trolley has no task and the second traverse trolley has a task, determine whether the activity area of ​​the second traverse trolley when performing the task overlaps with the working area of ​​the first traverse trolley:

[0021] S4.2.1 If the activity area of ​​the second traverse trolley when performing the task overlaps with the working area of ​​the first traverse trolley, the first traverse trolley is controlled to leave the activity range of the second traverse trolley when performing the task, so that the activity area of ​​the second traverse trolley when performing the task does not overlap with the working area of ​​the first traverse trolley, and the avoidance action of the first traverse trolley is completed;

[0022] S4.2.2 The activity area of ​​the second traverse trolley when performing tasks does not overlap with the working area of ​​the first traverse trolley, and the first traverse trolley does not need to avoid it;

[0023] S4.3 When the first traverse trolley has a task and the second traverse trolley has a task, determine whether the activity area of ​​the first traverse trolley when performing the task overlaps with the activity area of ​​the second traverse trolley when performing the task:

[0024] S4.3.1 The activity area of ​​the first transverse trolley when performing a task overlaps with the activity area of ​​the second transverse trolley when performing a task. S4.3.1.1 The first transverse trolley receives an avoidance command, the first transverse trolley performs an avoidance action, and the second transverse trolley performs the task. When there is no overlap between the working area of ​​the first transverse trolley and the activity area of ​​the second transverse trolley when performing a task, the avoidance of the first transverse trolley is completed. When the second transverse trolley completes the task, the task of the first transverse trolley continues to be performed in accordance with S4.1. S4.3.1.2 The second transverse trolley receives an avoidance command, the second transverse trolley performs an avoidance action, and the first transverse trolley performs the task. When there is no overlap between the working area of ​​the second transverse trolley and the activity area of ​​the first transverse trolley when performing a task, the avoidance of the second transverse trolley is completed. When the first transverse trolley completes the task, the task of the second transverse trolley continues to be performed in accordance with S4.2.

[0025] S4.3.2 The activity area of ​​the first transverse moving trolley when performing a task and the activity area of ​​the second transverse moving trolley when performing a task do not overlap, and they only need to perform their respective tasks.

[0026] After adopting the above technical solution, the beneficial effects of the present invention are:

[0027] The present invention reasonably divides the working area, reasonably allocates the execution tasks of the first transverse trolley or the second transverse trolley according to the location of the storage and access berths, plans the working range of the first transverse trolley and the second transverse trolley, realizes the nearest storage and access between vehicles and berths, improves the vehicle storage and access efficiency, and avoids the safety hazard of collision between the first transverse trolley and the second transverse trolley, thereby greatly improving the safe use performance of double transverse trolleys in a single aisle. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0029] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0030] Figure 1 Schematic diagram of the plane distribution of the three-dimensional parking garage in the embodiment of the present invention;

[0031] In the figure: 1. transverse lane, 2. first transverse trolley, 3. second transverse trolley, 4. elevator. DETAILED DESCRIPTION

[0032] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] The terms such as "front", "back", "left", "right", "inside", "outside", "middle", etc. cited in this specification are only for the convenience of description and are not intended to limit the scope of implementation of the present invention. Changes or adjustments to their relative relationships should be regarded as within the scope of implementation of the present invention without substantially changing the technical content.

[0034] A single-aisle double-trolley control method for a stereo garage comprises the following steps:

[0035] S1, such as Figure 1 As shown, a lift 4 is provided on the steel structure frame of the stereo garage, and the transverse lane 1 is divided into a first working area, a cross working area and a second working area in sequence. When dividing, the first working area is an area where the first transverse trolley 2 can directly complete the task, the second working area is an area where the second transverse trolley 3 can directly complete the task, and the cross working area is an area where both the first transverse trolley 2 and the second transverse trolley 3 can directly complete the task. If the total length of the transverse lane 1 is L, the length of the first working area is L1, and the length of the second working area is L2, then the length of the cross working area L3 = L-L1-L2, the first transverse trolley 2 corresponds to the first working area, and the second transverse trolley 3 corresponds to the second working area. If the positioning value of the first transverse trolley 2 is M1, and the positioning value of the second transverse trolley 3 is M2, here, the positioning value refers to the real-time position of the transverse trolley, the width of the first transverse trolley 2 and the second transverse trolley 3 are both Wt, and the berth width is both Wb, thereby calculating the working areas of the two transverse trolleys:

