A vehicle scheduling method, device, equipment and system of a stereo garage

Abstract

The application discloses a kind of stereoscopic garage vehicle scheduling method, device, equipment and system, it is related to stereoscopic garage parking technical field, the method comprises: obtaining the task to be executed in the task queue of current shuttle car;Detect whether the task to be executed is critical section task;If it is critical section task, then detect whether the target parking stall of the task to be executed is in locked state;If not, then lock adjacent critical section, control current shuttle car to execute the task to be executed;If yes, then after the target parking stall of the task to be executed is unlocked, lock adjacent critical section, control current shuttle car to execute the task to be executed;The application is dynamically opened by the setting of preset critical section in adjacent partition, so that the target parking stall in the critical section task of preset critical section, only when target parking stall is not locked can be executed and when executing adjacent critical section with collision risk will be locked, can improve parking stall resource utilization of adjacent partition in garage under the premise of guaranteeing safety.

Description

Technical Field

[0001] This invention relates to the field of automated parking garage technology, and particularly to a vehicle scheduling method, device, equipment and system for automated parking garages. Background Technology

[0002] In stacked automated parking systems, parking spaces are typically divided into multiple zones, each handled by an independent shuttle vehicle. When the distance between two adjacent zones is small, parking spaces located at the zone boundary pose a risk of collision. If shuttle vehicles from two adjacent zones simultaneously enter the adjacent area at the zone boundary to perform their tasks, a physical collision may occur.

[0003] To address this, related technologies typically mitigate the risk of collisions by increasing the distance between adjacent zones. However, due to the limited overall building area of ​​a parking garage, increasing the distance between adjacent zones reduces the number of available parking spaces and decreases the overall space utilization rate. Therefore, how to improve the utilization rate of parking space resources in adjacent zones within a parking garage while ensuring safety is an urgent problem to be solved. Summary of the Invention

[0004] The purpose of this invention is to provide a vehicle scheduling method, device, equipment and system for a multi-level parking garage, so as to improve the utilization rate of parking space resources in adjacent zones of the garage while ensuring safety.

[0005] To solve the above-mentioned technical problems, the present invention provides a vehicle scheduling method for a multi-level parking garage, comprising: Retrieve the tasks to be executed in the task queue of the current shuttle vehicle; wherein the current shuttle vehicle is any shuttle vehicle in the automated parking garage; the tasks to be executed are either parking tasks or retrieval tasks. Detect whether the task to be executed is a critical section task; wherein, at least one target parking space of the critical section task is located in a preset critical section, the preset critical section is the area adjacent to other sections in each of the shuttle cars' respective sections, and the target parking space includes vehicle storage spaces; If it is a critical section task, then check whether the target parking space of the task to be executed is locked; If not, then lock the adjacent critical zone and control the current shuttle to execute the task to be executed; wherein, the adjacent critical zone is a preset critical zone in other partitions that is adjacent to the target critical zone, and the target critical zone is the preset critical zone in the current partition where the target parking space of the task to be executed is located; If so, after the target parking space for the task to be performed is unlocked, the adjacent critical zone is locked, and the current shuttle is controlled to execute the task to be performed.

[0006] On the other hand, after the target parking space for the task to be performed is unlocked, locking the adjacent critical zone and controlling the current shuttle to execute the task to be performed includes: Select the next task from the task queue as the task to be executed, and perform the step of detecting whether the task to be executed is a critical section task.

[0007] On the other hand, before selecting the next task from the task queue as the task to be executed, the method further includes: If the task to be executed is the parking task, then determine whether the locked target parking space can be adjusted to a new parking space outside the target critical area in the current partition; If so, the locked target parking space is adjusted to the corresponding new parking space, and the step of detecting whether the task to be executed is a critical section task is performed. If not, then proceed with the step of selecting the next task from the task queue as the task to be executed.

[0008] On the other hand, the task queue includes a vehicle storage queue and a vehicle retrieval queue; the step of retrieving the tasks to be executed from the task queue of the current shuttle includes: Based on the timestamps of the unfinished tasks in the parking queue and the retrieval queue, an unfinished task is selected from the tasks in the parking queue and the retrieval queue as the task to be executed; wherein, the timestamp of the task to be executed is earlier than the timestamps of the tasks in the same queue, and the tasks in the same queue are other unfinished tasks in the same task queue as the task to be executed.

[0009] On the other hand, obtaining the tasks to be executed in the current shuttle's task queue includes: Based on the timestamps of the unfinished tasks in the current shuttle's task queue and the timestamps of the target tasks in the task queues of adjacent shuttles, a task is selected from the tasks in the current shuttle's task queue as the task to be executed; wherein, there exists a preset critical section in the partition where the adjacent shuttle is located that is adjacent to the preset critical section corresponding to the current shuttle; the target task is the critical section task corresponding to the adjacent shuttle that has not been performed and has not been completed.

[0010] On the other hand, detecting whether the target parking space for the task to be performed is locked includes: Detect whether the target region is in the locked state; wherein, the target region includes the target critical region and the adjacent critical region; If the target area is not in the locked state, then the target area is locked, and the current shuttle is controlled to execute the task to be executed; If the target area is in the locked state, then after the target area is unlocked, the adjacent critical zone is locked, and the current shuttle is controlled to execute the task to be performed.

[0011] On the other hand, when the preset critical zone includes at least two preset parking spaces, locking adjacent critical zones and controlling the current shuttle to execute the task to be executed includes: Based on the location information of the target parking space for the task to be executed in the target critical zone and the current shuttle's access distance information, the risk parking spaces in the adjacent critical zones are determined. Lock the risky parking space and control the current shuttle to perform the task to be performed.

[0012] On the other hand, before locking adjacent critical sections and controlling the current shuttle to execute the task to be performed, the method further includes: Determine whether entry into the target critical zone is permitted; If entry is permitted, the steps of locking the adjacent critical zone and controlling the current shuttle to perform the task to be performed are executed.

[0013] On the other hand, the target parking space also includes a buffer parking space; the step of detecting whether the target parking space for the task to be performed is locked includes: Detect whether the target parking space for the task to be performed is locked; If not, then the step of locking the adjacent critical section and controlling the current shuttle to execute the task to be executed is performed; If so, then the steps described above are executed: after the target parking space for the task to be performed is unlocked, the adjacent critical zone is locked, and the current shuttle is controlled to perform the task to be performed.

