技术领域technical field
本发明涉及一种立体车库，具体的说，涉及了一种双通道多机器人协作的自动车库系统及其控制方法。The invention relates to a three-dimensional garage, in particular to a dual-channel multi-robot cooperative automatic garage system and a control method thereof.
背景技术Background technique
随着生活水平的普遍提高，私家车已经成为普遍的交通工具，停车难也已经成为了普遍问题，地面和地下停车场的空间捉襟见肘，在繁华区域，空间利用率过低，十分影响交通出行。With the general improvement of living standards, private cars have become a common means of transportation, and parking difficulties have also become a common problem. The space of ground and underground parking lots is stretched out. In prosperous areas, the space utilization rate is too low, which greatly affects traffic travel.
基于这一问题，立体车库产品应运而生，目前市面上已经出现了各式各样的立体车库，形式五花八门，但都存在一些缺点。Based on this problem, three-dimensional garage products came into being. At present, various three-dimensional garages have appeared on the market, in various forms, but they all have some shortcomings.
采用旋转式结构存取车辆的立体车库，其结构复杂，容易坏，维护成本过高；箱式立体车库，存取车道单一，往往存、取无法同时进行，效率较低，虽然也有双车道设计的立体车库，但通常将升降通道设置的位置紧邻，在存取过程中容易发生剐蹭，同时，也存在存取过程中，车道占用过于频繁的问题。The three-dimensional garage that uses a rotary structure to access vehicles has a complex structure, easy to break, and high maintenance costs; the box-type three-dimensional garage has a single access lane, and often cannot be stored and accessed at the same time. The efficiency is low, although there are also two-lane designs However, the lift channel is usually set in close proximity, which is prone to scratches during the access process. At the same time, there is also the problem that the lane is occupied too frequently during the access process.
为了解决以上存在的问题，人们一直在寻求一种理想的技术解决方案。In order to solve the above problems, people have been looking for an ideal technical solution.
发明内容SUMMARY OF THE INVENTION
本发明的目的是针对现有技术的不足，从而提供一种存取可同时进行、优化存取路径、存取效率更高的一种双通道多机器人协作的自动车库系统。The purpose of the present invention is to solve the deficiencies of the prior art, so as to provide a dual-channel multi-robot cooperative automatic garage system with simultaneous access, optimized access path, and higher access efficiency.
为了实现上述目的，本发明所采用的技术方案是：一种双通道多机器人协作的自动车库系统，包括立体车库、设于立体车库左侧的第一升降通道、设于立体车库右侧的第二升降通道和若干搬运台车，所述立体车库为N层、前后双排的车库，每层的双排车库之间为横向的搬运通道，搬运通道的两端连接至第一升降通道和第二升降通道，第一升降通道和第二升降通道内分别设置升降电梯，至少每两层设有一组搬运台车，所述搬运台车可在所述搬运通道内横向移动，N为大于1的自然数。In order to achieve the above purpose, the technical solution adopted in the present invention is: a dual-channel multi-robot collaborative automatic garage system, including a three-dimensional garage, a first lift channel located on the left side of the three-dimensional garage, and a second elevator channel located on the right side of the three-dimensional garage. Two lift passages and a number of transport trolleys, the three-dimensional garage is an N-storey, front and rear double-row garage, between the double-row garages on each floor is a lateral transport passage, and both ends of the transport passage are connected to the first lift passage and the second Two lift passages, lift elevators are arranged in the first lift passage and the second lift passage respectively, and at least every two floors are provided with a group of transport trolleys, the transport trolleys can move laterally in the transport passage, and N is greater than 1. Natural number.
基上所述，第一升降通道和第二升降通道分别为存车通道和取车通道。Based on the above, the first lift passage and the second lift passage are respectively a vehicle storage passage and a vehicle retrieval passage.
基上所述，所述立体车库的存取车出入口位于首层车库的中间，且为双向车道。Based on the above, the access car entrance and exit of the three-dimensional garage is located in the middle of the garage on the first floor, and is a two-way lane.