[0036] The first working area L1 = M1 + Wt + Wb;

[0037] The second working area L2 = M2 + Wt + Wb;

[0038] Here, the berth width Wb is increased when calculating the working area in order to improve the safety factor. Those skilled in the art can reasonably set the safety factor according to the actual working conditions, such as the running speed of the traverse trolley, the configuration of the monitoring hardware, and other factors;

[0039] According to the above calculations, the divided areas are not fixed, and the three areas will change according to the positions of the two transverse trolleys;

[0040] In addition to considering the area where the storage location is located, many other aspects need to be considered when allocating tasks, such as equipment status, operating time, lifting status, etc. Therefore, regional division is not the determining factor for the horizontal transfer trolley, but only serves as the basis for task allocation;

[0041] S2, when parking, if there is no vacant parking space, it is impossible to enter the elevator 4. If there is a vacant parking space, the parking allocation begins, and the area where the elevator 4 is located is first determined;

[0042] S2.1 If the elevator 4 is located in the first working area, then enter step S2.1.1 to determine whether there are any vacant berths in the first working area. If there are vacant berths, when the first transverse shifting trolley 2 is idle, the first transverse shifting trolley 2 performs the task, and the parking allocation task is completed. When the first transverse shifting trolley 2 is not idle, it returns to the start of parking allocation and waits. If there are no vacant berths in the first working area, then enter step S2.1.2 to determine whether there are any vacant berths in the cross-working area. If there are vacant berths, when the first transverse shifting trolley 2 is idle, the first transverse shifting trolley 2 performs the task, and the parking allocation task is completed. When car 2 is not idle and the second transverse moving trolley 3 is idle, the second transverse moving trolley 3 performs the task and the parking allocation task ends. When both the first transverse moving trolley 2 and the second transverse moving trolley 3 are not idle, the process returns to the start of parking allocation. If there is no vacant parking space in the cross-working area, the process goes to step S2.1.3 to determine whether there is any vacant parking space in the second working area. If there is any vacant parking space, when the second transverse moving trolley 3 is idle, the second transverse moving trolley 3 performs the task and the parking allocation task ends. When the second transverse moving trolley 3 is not idle, the process returns to the start of parking allocation and waits. If there is no vacant parking space in the second working area, the parking allocation task ends.

[0043] S2.2. If the elevator 4 is located in the cross-working area, then enter step S2.2.1 to determine whether there are any vacant parking spaces in the cross-working area. If there are vacant parking spaces, when the first transverse shifting trolley 2 is idle, the first transverse shifting trolley 2 performs the task and the parking allocation task is completed. When the first transverse shifting trolley 2 is not idle and the second transverse shifting trolley 3 is idle, the second transverse shifting trolley 3 performs the task and the parking allocation task is completed. When both the first transverse shifting trolley 2 and the second transverse shifting trolley 3 are not idle, return to the start of parking allocation. If there are no vacant parking spaces in the cross-working area, enter step S2.2.2 to determine whether there are any vacant parking spaces in the first working area. If there are vacant berths, when the first transverse shift trolley 2 is idle, the first transverse shift trolley 2 performs the task, and the parking allocation task ends. When the first transverse shift trolley 2 is not idle, it returns to the parking allocation start and waits. If there are no vacant berths in the first working area, it goes to step S2.2.3 to determine whether there are vacant berths in the second working area. If there are vacant berths, when the second transverse shift trolley 3 is idle, the second transverse shift trolley 3 performs the task, and the parking allocation task ends. When the second transverse shift trolley 3 is not idle, it returns to the parking allocation start and waits. If there are no vacant berths in the second working area, the parking allocation task ends.