[0014] On the other hand, the method also includes: After the current shuttle completes the task to be executed, if the task to be executed is the critical section task, then it is determined whether the current shuttle is in the target critical section. If the vehicle is in the target critical zone, the current shuttle is controlled to leave the target critical zone, and after the current shuttle leaves the target critical zone, the adjacent critical zone is unlocked. If not within the target critical region, then unlock the adjacent critical region.

[0015] The present invention also provides a vehicle dispatching device for a multi-level parking garage, comprising: The task acquisition module is used to acquire the tasks to be executed in the task queue of the current shuttle car; wherein, the current shuttle car is any shuttle car in the automated parking garage; the tasks to be executed are parking tasks or retrieval tasks. The task detection module is used to detect whether the task to be executed is a critical zone task; wherein, at least one target parking space of the critical zone task is located in a preset critical zone, the preset critical zone is the area adjacent to other zones in each of the shuttle cars' respective zones, and the target parking space includes vehicle storage spaces. The locking judgment module is used to detect whether the target parking space of the task to be executed is locked if it is a critical section task. The locking execution module is used to lock the adjacent critical zone if the target parking space of the task to be executed is not in the locked state, and control the current shuttle to execute the task to be executed; wherein, the adjacent critical zone is a preset critical zone in other partitions that is adjacent to the target critical zone, and the target critical zone is a preset critical zone in the current partition where the target parking space of the task to be executed is located; The unlocking execution module is used to lock the adjacent critical zone after the target parking space of the task to be executed is unlocked if the target parking space of the task to be executed is in the locked state, and control the current shuttle to execute the task to be executed.

[0016] The present invention also provides a vehicle dispatching device for a multi-level parking garage, comprising: Memory, used to store computer programs; A processor is used to execute the computer program to implement the steps of the vehicle scheduling method for the three-dimensional parking garage as described above.

[0017] In addition, the present invention also provides a vehicle dispatching system for a multi-level parking garage, comprising: a server and at least two shuttle vehicles; wherein the server is a vehicle dispatching device for a multi-level parking garage as described above.

[0018] The present invention provides a vehicle scheduling method for a multi-level parking garage, comprising: acquiring tasks to be executed in the task queue of a current shuttle; wherein the current shuttle is any shuttle in the multi-level parking garage; the task to be executed is a parking task or a retrieval task; detecting whether the task to be executed is a critical zone task; wherein at least one target parking space of the critical zone task is located in a preset critical zone, the preset critical zone being an area adjacent to other zones in each shuttle's respective partition, and the target parking space including a vehicle storage space; if it is a critical zone task, detecting whether the target parking space of the task to be executed is locked; if not, locking the adjacent critical zone and controlling the current shuttle to execute the task to be executed; wherein the adjacent critical zone is a preset critical zone in other partitions adjacent to the target critical zone, and the target critical zone is the preset critical zone in the current partition where the target parking space of the task to be executed is located; if yes, locking the adjacent critical zone after the target parking space of the task to be executed is unlocked, and controlling the current shuttle to execute the task to be executed.

[0019] As can be seen, this invention, by dynamically opening preset critical zones in adjacent zones, ensures that critical zone tasks for target parking spaces can only be executed when the target parking space is not locked. During execution, adjacent critical zones with collision risks are locked, guaranteeing that shuttles in adjacent zones will not enter areas with collision risks while the current shuttle is performing a critical zone task. This achieves dynamic opening and efficient utilization of critical zone parking spaces while ensuring safety, thus improving the utilization rate of parking space resources in adjacent zones within the garage. Furthermore, this invention also provides a vehicle scheduling device, equipment, and system for a multi-level parking garage, which also possesses the aforementioned beneficial effects. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0021] Figure 1 A flowchart illustrating a vehicle scheduling method for a multi-level parking garage provided in an embodiment of the present invention; Figure 2 This is a diagram illustrating the partitioning of a multi-level parking garage according to an embodiment of the present invention. Figure 3 This is a schematic diagram illustrating the interaction process between a cloud-based parking dispatch system and the device side, as provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of a parking scheduling process for a multi-level parking garage provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of a scheduling process after a task is completed, provided by an embodiment of the present invention; Figure 6 This is a schematic diagram of a vehicle retrieval scheduling process for a multi-level parking garage provided in an embodiment of the present invention; Figure 7 This is a structural block diagram of a vehicle dispatching device for a three-dimensional parking garage provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of a vehicle dispatching device for a three-dimensional parking garage provided in an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Please refer to Figure 1 , Figure 1 A flowchart illustrating a vehicle scheduling method for a multi-level parking garage provided in an embodiment of the present invention. The method may include: Step 101: Obtain the tasks to be executed in the task queue of the current shuttle; where the current shuttle is any shuttle in the multi-level parking garage; the tasks to be executed are either parking tasks or retrieval tasks.

[0024] It is understood that the automated parking garage in this embodiment can be an automated parking garage that requires the use of shuttle cars for parking and retrieval operations, such as a stacking automated parking garage. The automated parking garage can include at least two zones (i.e., parking zones), each zone is equipped with an independent shuttle car; the shuttle car can be used to perform parking and retrieval tasks within its own zone, and to complete operations such as vehicle handling and stacking.

[0025] Correspondingly, in this embodiment, the current shuttle can be any shuttle in the multi-level parking garage; in this embodiment, the task queue of the current shuttle can be used to store the parking and retrieval tasks that the current shuttle needs to perform, that is, the parking and retrieval tasks that need to be performed in the partition (i.e., the current partition) where the current shuttle is located; in this embodiment, the task to be executed can be the task that the current shuttle needs to perform, such as the parking task or the retrieval task.

[0026] Among them, two adjacent sections in the multi-level parking garage (such as...) Figure 2 In some cases, zones 1 and 2, and zones 2 and 3, may be closely connected or very close together. This means that when a shuttle in one zone is performing a task at a parking space at the boundary between zones, it may occupy part of the space at the boundary between adjacent zones. If shuttles from adjacent zones are in this space, physical collisions may occur. Figure 1 In a multi-level parking garage, shuttle cars in Zone 2 performing tasks (such as parking or retrieving) in Zone A occupy all or part of the space in Zone 1's Zone B critical zone. This creates a collision risk between shuttle cars in both zones if a shuttle car in Zone 1 is in Zone B critical zone. Therefore, for zones adjacent to other zones where there is a collision risk at the zone boundaries, this embodiment can pre-set a critical zone (i.e., a preset critical zone, such as...) at the junction of the zone and the adjacent zones. Figure 2The system identifies two critical zones (A and B) within the preset critical zones. By scheduling tasks related to parking spaces within these zones, the system achieves dynamic opening and safe coordination of parking spaces, thereby improving the utilization rate of parking resources.