[0044] S2.3. If the elevator 4 is located in the second working area, then go to step S2.3.1 to determine whether there are any vacant parking spaces in the second working area. If there are vacant parking spaces, when the second transverse shifting trolley 3 is idle, the second transverse shifting trolley 3 performs the task, and the parking allocation task ends. When the second transverse shifting trolley 3 is not idle, it returns to the start of parking allocation and waits. If there are no vacant parking spaces in the second working area, then go to step S2.3.2 to determine whether there are any vacant parking spaces in the cross-working area. If there are vacant parking spaces, when the second transverse shifting trolley 3 is idle, the second transverse shifting trolley 3 performs the task, and the parking allocation task ends. When vehicle 3 is not idle and the first transverse shift trolley 2 is idle, the first transverse shift trolley 2 performs the task and the parking allocation task ends. When both the first transverse shift trolley 2 and the second transverse shift trolley 3 are not idle, the process returns to the start of parking allocation. If there are no vacant parking spaces in the cross-working area, the process goes to step S2.3.3 to determine whether there are any vacant parking spaces in the first working area. If there are any vacant parking spaces, when the first transverse shift trolley 2 is idle, the first transverse shift trolley 2 performs the task and the parking allocation task ends. When the first transverse shift trolley 2 is not idle, the process returns to the start of parking allocation and waits. If there are no vacant parking spaces in the first working area, the parking allocation task ends.

[0045] S3, when picking up the car, the car pick-up allocation begins, and the area where the car pick-up parking space is located is first determined;

[0046] S3.1 If the car pick-up parking space is located in the first working area, then go to step S3.1.1 to determine whether there is an idle elevator 4 in the first working area. If there is an idle elevator 4, when the first transverse moving trolley 2 is idle, the first transverse moving trolley 2 performs the task, and the car pick-up allocation task is completed. When the first transverse moving trolley 2 is not idle, return to the start of car pick-up allocation and wait. If there is no idle elevator 4 in the first working area, then go to step S3.1.2 to determine whether there is an idle elevator 4 in the cross working area. If there is an idle elevator 4, when the first transverse moving trolley 2 is idle, the first transverse moving trolley 2 performs the task, and the car pick-up allocation task is completed. When the first transverse moving trolley 2 When it is not idle and the second transverse moving trolley 3 is idle, the second transverse moving trolley 3 performs the task and the car picking allocation task is completed. When both the first transverse moving trolley 2 and the second transverse moving trolley 3 are not idle, they return to the start of car picking allocation; if there is no idle elevator 4 in the cross-working area, enter step S3.1.3 to determine whether there is an idle elevator 4 in the second working area. If there is an idle elevator 4, when the second transverse moving trolley 3 is idle, the second transverse moving trolley 3 performs the task and the car picking allocation task is completed. When the second transverse moving trolley 3 is not idle, it returns to the start of car picking allocation and waits; if there is no idle elevator 4 in the second working area, it returns to the start of car picking allocation and needs to wait;

[0047] S3.2. If the car pick-up parking space is located in the cross-working area, then go to step S3.2.1 to determine whether there is an idle elevator 4 in the cross-working area. If there is an idle elevator 4, when the first transverse moving trolley 2 is idle, the first transverse moving trolley 2 performs the task and the car pick-up allocation task is completed. When the first transverse moving trolley 2 is not idle and the second transverse moving trolley 3 is idle, the second transverse moving trolley 3 performs the task and the car pick-up allocation task is completed. When both the first transverse moving trolley 2 and the second transverse moving trolley 3 are not idle, return to the start of car pick-up allocation. If there is no vacant parking space in the cross-working area, then go to step S3.2.2 to determine whether there is an idle elevator 4 in the first working area. If there is an idle elevator 4, when the first transverse moving trolley 2 is idle, the first transverse moving trolley 2 performs the task, and the car picking allocation task is completed. When the first transverse moving trolley 2 is not idle, it returns to the start of car picking allocation and waits. If there is no idle elevator 4 in the first working area, enter step S3.2.3 to determine whether there is an idle elevator 4 in the second working area. If there is an idle elevator 4, when the second transverse moving trolley 3 is idle, the second transverse moving trolley 3 performs the task, and the car picking allocation task is completed. When the second transverse moving trolley 3 is not idle, it returns to the start of car picking allocation and waits. If there is no idle elevator 4 in the second working area, it returns to the start of car picking allocation and needs to wait.

[0048] S3.3. If the car pick-up parking space is located in the second working area, then go to step S3.3.1 to determine whether there is an idle elevator 4 in the second working area. If there is an idle elevator 4, when the second transverse moving trolley 3 is idle, the second transverse moving trolley 3 performs the task, and the car pick-up allocation task is completed. When the second transverse moving trolley 3 is not idle, return to the start of car pick-up allocation and wait. If there is no idle elevator 4 in the second working area, then go to step S2.3.2 to determine whether there is an idle elevator 4 in the cross working area. If there is an idle elevator 4, when the second transverse moving trolley 3 is idle, the second transverse moving trolley 3 performs the task, and the car pick-up allocation task is completed. 3 is not idle and the first transverse moving trolley 2 is idle, the first transverse moving trolley 2 performs the task and the car picking allocation task is completed. When both the first transverse moving trolley 2 and the second transverse moving trolley 3 are not idle, they return to the start of car picking allocation; if there is no idle elevator 4 in the cross-working area, enter step S3.3.3 to determine whether there is an idle elevator 4 in the first working area. If there is an idle elevator 4, when the first transverse moving trolley 2 is idle, the first transverse moving trolley 2 performs the task and the car picking allocation task is completed. When the first transverse moving trolley 2 is not idle, it returns to the start of car picking allocation and waits. If there is no idle elevator 4 in the first working area, it returns to the start of car picking allocation and needs to wait.

[0049] In order to further improve the safe operation performance, the lateral movement positioning methods of the first lateral movement trolley 2 and the second lateral movement trolley 3 are both laser ranging positioning or barcode positioning. The first lateral movement trolley 2 and the second lateral movement trolley 3 each detect their own position, and transmit their position to each other and the upper PLC. The upper PLC or the upper system reasonably allocates the operation actions and positions of the first lateral movement trolley 2 and the second lateral movement trolley 3 according to the positions and tasks of the first lateral movement trolley 2 and the second lateral movement trolley 3, and reasonably avoids and prevents collision. At the same time, a foreign object detection sensor for mutual detection is added between the first lateral movement trolley 2 and the second lateral movement trolley 3. When this sensor has a signal, the lateral movement trolley stops moving urgently to avoid collision accidents. In addition, the first lateral movement trolley 2 and the second lateral movement trolley 3 judge the safe range of operation according to the real-time position of the other party, reasonably control the operation speed and position, avoid collision accidents, and form a double insurance with the foreign object detection sensor to ensure the safe operation of the equipment.

[0050] The single-aisle dual-trolley control method of the stereo garage also includes an avoidance scheduling control step. When the first lateral moving trolley and the second lateral moving trolley receive an avoidance instruction, the avoidance scheduling control step is executed first. After the task allocation is completed, the upper PLC or upper system reasonably schedules the operation of the two lateral moving trolleys according to the positions of the first lateral moving trolley and the second lateral moving trolley and the task requirements to complete reasonable avoidance and avoid the situation where the two lateral moving trolleys interfere with each other.

[0051] When judging avoidance, the upper PLC or upper system needs to plan the activity areas of the two transverse moving trolleys according to the starting and end points of the tasks performed by the first transverse moving trolley and the second transverse moving trolley, compare the activity areas, judge the positions for mutual avoidance, and issue avoidance instructions to the two transverse moving trolleys according to the execution situation. When the transverse moving trolley receives the avoidance instruction, regardless of whether there is a task or not, the avoidance action process is executed first. Only when the avoidance instruction is completed can the current task be continued.