[0027] Accordingly, in this embodiment, the area outside the preset critical zone that will not interfere with shuttles in adjacent zones can be called the safe zone, such as... Figure 2 The safe zones are located in Zone 1, Zone 2, and Zone 3.

[0028] The specific number and type of task queues for the shuttle in this embodiment, i.e., the specific number and type of task queues for each zone in the automated parking garage, can be set by the designer according to the practical scenario and user needs. For example, the task queues for the shuttle can include two queues: a parking queue and a retrieval queue. That is, in this embodiment, two queues, a parking queue and a retrieval queue, can be maintained for each zone to facilitate the distinction between parking and retrieval tasks. The parking queue can be used to store parking tasks, and the retrieval queue can be used to store retrieval tasks. The task queues for the shuttle can also include a single parking and retrieval queue to store both parking and retrieval tasks. This embodiment does not impose any restrictions on this.

[0029] Accordingly, the specific method for obtaining the tasks to be executed in the task queue of the current shuttle in this embodiment can be set by the designer according to the practical scenario and user needs. For example, this step can select an unfinished task from the task queue of the current shuttle as the task to be executed based on the timestamp of the issuance of each unfinished task in the task queue of the current shuttle, such as selecting the unfinished task with the earliest issuance timestamp as the task to be executed.

[0030] In other embodiments, this step can select an unfinished task from the current shuttle's task queue as a task to be executed based on the timestamp and task type of each unfinished task in the current shuttle's task queue. For example, if the task queue includes a parking queue and a retrieval queue, this step can select an unfinished task from the tasks in the parking queue and retrieval queue as a task to be executed based on the timestamp of each unfinished task in the parking queue and retrieval queue; wherein, the timestamp of the task to be executed is earlier than the timestamp of each task in the same queue, and the tasks in the same queue are other unfinished tasks in the same task queue as the task to be executed; that is, in this step, the unfinished parking task or retrieval task with the earliest timestamp can be selected as the task to be executed according to the priority rules of parking tasks and retrieval tasks and / or task waiting rules (such as avoiding a certain type of task waiting for the continuous execution of another type of task to exceed a preset number). For example, if the current time falls within a preset priority pick-up time period (such as during rush hour), the earliest unfinished pick-up task with the earliest issued timestamp can be directly selected as the task to be executed. Alternatively, the earliest pick-up task can be selected as the task to be executed if its issued timestamp is earlier than the priority time point, and the earliest parking task can be selected as the task to be executed if its issued timestamp is not earlier than the priority time point. Here, the earliest parking task and the earliest pick-up task are the unfinished tasks with the earliest issued timestamps in the parking queue and the pick-up queue, respectively, and the priority time point can be the sum of the issued timestamp of the earliest parking task and the preset maximum waiting time.

[0031] In other embodiments, this step can select a task as the task to be executed from the tasks in the current shuttle's task queue based on the timestamps of the unfinished tasks in the current shuttle's task queue and the timestamps of the target tasks in the task queues of adjacent shuttles. Here, the partition where the adjacent shuttle is located contains a preset critical section adjacent to the preset critical section corresponding to the current shuttle; the target task is the unexecuted and incomplete critical section task corresponding to the adjacent shuttle. Since the current shuttle and adjacent shuttles may compete for adjacent preset critical sections, relying solely on the independent scheduling of each shuttle's own task queue can easily lead to conflicts at the critical section or cause a certain shuttle's critical section task to remain unexecuted for an extended period. Therefore, this embodiment, when selecting a task to be executed for the current shuttle, not only considers the timestamps of the unfinished tasks in the current shuttle's own task queue but also introduces the timestamps of the unexecuted and incomplete critical section tasks (i.e., the target tasks) in the adjacent shuttle queues, combining both for selection. For example, if the earliest-timed unfinished task in the current shuttle's task queue is not a critical section task, it can be directly designated as a task to be executed. If the earliest-timed unfinished task in the current shuttle's task queue is a critical section task, and its timestamp is earlier than the timestamp of the earliest target task in the corresponding adjacent shuttle's task queue, then that task is designated as a task to be executed. If its timestamp is not earlier than the timestamp of the earliest target task, then the earliest-timed critical section task in the current shuttle's task queue that is not a critical section task can be directly selected as a task to be executed. Alternatively, if the earliest target task in the adjacent shuttle's task queue is the next task to be executed for the adjacent shuttle, then the earliest-timed critical section task in the current shuttle's task queue that is not a critical section task can be selected as a task to be executed. If the earliest target task in the adjacent shuttle's task queue is not the next task to be executed for the adjacent shuttle, then the current shuttle can directly designate that task as a task to be executed. This ensures that critical section tasks with earlier timestamps are given priority in acquiring critical section access rights to a certain extent, thus enabling an orderly critical section access sequence to be formed between adjacent shuttles.

[0032] Correspondingly, this step can also combine the two methods for selecting and obtaining tasks to be executed mentioned above. Based on the timestamps and task types of the unfinished tasks in the current shuttle's task queue and the timestamps of the target tasks in the task queues of adjacent shuttles, a task can be selected from the tasks in the current shuttle's task queue as the task to be executed. This embodiment does not impose any limitations on this.

[0033] Step 102: Check if the task to be executed is a critical section task; if so, proceed to step 103.

[0034] In this context, at least one target parking space for the critical zone task is located in a preset critical zone. The preset critical zone is the area adjacent to other zones in each shuttle's respective zone. The target parking space includes vehicle storage spaces.

[0035] It is understood that the critical zone task in this embodiment can be a task that the shuttle needs to enter a preset critical zone to perform. That is, the parking spaces involved in the critical zone task (such as the actual vehicle storage space for the task vehicle and the buffer parking space for the user to access the task vehicle) can be located in the preset critical zone. Among them, the vehicle storage space can be a parking space in the multi-level parking garage used for actual vehicle storage (such as a stacking parking space); the buffer parking space can be a parking space in the multi-level parking garage used for the user to access the vehicle. For example, when parking, the user can drive the vehicle to the buffer parking space: the shuttle can perform the vehicle storage task to transport the vehicle from the buffer parking space to the corresponding vehicle storage space for storage; when retrieving the vehicle, the shuttle can perform the vehicle retrieval task to transport the vehicle from the vehicle storage space to the buffer parking space, so that the user can drive the vehicle away from the buffer parking space.