[0052] Specifically, the avoidance scheduling control step includes:

[0053] S4.1 When the first traverse trolley has a task and the second traverse trolley has no task, determine whether the activity area of ​​the first traverse trolley when performing the task overlaps with the working area of ​​the second traverse trolley:

[0054] S4.1.1 The activity area of ​​the first traverse trolley when performing a task overlaps with the working area of ​​the second traverse trolley. To avoid a collision between the first traverse trolley and the second traverse trolley, the upper PLC or upper system needs to control the second traverse trolley to perform an avoidance action process, and control the second traverse trolley to leave the activity range of the first traverse trolley when performing a task, so that the activity area of ​​the first traverse trolley when performing a task does not overlap with the working area of ​​the second traverse trolley, and the avoidance action of the second traverse trolley is completed;

[0055] S4.1.2 The activity area of ​​the first traverse trolley when performing tasks does not overlap with the working area of ​​the second traverse trolley. The second traverse trolley does not need to make avoidance, and the upper PLC or upper system does not issue an avoidance command;

[0056] S4.2 When the first traverse trolley has no task and the second traverse trolley has a task, determine whether the activity area of ​​the second traverse trolley when performing the task overlaps with the working area of ​​the first traverse trolley:

[0057] S4.2.1 The activity area of ​​the second traverse trolley when performing a task overlaps with the working area of ​​the first traverse trolley. To avoid a collision between the first traverse trolley and the second traverse trolley, the upper PLC or upper system needs to control the first traverse trolley to perform an avoidance action process, control the first traverse trolley to leave the activity range of the second traverse trolley when performing a task, so that the activity area of ​​the second traverse trolley when performing a task does not overlap with the working area of ​​the first traverse trolley, and the avoidance action of the first traverse trolley is completed;

[0058] S4.2.2 The activity area of ​​the second traverse trolley when performing tasks does not overlap with the working area of ​​the first traverse trolley. The first traverse trolley does not need to make avoidance, and the upper PLC or upper system does not issue an avoidance command;

[0059] S4.3 When the first traverse trolley has a task and the second traverse trolley has a task, determine whether the activity area of ​​the first traverse trolley when performing the task and the activity area of ​​the second traverse trolley when performing the task overlap. Since there is a sequence in task acquisition, according to the judgment logic of S4.1 and S4.2, one of the traverse trolleys must receive the avoidance instruction and perform the avoidance action:

[0060] S4.3.1 The activity area of ​​the first transverse trolley when performing a task overlaps with the activity area of ​​the second transverse trolley when performing a task. S4.3.1.1 The first transverse trolley receives an avoidance command, the first transverse trolley performs an avoidance action, and the second transverse trolley performs the task. When there is no overlap between the working area of ​​the first transverse trolley and the activity area of ​​the second transverse trolley when performing a task, the avoidance of the first transverse trolley is completed. When the second transverse trolley completes the task, the task of the first transverse trolley continues to be performed in accordance with S4.1. S4.3.1.2 The second transverse trolley receives an avoidance command, the second transverse trolley performs an avoidance action, and the first transverse trolley performs the task. When there is no overlap between the working area of ​​the second transverse trolley and the activity area of ​​the first transverse trolley when performing a task, the avoidance of the second transverse trolley is completed. When the first transverse trolley completes the task, the task of the second transverse trolley continues to be performed in accordance with S4.2.

[0061] S4.3.2 The activity area of ​​the first transverse moving trolley when performing a task does not overlap with the activity area of ​​the second transverse moving trolley when performing a task. Since there is no overlapping part in the task activity areas of the first transverse moving trolley and the second transverse moving trolley, the first transverse moving trolley and the second transverse moving trolley do not need to execute avoidance instructions and can perform their respective tasks.

[0062] The embodiment of the present invention reasonably divides the working area, reasonably allocates the execution tasks of the first transverse moving trolley 2 or the second transverse moving trolley 3 according to the location of the storage and access berth, plans the working range of the first transverse moving trolley 2 and the second transverse moving trolley 3, realizes the nearest storage and access between the vehicle and the berth, improves the vehicle storage and access efficiency, and avoids the safety hazard of collision between the first transverse moving trolley 2 and the second transverse moving trolley 3, thereby greatly improving the safe use performance of the double transverse moving trolleys in a single aisle.

[0063] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A single-aisle double-trolley control method for a stereo garage, characterized in that: The following steps are included: S1, dividing the transverse lane into a first working area, a cross working area and a second working area in sequence, the first transverse trolley corresponds to the first working area, and the second transverse trolley corresponds to the second working area; S2. When parking a car, if there is no vacant parking space, the car cannot enter the elevator. If there is an vacant parking space, the parking allocation begins, and the elevator area is first determined; S2.1 If the elevator is located in the first working area, then go to step S2.1.1 to determine whether there are any vacant parking spaces in the first working area. If there are vacant parking spaces, when the first transverse shifting trolley is idle, the first transverse shifting trolley performs the task, and the parking allocation task is completed. When the first transverse shifting trolley is not idle, return to the start of parking allocation and wait. If there are no vacant parking spaces in the first working area, then go to step S2.1.2 to determine whether there are any vacant parking spaces in the cross working area. If there are vacant parking spaces, when the first transverse shifting trolley is idle, the first transverse shifting trolley performs the task, and the parking allocation task is completed. When the first transverse shifting trolley is not idle, return to the start of parking allocation and wait. When the trolley is not idle and the second traverse trolley is idle, the second traverse trolley performs the task and the parking allocation task ends. When both the first traverse trolley and the second traverse trolley are not idle, the process returns to the start of parking allocation. If there are no vacant parking spaces in the cross-working area, the process goes to step S2.1.3 to determine whether there are vacant parking spaces in the second working area. If there are vacant parking spaces, when the second traverse trolley is idle, the second traverse trolley performs the task and the parking allocation task ends. When the second traverse trolley is not idle, the process returns to the start of parking allocation and waits. If there are no vacant parking spaces in the second working area, the parking allocation task ends. S2.

2. If the elevator is located in the cross-working area, go to step S2.2.1 to determine whether there are any vacant parking spaces in the cross-working area. If there are vacant parking spaces, when the first transverse shifting trolley is idle, the first transverse shifting trolley performs the task and the parking allocation task is completed. When the first transverse shifting trolley is not idle and the second transverse shifting trolley is idle, the second transverse shifting trolley performs the task and the parking allocation task is completed. When both the first transverse shifting trolley and the second transverse shifting trolley are not idle, return to the start of parking allocation. If there are no vacant parking spaces in the cross-working area, go to step S2.2.2 to determine whether there are any vacant parking spaces in the first working area. Berth, if there is a vacant berth, when the first transverse shift trolley is idle, the first transverse shift trolley performs the task, and the parking allocation task ends. When the first transverse shift trolley is not idle, it returns to the parking allocation start and waits. If there is no vacant berth in the first working area, it enters step S2.2.3 to determine whether there is a vacant berth in the second working area. If there is a vacant berth, when the second transverse shift trolley is idle, the second transverse shift trolley performs the task, and the parking allocation task ends. When the second transverse shift trolley is not idle, it returns to the parking allocation start and waits. If there is no vacant berth in the second working area, the parking allocation task ends. S2.