[0036] Correspondingly, in this embodiment, the target parking space can be any parking space involved in a preset critical zone. For example, if each preset critical zone in the automated parking garage only includes vehicle storage spaces, the target parking space can include vehicle storage spaces, meaning the vehicle storage space for the critical zone task is located within the preset critical zone. If each preset critical zone in the automated parking garage includes both vehicle storage spaces and buffer spaces, the target parking space can include both vehicle storage spaces and buffer spaces, meaning the vehicle storage space and / or buffer space for the critical zone task is located within the preset critical zone. Figure 2 The preset critical zone on the left side of the second central zone (critical zone A) can include vehicle parking spaces, and the preset critical zone on the right side (critical zone B) can include buffer parking spaces.

[0037] The specific method for detecting whether the task to be executed is a critical section task in this step can be set by the designer. For example, if the target parking space includes a vehicle storage space, this step can detect whether the vehicle storage space in the task to be executed is within a preset critical section; if so, the task to be executed is determined to be a critical section task; if not, the task to be executed is determined not to be a critical section task. If the target parking space includes both vehicle storage spaces and buffer parking spaces, this step can detect whether either the vehicle storage space or the buffer parking space in the task to be executed is within a preset critical section; if so, the task to be executed is determined to be a critical section task; if not, the task to be executed is determined not to be a critical section task. This embodiment does not impose any restrictions on this.

[0038] Correspondingly, for cases where the task to be executed in this step is not a critical section task, the designer can set it up themselves, such as directly controlling the current shuttle to execute the task to be executed.

[0039] Furthermore, before step 102, it may also include determining whether there is a preset critical section in the current shuttle's partition; if there is a preset critical section, then proceed to step 102; if there is no preset critical section, then control the current shuttle to execute the task to be executed.

[0040] Step 103: Check if the target parking space for the task to be performed is locked; if not, proceed to step 104; if yes, proceed to step 105. In this embodiment, the locked state can be a state that only allows one shuttle car to occupy the space for task operation. In this step, by detecting whether the target parking space of the task to be executed is locked, it can be determined whether there is a locked parking space (i.e., locked) in the preset buffer zone involved in the task to be executed. If not, the process can proceed to step 104; if so, the process can proceed to step 105. By setting the locked state, during the operation of a shuttle car in the preset critical zone, shuttle cars in adjacent zones will not enter areas with collision risk (such as adjacent critical zones), fundamentally avoiding the risk of physical collision with shuttle cars in adjacent zones. Furthermore, since the parking spaces in the preset critical zone are not directly deactivated, but are incorporated into the normal scheduling process through the lock-unlock mechanism, the dynamic opening and recycling of parking spaces in the preset critical zone are realized, improving the utilization rate of parking space resources and the overall throughput efficiency of the garage while ensuring safety.

[0041] Correspondingly, the specific method for detecting whether the target parking space for the task to be executed is locked in this step can be set by the designer according to the practical scenario and user needs. For example, if the target parking space includes a vehicle storage space, it can directly detect whether the vehicle storage space for the task to be executed is locked; if not, proceed to step 104; if yes, proceed to step 105. In some embodiments, a preset critical area in the partition where the shuttle is currently located (i.e., the current partition) can be used as the detection object. This step can check whether the preset critical area (i.e., the target critical area) where the vehicle storage space for the task to be executed is located is locked; if not, proceed to step 104; if yes, proceed to step 105. In other embodiments, if the target area locked each time includes the preset critical area (i.e., the target critical area) where the target parking space for the task to be executed is located in the current partition and the preset critical areas (i.e., adjacent critical areas) in other partitions adjacent to the target critical area, the target area can be directly used as the detection object for easy detection; correspondingly, this step can detect whether the target area is locked; if not, proceed to step 104; if yes, proceed to step 105.

[0042] In some embodiments, when the target parking space includes both a vehicle storage space and a buffer parking space, this step can detect whether the target parking space (vehicle storage space and buffer parking space) for the task to be performed is locked; if not, proceed to step 104; if yes, proceed to step 105. Alternatively, this step can detect whether the preset critical area (i.e., the target critical area) where the target parking space for the task to be performed is located is locked; if not, proceed to step 104; if yes, proceed to step 105. Alternatively, this step can detect whether the target area corresponding to the target parking space for the task to be performed is locked; if not, proceed to step 104; if yes, proceed to step 105. This embodiment does not impose any limitations on this.

[0043] Step 104: Lock the adjacent critical section and control the current shuttle to execute the task to be executed.

[0044] Among them, the adjacent critical zone is a preset critical zone in other partitions that is adjacent to the target critical zone, and the target critical zone is a preset critical zone in the current partition where the target parking space of the task to be executed is located.

[0045] Understandably, in this step, when there are no locked parking spaces in the target parking space for the task to be performed, the adjacent critical zone can be locked, and the current shuttle can be controlled to perform the task. This prevents shuttles in adjacent zones from entering the adjacent critical zone to perform their tasks, thus fundamentally avoiding the risk of physical collision with shuttles in adjacent zones.

[0046] Correspondingly, the specific method for locking adjacent critical zones in this step can be set by the designer according to the practical scenario and user needs. For example, this step can directly lock the entire area of ​​the adjacent critical zone to achieve fast locking; this step can also lock a part of the adjacent critical zone. Since the preset critical zone includes two or more parking spaces, the number of parking spaces in the adjacent critical zone that the shuttle needs to interfere with and occupy may be different when performing tasks in different parking spaces within the preset critical zone. Figure 2As shown, when both critical zones A and B include multiple horizontally arranged parking spaces, when a shuttle in zone 1 performs a task in the leftmost parking space in critical zone B, it will not interfere with the task operation space of the shuttle in zone 2 occupying the right-hand parking space in critical zone A. Therefore, in this step, risky parking spaces in adjacent critical zones can be determined based on the location information of the target parking space for the task to be performed in the target critical zone and the access distance information of the current shuttle. Risky parking spaces are then locked, and the current shuttle is controlled to perform the task. In other words, in this embodiment, when a shuttle performs a task in a parking space in a preset critical zone, the parking spaces in adjacent critical zones that it needs to interfere with are defined as risky parking spaces. By precisely locking risky parking spaces in adjacent critical zones each time a lock is made, rather than the entire area of ​​adjacent critical zones, the utilization rate of parking space resources can be further improved.

[0047] In other embodiments, this step can also lock the target area and control the current shuttle to perform the task to be performed. For example, the target area includes a target critical area and adjacent critical areas, so as to conveniently determine the target area and realize the rapid locking of the target area.