3. If the elevator is located in the second working area, then go to step S2.3.1 to determine whether there are any vacant parking spaces in the second working area. If there are vacant parking spaces, when the second transverse shift trolley is idle, the second transverse shift trolley performs the task, and the parking allocation task ends. When the second transverse shift trolley is not idle, return to the start of parking allocation and wait. If there are no vacant parking spaces in the second working area, then go to step S2.3.2 to determine whether there are any vacant parking spaces in the cross working area. If there are vacant parking spaces, when the second transverse shift trolley is idle, the second transverse shift trolley performs the task, and the parking allocation task ends. When the second transverse shift trolley is not idle, return to the start of parking allocation and wait. When the trolley is not idle and the first transverse shift trolley is idle, the first transverse shift trolley performs the task and the parking allocation task ends. When both the first transverse shift trolley and the second transverse shift trolley are not idle, the process returns to the start of parking allocation. If there are no vacant parking spaces in the cross-working area, the process goes to step S2.3.3 to determine whether there are any vacant parking spaces in the first working area. If there are any vacant parking spaces, when the first transverse shift trolley is idle, the first transverse shift trolley performs the task and the parking allocation task ends. When the first transverse shift trolley is not idle, the process returns to the start of parking allocation and waits. If there are no vacant parking spaces in the first working area, the parking allocation task ends.

2. The single-aisle double-trolley control method of a stereo garage according to claim 1 is characterized in that: S3, when picking up the car, the car pick-up allocation begins, and the area where the car pick-up parking space is located is first determined; S3.1 If the car pick-up parking space is located in the first working area, go to step S3.1.1 to determine whether there is an idle elevator in the first working area. If there is an idle elevator, when the first transverse moving trolley is idle, the first transverse moving trolley performs the task, and the car pick-up allocation task is completed. When the first transverse moving trolley is not idle, return to the start of car pick-up allocation and wait. If there is no idle elevator in the first working area, go to step S3.1.2 to determine whether there is an idle elevator in the cross working area. If there is an idle elevator, when the first transverse moving trolley is idle, the first transverse moving trolley performs the task, and the car pick-up allocation task is completed. When the car is not idle and the second transverse trolley is idle, the second transverse trolley performs the task and the car picking allocation task is completed. When both the first transverse trolley and the second transverse trolley are not idle, the process returns to the start of car picking allocation. If there is no idle elevator in the cross-working area, the process goes to step S3.1.3 to determine whether there is an idle elevator in the second working area. If there is an idle elevator, when the second transverse trolley is idle, the second transverse trolley performs the task and the car picking allocation task is completed. When the second transverse trolley is not idle, the process returns to the start of car picking allocation and waits. If there is no idle elevator in the second working area, the process returns to the start of car picking allocation and needs to wait. S3.

2. If the car pick-up parking space is located in the cross-working area, then go to step S3.2.1 to determine whether there is an idle elevator in the cross-working area. If there is an idle elevator, when the first transverse moving trolley is idle, the first transverse moving trolley performs the task and the car pick-up allocation task is completed. When the first transverse moving trolley is not idle and the second transverse moving trolley is idle, the second transverse moving trolley performs the task and the car pick-up allocation task is completed. When both the first transverse moving trolley and the second transverse moving trolley are not idle, return to the start of car pick-up allocation. If there is no vacant parking space in the cross-working area, then go to step S3.2.2 to determine whether there is an idle elevator in the first working area. If there is an idle elevator, when the first transverse trolley is idle, the first transverse trolley performs the task, and the car picking allocation task is completed. When the first transverse trolley is not idle, it returns to the start of car picking allocation and waits. If there is no idle elevator in the first working area, enter step S3.2.3 to determine whether there is an idle elevator in the second working area. If there is an idle elevator, when the second transverse trolley is idle, the second transverse trolley performs the task, and the car picking allocation task is completed. When the second transverse trolley is not idle, it returns to the start of car picking allocation and waits. If there is no idle elevator in the second working area, it returns to the start of car picking allocation and needs to wait. S3.