[0048] Step 105: After unlocking the target parking space for the task to be performed, lock the adjacent critical zone and control the current shuttle to perform the task.

[0049] Understandably, in this step, when there are locked parking spaces in the target parking space for the task to be performed, the adjacent critical zone can be locked after the target parking space is unlocked, that is, after all the parking spaces involved in the task to be performed are no longer locked. The current shuttle car is then controlled to perform the task, so that the current shuttle car will not enter the adjacent preset critical zone to perform the task while the shuttle cars in the adjacent zones are performing the task. This fundamentally avoids the risk of physical collision with the shuttle cars in the adjacent zones.

[0050] Correspondingly, the specific method for locking the adjacent critical section and controlling the current shuttle to execute the task after the target parking space of the task to be executed is unlocked in this step can be set by the designer according to the practical scenario and user needs. For example, this step can directly wait for the target parking space of the task to be executed to unlock; after the target parking space is unlocked, the adjacent critical section is locked and the current shuttle is controlled to execute the task to be executed. In order to improve the task execution efficiency and avoid wasting waiting time, this step can execute the skip-order logic, such as selecting the next task from the task queue of the current shuttle as the task to be executed and entering step 102 to skip-order and execute the subsequent unfinished tasks that can be executed; or, directly selecting the unfinished task that is not a critical section task with the earliest issuance timestamp from the task queue of the current shuttle as the task to be executed and controlling the current shuttle to execute the task to be executed.

[0051] Correspondingly, the specific method for selecting the next task from the current shuttle's task queue as the task to be executed can be set by the designer according to the practical scenario and user needs. For example, it can be set in a way similar to the specific method for obtaining the tasks to be executed in the current shuttle's task queue in step 101. For instance, it can select the incomplete task with the earliest distribution timestamp from the incomplete tasks in the task queue whose distribution timestamp is later than the current task to be executed as the new task to be executed. This embodiment does not impose any restrictions on this.

[0052] To improve task execution efficiency and avoid wasting waiting time, this step can also adjust the locked target parking space to a new parking space outside the target critical area in the current partition, ensuring that the task to be executed can be executed quickly. For example, this step can determine whether the locked target parking space can be adjusted to a new parking space outside the target critical area in the current partition; if so, the locked target parking space is adjusted to the corresponding new parking space, and the process proceeds to step 102 to ensure security or to step 104 to directly execute the task to be executed after the parking space adjustment and lock the corresponding new target area; if not, the process can directly wait for the target object to unlock or execute the above-mentioned skip-task logic, such as executing the step of selecting the next task from the task queue as the task to be executed.

[0053] Correspondingly, since the parking spaces involved in the preset critical zone of the automated parking garage are mostly vehicle storage spaces (such as stacking spaces), and when the vehicle storage space in a retrieval task is locked, it is impossible to move the vehicle in that storage space to another vehicle storage space without entering that storage space. Therefore, the above judgment is whether the locked target parking space can be adjusted to a new parking space outside the target critical zone in the current partition (such as...). Figure 2 The process of determining the parking space in the safe zone can be as follows: if the task to be performed is a parking task, then determine whether the locked target parking space can be adjusted to a new parking space outside the target critical zone in the current partition. That is, when the locked target parking space is a vehicle storage space, determine whether the locked vehicle storage space can be adjusted to a new vehicle storage space outside the preset critical zone in the current partition.

[0054] It should be noted that the method provided in this embodiment may also include the unlocking process of adjacent critical zones, that is, the unlocking process of the target parking space of the task to be performed. For example, after the current shuttle car completes the task to be performed, if the task to be performed is a critical zone task, the adjacent critical zones corresponding to the task to be performed can be unlocked directly, such as unlocking the entire area of ​​the adjacent critical zone or dangerous parking spaces, or unlocking the target area (adjacent critical zones and target critical zones). To ensure safety, after the current shuttle car completes the task to be performed, if the task to be performed is a critical zone task, it can be determined whether the current shuttle car is in the target critical zone corresponding to the task to be performed; if not, the adjacent critical zones corresponding to the task to be performed are unlocked; if so, the current shuttle car is controlled to leave the target critical zone, and after the current shuttle car leaves the target critical zone, the adjacent critical zones corresponding to the task to be performed are unlocked.

[0055] The method provided in this embodiment can be applied to cloud-based devices that control and schedule shuttle vehicles in automated parking garages, such as servers running cloud-based parking scheduling systems; it can also be applied to garage-side terminals (such as human-computer interaction devices or host computers) in or near automated parking garages; and it can also be applied to shuttle vehicles in automated parking garages. This embodiment does not impose any limitations on this.

[0056] For example, such as Figure 3 As shown, users can send parking / retrieval requests to the cloud-based parking dispatch system's server via personal terminals (such as mobile phones) or garage terminals. When the server receives a new parking / retrieval request, it can create a task queue to be issued and send a corresponding task change notification to the relevant device (such as a shuttle vehicle). When the device receives the task change notification, if it can process it (e.g., is idle), it will send a task request to the cloud-based parking dispatch system. After receiving the task request, the server's dispatch system will... Figure 1 The task scheduling is shown; specific parking or retrieval tasks (i.e., tasks to be executed) are issued, and the tasks are changed to "in progress"; when the device completes the issued parking (or retrieval) task, it reports the parking completion (retrieval completion) event to the server; the server will perform task termination processing based on whether the current parking position of the device is in the preset critical zone, such as moving the shuttle in the preset critical zone to the safe zone and unlocking the preset critical zone.

[0057] The above-mentioned interaction is not limited to being triggered by an idle shuttle actively sending a task request. It can also be triggered by the server's scheduling system actively sending a task to be executed to a shuttle when it detects that the shuttle is idle. The specific message format and triggering timing between task change notification, task request, task issuance and completion event reporting can be adjusted according to the actual system. This embodiment does not impose any restrictions on this.

[0058] Correspondingly, taking the following user parking scheduling scheme as an example, parking areas (i.e., buffer parking spaces) can be set up in the safety zone for user-parked vehicles to avoid the impact of user parking on shuttle buses; the server's cloud-based parking scheduling system can maintain an independent parking queue for each partition; when a parked vehicle meets the parking conditions (such as a user leaving the vehicle triggering a parking request), a parking task is created for that partition based on the partition where the vehicle is parked; when a shuttle bus in that partition requests a task from the cloud, the server can... Figure 4 The process shown is as follows for task scheduling: 1) Check the first task in the parking task queue (i.e., the earliest incomplete parking task) as the task to be executed. 2) Determine if this task is a critical section task. If it is not a critical section task, directly issue a parking instruction and control the shuttle to perform the parking operation. If it is a critical section task, proceed to step 3). 3) Determine if entry into the critical section (such as the target area) is permitted. This status can be managed through backend business data. If entry is not permitted, attempt to allocate a new parking space; if entry is permitted, continue execution. 4) Determine if the critical section is locked (occupied) by other partitions. If it is locked, attempt to reallocate a new parking space. If a new parking space can be allocated, repeat step 1). If no new parking space can be allocated, execute the skip-order logic and select the next task in the queue. If it is not locked, lock the critical section and continue execution to step 5). 5) Issue the parking task to the equipment (shuttle) and control the equipment to perform the parking operation. 6) The equipment executes the parking operation process and reports the parking completion event to the cloud scheduling system after completion. 7) After receiving the vehicle storage completion event, the scheduling system executes step 8). 8) Determine if the current task is a critical section task, such as... Figure 5 As shown, if it is not a critical section task, the vehicle storage task is changed to "completed" and the task ends; if it is a critical section task, then continue to execute 9). 9) Determine whether the device is currently in the critical section. If it is in the critical section, issue a move-out command to the device and control the device to move out to the safe zone; if the device is not in the critical section, it means that the device has been moved out to the safe zone, and continue to execute 10). 10) After the device is moved out to the safe zone, release the corresponding critical section and mark the vehicle storage task as "completed".

[0059] Accordingly, taking the following user vehicle retrieval scheduling scheme as an example, the critical zone can be configured with vehicle storage spaces and buffer parking spaces, such as... Figure 2Zone A of the second zone is designated as a vehicle storage area, while Zone B is designated as a buffer area. When a user needs to retrieve their vehicle, they can initiate a retrieval request via a personal terminal's retrieval app or the retrieval screen on the garage terminal. Upon receiving the request, the dispatch system creates a retrieval task for the user, maintaining an independent retrieval queue for each zone. If the vehicle is parked in a stacked parking space within a critical zone (i.e., the vehicle's storage space is in the critical zone at the time of retrieval), the retrieval task is marked as a "critical zone task." When a shuttle requests a task from the cloud, the server can... Figure 6 The process is as follows: 1) Check the first task in the vehicle retrieval task queue as the task to be executed, and allocate a buffer parking space to the vehicle for this task. 2) Determine if the vehicle is parked in a stacked parking space in the critical area. If it is not parked in the critical area, determine if the allocated buffer parking space is in the critical area. If it is not in the critical area, issue a vehicle retrieval command directly to control the shuttle to execute the task; otherwise, proceed to 3). If it is parked in the critical area, proceed to 3). 3) Determine if the critical area is locked (occupied) by other partitions. If it is locked, try to reallocate a new parking space. If a space can be allocated, proceed to 1). If a space cannot be allocated, execute the skip-order logic and select the next task in the queue; if it is not locked, continue to 4). 4) Determine if entry into the critical area is permitted. This status is controlled by the business data in the background. If entry is not permitted, skip the order and select the next task in the queue; if entry is permitted, continue to 5). 5) Determine if the critical section is locked. If locked, skip the current task and select the next task in the queue; if unlocked, lock the critical section, issue a vehicle retrieval command to the device, and control the device to start retrieving the vehicle. 6) After receiving the vehicle retrieval command, the device executes the vehicle retrieval operation process and, upon completion, reports a vehicle retrieval completion event to the cloud scheduling system. 7) After receiving the vehicle retrieval completion event, the scheduling system executes step 8). 8) Determine if the current task is a critical section task, such as... Figure 5 As shown, if it is not a critical section task, the vehicle retrieval task is changed to "completed" and the task ends; if it is a critical section task, then continue to execute 9). 9) Determine if the device is currently in the critical section. If it is in the critical section, issue a move-out command to the device and control the device to move out to the safe zone; if the device is not in the critical section, it means that the device has been moved out to the safe zone, and continue to execute 10). 10) After the device is moved out to the safe zone, release the critical section and mark the vehicle retrieval task as "completed".

[0060] In this embodiment, the present invention sets a preset critical zone in adjacent partitions, so that the critical zone task of the target parking space can only be executed when the target parking space is not locked. During the execution, the adjacent critical zones in the adjacent partitions with collision risk are locked, ensuring that during the current shuttle's execution of the critical zone task, shuttles in adjacent partitions will not enter the area with collision risk with the current shuttle. Thus, under the premise of ensuring safety, the dynamic opening and efficient utilization of critical zone parking spaces are realized, improving the utilization rate of parking space resources.

[0061] Corresponding to the above method embodiments, this invention also provides a vehicle scheduling device for a multi-level parking garage. The vehicle scheduling device for a multi-level parking garage described below and the vehicle scheduling method for a multi-level parking garage described above can be referred to each other.

[0062] Please refer to Figure 7 , Figure 7 This is a structural block diagram of a vehicle dispatching device for a multi-level parking garage provided in an embodiment of the present invention. The device may include: The task acquisition module 10 is used to acquire the tasks to be executed in the task queue of the current shuttle car; wherein, the current shuttle car is any shuttle car in the multi-level parking garage; the tasks to be executed are parking tasks or retrieval tasks. The task detection module 20 is used to detect whether the task to be executed is a critical section task; wherein, at least one target parking space of the critical section task is located in a preset critical section, the preset critical section is the area adjacent to other sections in each shuttle's respective partition, and the target parking space includes vehicle storage parking space. The locking judgment module 30 is used to detect whether the target parking space of the task to be executed is locked if it is a critical section task. The locking execution module 40 is used to lock the adjacent critical zone if the target parking space of the task to be executed is not locked, and control the current shuttle to execute the task to be executed; wherein, the adjacent critical zone is a preset critical zone in other partitions that is adjacent to the target critical zone, and the target critical zone is the preset critical zone in the current partition where the target parking space of the task to be executed is located. The unlocking execution module 50 is used to lock the adjacent critical zone after the target parking space of the task to be executed is unlocked if the target parking space of the task to be executed is locked, and control the current shuttle to execute the task to be executed.

[0063] In some embodiments, the unlocking execution module 50 may include: The task skipping module is used to select the next task from the task queue as the task to be executed and send a start signal to the task detection module 20.