3. If the car pick-up parking space is located in the second working area, go to step S3.3.1 to determine whether there is an idle elevator in the second working area. If there is an idle elevator, when the second transverse moving trolley is idle, the second transverse moving trolley performs the task, and the car pick-up allocation task is completed. When the second transverse moving trolley is not idle, return to the start of car pick-up allocation and wait. If there is no idle elevator in the second working area, go to step S2.3.2 to determine whether there is an idle elevator in the cross working area. If there is an idle elevator, when the second transverse moving trolley is idle, the second transverse moving trolley performs the task, and the car pick-up allocation task is completed. When the car is not idle and the first transverse moving trolley is idle, the first transverse moving trolley performs the task and the car picking allocation task is completed. When both the first transverse moving trolley and the second transverse moving trolley are not idle, it returns to the start of car picking allocation; if there is no idle elevator in the cross-working area, enter step S3.3.3 to determine whether there is an idle elevator in the first working area. If there is an idle elevator, when the first transverse moving trolley is idle, the first transverse moving trolley performs the task and the car picking allocation task is completed. When the first transverse moving trolley is not idle, it returns to the start of car picking allocation and waits; if there is no idle elevator in the first working area, it returns to the start of car picking allocation and needs to wait.

3. The single-aisle double-trolley control method of a stereo garage according to claim 1 or 2, characterized in that: It also includes an avoidance scheduling control step. When the first transverse moving trolley and the second transverse moving trolley receive an avoidance instruction, the avoidance scheduling control step is executed first.

4. The single-aisle double-trolley control method of a stereo garage according to claim 3 is characterized in that: The avoidance scheduling control step includes: S4.1 When the first traverse trolley has a task and the second traverse trolley has no task, determine whether the activity area of ​​the first traverse trolley when performing the task overlaps with the working area of ​​the second traverse trolley: S4.1.1 If the activity area of ​​the first traverse trolley when performing the task overlaps with the working area of ​​the second traverse trolley, the second traverse trolley is controlled to leave the activity range of the first traverse trolley when performing the task, so that the activity area of ​​the first traverse trolley when performing the task does not overlap with the working area of ​​the second traverse trolley, and the avoidance action of the second traverse trolley is completed; S4.1.2 The activity area of ​​the first traverse trolley when performing tasks does not overlap with the working area of ​​the second traverse trolley, and the second traverse trolley does not need to avoid it; S4.2 When the first traverse trolley has no task and the second traverse trolley has a task, determine whether the activity area of ​​the second traverse trolley when performing the task overlaps with the working area of ​​the first traverse trolley: S4.2.1 If the activity area of ​​the second traverse trolley when performing the task overlaps with the working area of ​​the first traverse trolley, the first traverse trolley is controlled to leave the activity range of the second traverse trolley when performing the task, so that the activity area of ​​the second traverse trolley when performing the task does not overlap with the working area of ​​the first traverse trolley, and the avoidance action of the first traverse trolley is completed; S4.2.2 The activity area of ​​the second traverse trolley when performing tasks does not overlap with the working area of ​​the first traverse trolley, and the first traverse trolley does not need to avoid it; S4.3 When the first traverse trolley has a task and the second traverse trolley has a task, determine whether the activity area of ​​the first traverse trolley when performing the task overlaps with the activity area of ​​the second traverse trolley when performing the task: S4.3.1 The activity area of ​​the first transverse trolley when performing a task overlaps with the activity area of ​​the second transverse trolley when performing a task. S4.3.1.1 The first transverse trolley receives an avoidance command, the first transverse trolley performs an avoidance action, and the second transverse trolley performs the task. When there is no overlap between the working area of ​​the first transverse trolley and the activity area of ​​the second transverse trolley when performing a task, the avoidance of the first transverse trolley is completed. When the second transverse trolley completes the task, the task of the first transverse trolley continues to be performed in accordance with S4.

1. S4.3.1.2 The second transverse trolley receives an avoidance command, the second transverse trolley performs an avoidance action, and the first transverse trolley performs the task. When there is no overlap between the working area of ​​the second transverse trolley and the activity area of ​​the first transverse trolley when performing a task, the avoidance of the second transverse trolley is completed. When the first transverse trolley completes the task, the task of the second transverse trolley continues to be performed in accordance with S4.

2. S4.3.2 The activity area of ​​the first transverse moving trolley when performing a task and the activity area of ​​the second transverse moving trolley when performing a task do not overlap, and they only need to perform their respective tasks.

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