[0064] In some embodiments, the unlocking execution module 50 may further include: The adjustment judgment submodule is used to determine whether the locked target parking space can be adjusted to a new parking space outside the target critical area in the current partition if the task to be executed is a parking task; if not, a start signal is sent to the jump order submodule; if yes, a start signal is sent to the adjustment submodule. The adjustment submodule is used to adjust the locked target parking space to the corresponding new parking space and send a start signal to the task detection module 20.

[0065] In some embodiments, the task queue includes a parking queue and a retrieval queue; the task acquisition module 10 can be specifically used to select an unfinished task from the tasks in the parking queue and the retrieval queue as a task to be executed, based on the timestamp of the issuance of each unfinished task in the parking queue and the retrieval queue; wherein, the timestamp of the task to be executed is earlier than the timestamp of each task in the same queue, and the tasks in the same queue are other unfinished tasks in the same task queue as the task to be executed.

[0066] In some embodiments, the task acquisition module 10 may be specifically used to select a task as a task to be executed from the tasks in the task queue of the current shuttle based on the timestamp of the unfinished tasks in the task queue of the current shuttle and the timestamp of the target task in the task queue of the adjacent shuttle; wherein, there is a preset critical section in the partition where the adjacent shuttle is located that is adjacent to the preset critical section corresponding to the current shuttle; the target task is the critical section task that is not performed and not completed corresponding to the adjacent shuttle.

[0067] In some embodiments, the locking determination module 30 can be specifically used to detect whether the target area is in a locked state; if not, a start signal is sent to the locking execution module 40; if yes, a start signal is sent to the unlocking execution module 50; wherein, the target area includes a target critical region and adjacent critical regions; The locking execution module 40 is specifically used to lock the target area according to the start signal and control the current shuttle to execute the task to be executed; The unlocking execution module 50 is specifically used to lock the adjacent critical zone after unlocking the target area according to the start signal, and control the current shuttle to execute the task to be executed.

[0068] In some embodiments, when the preset critical zone includes at least two preset parking spaces, the locking execution module 40 may include: The locking and determination submodule is used to determine the risky parking spaces in adjacent critical zones based on the location information of the target parking spaces for the task to be executed in the target critical zone and the current shuttle's access distance information. The locking submodule is used to lock the high-risk parking space and control the current shuttle to perform the pending task.

[0069] In some embodiments, the locking execution module 40 may include: The permission judgment submodule is used to determine whether entry into the target critical zone is permitted; The Lock Execution Submodule is used to lock the target area and control the current shuttle to execute the pending task if entry is permitted.

[0070] In some embodiments, the target parking space further includes a buffer parking space; the locking judgment module 30 can be specifically used to detect whether there is a locked parking space in the target parking space of the task to be performed; if not, a start signal is sent to the locking execution module 40; if so, a start signal is sent to the unlocking execution module 50.

[0071] In some embodiments, the device may further include: The exit judgment module is used to determine whether the current shuttle is in the target critical section after the current shuttle has completed the task to be executed, if the task to be executed is a critical section task. The exit unlocking module is used to control the current shuttle to leave the target critical zone if it is in the target critical zone, and to unlock the adjacent critical zone after the current shuttle leaves the target critical zone; The unlocking module is used to unlock adjacent critical sections if the target critical section is not in the target critical section.

[0072] In this embodiment, the present invention sets up a preset critical zone that is dynamically opened in adjacent partitions. This allows the target parking space to perform a critical zone task only when the target parking space is not locked. During execution, adjacent critical zones in adjacent partitions that pose a collision risk are locked. This ensures that during the current shuttle's critical zone task, shuttles in adjacent partitions will not enter areas that pose a collision risk to the current shuttle. Thus, while ensuring safety, the dynamic opening and efficient utilization of critical zone parking spaces are achieved, improving the utilization rate of parking space resources in adjacent partitions within the garage.

[0073] Corresponding to the above method embodiments, this invention also provides a vehicle scheduling device for a multi-level parking garage. The vehicle scheduling device for a multi-level parking garage described below and the vehicle scheduling method for a multi-level parking garage described above can be referred to each other.

[0074] Please refer to Figure 8 , Figure 8 This is a schematic diagram of a vehicle dispatching device for a multi-level parking garage provided in an embodiment of the present invention. The vehicle dispatching device may include: Memory D1 is used to store computer programs; Processor D2 is used to execute computer programs to implement the steps of the vehicle scheduling method for the automated parking garage provided in the above method embodiments.

[0075] In this embodiment, the vehicle dispatching equipment for the multi-level parking garage can be a server, such as a server running a cloud-based parking dispatching system; or it can be a garage-end terminal in or near the multi-level parking garage, such as a human-computer interaction device or a host.

[0076] Corresponding to the above device embodiments, this invention also provides a vehicle scheduling system for a multi-level parking garage. The vehicle scheduling system for a multi-level parking garage described below can be referred to in correspondence with the vehicle scheduling equipment for a multi-level parking garage described above.

[0077] A vehicle dispatching system for a multi-level parking garage includes a server and at least two shuttle vehicles; wherein the server is the vehicle dispatching equipment for the multi-level parking garage as provided in the above embodiments.

[0078] Corresponding to the above method embodiments, this invention also provides a computer program product. The computer program product described below can be referred to in conjunction with the vehicle scheduling method for a three-dimensional parking garage described above.

[0079] A computer program product includes a computer program / instructions that, when executed by a processor, implement the steps of the vehicle scheduling method for an automated parking garage provided in the above-described method embodiments.

[0080] Corresponding to the above method embodiments, this invention also provides a computer-readable storage medium. The computer-readable storage medium described below can be referred to in conjunction with the vehicle scheduling method for a three-dimensional parking garage described above.

[0081] A computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the vehicle scheduling method for a multi-level parking garage as described in the above method embodiments.

[0082] The computer-readable storage medium can specifically be a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, or any other readable storage medium capable of storing program code.

[0083] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatuses, devices, systems, computer program products, and computer-readable storage media disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant details can be found in the method section.

[0084] The foregoing has provided a detailed description of a vehicle scheduling method, apparatus, equipment, and system for a three-dimensional parking garage provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. A vehicle scheduling method for a multi-level parking garage, characterized in that, include: Retrieve the tasks to be executed in the task queue of the current shuttle vehicle; wherein the current shuttle vehicle is any shuttle vehicle in the automated parking garage; the tasks to be executed are either parking tasks or retrieval tasks. Detect whether the task to be executed is a critical section task; wherein, at least one target parking space of the critical section task is located in a preset critical section, the preset critical section is the area adjacent to other sections in each of the shuttle cars' respective sections, and the target parking space includes vehicle storage spaces; If it is a critical section task, then check whether the target parking space of the task to be executed is locked; If not, then lock the adjacent critical zone and control the current shuttle to execute the task to be executed; wherein, the adjacent critical zone is a preset critical zone in other partitions that is adjacent to the target critical zone, and the target critical zone is the preset critical zone in the current partition where the target parking space of the task to be executed is located; If so, after the target parking space for the task to be performed is unlocked, the adjacent critical zone is locked, and the current shuttle is controlled to execute the task to be performed.

2. The vehicle scheduling method for a multi-level parking garage according to claim 1, characterized in that, After the target parking space for the task to be performed is unlocked, the adjacent critical zone is locked, and the current shuttle car is controlled to execute the task to be performed, including: Select the next task from the task queue as the task to be executed, and perform the step of detecting whether the task to be executed is a critical section task.

3. The vehicle scheduling method for a multi-level parking garage according to claim 2, characterized in that, Before selecting the next task from the task queue as the task to be executed, the method further includes: If the task to be executed is the parking task, then determine whether the locked target parking space can be adjusted to a new parking space outside the target critical area in the current partition; If so, the locked target parking space is adjusted to the corresponding new parking space, and the step of detecting whether the task to be executed is a critical section task is performed. If not, then proceed with the step of selecting the next task from the task queue as the task to be executed.

4. The vehicle scheduling method for a multi-level parking garage according to claim 1, characterized in that, The task queue includes a vehicle storage queue and a vehicle retrieval queue; the step of retrieving the tasks to be executed from the task queue of the current shuttle vehicle includes: Based on the timestamps of the unfinished tasks in the parking queue and the retrieval queue, an unfinished task is selected from the tasks in the parking queue and the retrieval queue as the task to be executed; wherein, the timestamp of the task to be executed is earlier than the timestamps of the tasks in the same queue, and the tasks in the same queue are other unfinished tasks in the same task queue as the task to be executed.

5. The vehicle scheduling method for a multi-level parking garage according to claim 1, characterized in that, The step of obtaining the tasks to be executed in the task queue of the current shuttle includes: Based on the timestamps of the unfinished tasks in the current shuttle's task queue and the timestamps of the target tasks in the task queues of adjacent shuttles, a task is selected from the tasks in the current shuttle's task queue as the task to be executed; wherein, there exists a preset critical section in the partition where the adjacent shuttle is located that is adjacent to the preset critical section corresponding to the current shuttle; the target task is the critical section task corresponding to the adjacent shuttle that has not been performed and has not been completed.

6. The vehicle scheduling method for a multi-level parking garage according to claim 1, characterized in that, The step of detecting whether the target parking space for the task to be performed is locked includes: Detect whether the target region is in the locked state; wherein, the target region includes the target critical region and the adjacent critical region; If the target area is not in the locked state, then the target area is locked, and the current shuttle is controlled to execute the task to be executed; If the target area is in the locked state, then after the target area is unlocked, the adjacent critical zone is locked, and the current shuttle is controlled to execute the task to be performed.

7. The vehicle scheduling method for a multi-level parking garage according to claim 1, characterized in that, When the preset critical zone includes at least two preset parking spaces, locking adjacent critical zones and controlling the current shuttle to execute the task to be performed includes: Based on the location information of the target parking space for the task to be executed in the target critical zone and the current shuttle's access distance information, the risk parking spaces in the adjacent critical zones are determined. Lock the risky parking space and control the current shuttle to perform the task to be performed.

8. The vehicle scheduling method for a multi-level parking garage according to claim 1, characterized in that, Before locking adjacent critical sections and controlling the current shuttle to execute the task to be performed, the method further includes: Determine whether entry into the target critical zone is permitted; If entry is permitted, the steps of locking the adjacent critical zone and controlling the current shuttle to perform the task to be performed are executed.

9. The vehicle scheduling method for a multi-level parking garage according to claim 1, characterized in that, The target parking space also includes a buffer parking space; the step of detecting whether the target parking space for the task to be performed is locked includes: Detect whether the target parking space for the task to be performed is locked; If not, then the step of locking the adjacent critical section and controlling the current shuttle to execute the task to be executed is performed; If so, then the steps described above are executed: after the target parking space for the task to be performed is unlocked, the adjacent critical zone is locked, and the current shuttle is controlled to perform the task to be performed.

10. The vehicle scheduling method for a multi-level parking garage according to any one of claims 1 to 9, characterized in that, Also includes: After the current shuttle completes the task to be executed, if the task to be executed is the critical section task, then it is determined whether the current shuttle is in the target critical section. If the vehicle is in the target critical zone, the current shuttle is controlled to leave the target critical zone, and after the current shuttle leaves the target critical zone, the adjacent critical zone is unlocked. If not within the target critical region, then unlock the adjacent critical region.

11. A vehicle dispatching device for a multi-level parking garage, characterized in that, include: The task acquisition module is used to acquire the tasks to be executed in the task queue of the current shuttle car; wherein, the current shuttle car is any shuttle car in the automated parking garage; the tasks to be executed are parking tasks or retrieval tasks. The task detection module is used to detect whether the task to be executed is a critical zone task; wherein, at least one target parking space of the critical zone task is located in a preset critical zone, the preset critical zone is the area adjacent to other zones in each of the shuttle cars' respective zones, and the target parking space includes vehicle storage spaces. The locking judgment module is used to detect whether the target parking space of the task to be executed is locked if it is a critical section task. The locking execution module is used to lock the adjacent critical zone if the target parking space of the task to be executed is not in the locked state, and control the current shuttle to execute the task to be executed; wherein, the adjacent critical zone is a preset critical zone in other partitions that is adjacent to the target critical zone, and the target critical zone is a preset critical zone in the current partition where the target parking space of the task to be executed is located; The unlocking execution module is used to lock the adjacent critical zone after the target parking space of the task to be executed is unlocked if the target parking space of the task to be executed is in the locked state, and control the current shuttle to execute the task to be executed.

12. A vehicle dispatching device for a multi-level parking garage, characterized in that, include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the steps of the vehicle scheduling method for a multi-level parking garage as described in any one of claims 1 to 10.

13. A vehicle dispatching system for a multi-level parking garage, characterized in that, include: A server and at least two shuttle vehicles; wherein the server is the vehicle dispatching equipment for the automated parking garage as described in claim 12.

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