基上所述，闲置状态下，位于首层的搬运台车位于存取车出入口处，矮层的搬运台车靠近存车通道处，高层的搬运台车靠近取车通道处。Based on the above, in the idle state, the handling trolleys on the first floor are located at the entrance and exit of the access vehicle, the handling trolleys on the lower floor are close to the storage aisles, and the handling trolleys on the upper floors are close to the retrieval aisles.
基上所述，所述搬运通道上和各个车位上均铺设导向磁条，搬运台车上设置磁导航传感器。Based on the above, guide magnetic strips are laid on the handling passage and each parking space, and a magnetic navigation sensor is provided on the handling trolley.
基上所述，所述每个车位处设置射频卡，搬运台车上设置射频读卡器。Based on the above, a radio frequency card is set at each parking space, and a radio frequency card reader is set on the transport trolley.
基上所述，它包括存取车的控制系统，所述控制系统包括上位机、主处理器、若干子处理器和一个车辆尺寸检测装置，所述车辆尺寸检测装置设置在立体车库的存取车出入口处，所述子处理器设置于所述升降电梯和各搬运台车上用于控制升降电梯和搬运台车的运行状态，所述主处理器连接各子处理器和上位机用于将上位机的命令发送至各子处理器执行以及协调各子处理器的执行动作。Based on the above, it includes a control system for accessing the vehicle. The control system includes a host computer, a main processor, a number of sub-processors and a vehicle size detection device. At the entrance and exit of the vehicle, the sub-processor is arranged on the elevator and each transport trolley to control the running state of the elevator and the transport trolley, and the main processor is connected to each sub-processor and the upper computer for the The command of the upper computer is sent to each sub-processor to execute and coordinate the execution of each sub-processor.
一种双通道多机器人协作的自动车库系统的控制方法，包括存车过程和取车过程，存车过程包括以下步骤：A control method for a dual-channel multi-robot cooperative automatic garage system, including a car storage process and a car retrieval process, and the car storage process includes the following steps:
1）存车过程：车辆进入车辆尺寸检测装置，判断是否超长超高，超长超高禁止停放，符合要求时，允许通行；1) Car storage process: The vehicle enters the vehicle size detection device to determine whether it is super long and super high. It is forbidden to park in the super long and super high, and it is allowed to pass when it meets the requirements;
2）司机刷取IC卡，主处理器遍历车位情况，计算出距离存取车出入口最近的空余车位位置并标定其编号，同时将车位编号与IC卡绑定；2) The driver swipes the IC card, and the main processor traverses the parking space situation, calculates the position of the vacant parking space closest to the entrance and exit of the access vehicle, demarcates its number, and binds the parking space number to the IC card;
3）计算出距离存取车出入口最近的空闲搬运台车，向该搬运台车和存车通道内的升降电梯发送存车指令和规划路线，同时将该搬运台车、升降电梯和行走路线标记为忙碌；3) Calculate the idle transport trolley closest to the entrance and exit of the access vehicle, send the storage instruction and planned route to the transport trolley and the elevator in the storage channel, and mark the transport trolley, elevator and walking route at the same time to be busy
4）搬运台车获得车辆并按照既定路线行走至目标车位，将车存入后，搬运车和升降电梯回到初始位置处，搬运台车、升降电梯和行走路线状态恢复至空闲；4) The handling trolley obtains the vehicle and walks to the target parking space according to the established route. After the vehicle is stored, the handling trolley and the elevator return to the initial position, and the state of the handling trolley, the elevator and the walking route returns to idle;
取车过程包括以下步骤：The pickup process includes the following steps:
1）司机刷取IC卡，主处理器根据绑定信息获取目标车位所在位置，遍历全部空闲搬运台车，计算获得距离目标台车最近的空闲台车，向该搬运台车和取车升降电梯发送取车指令和规划路线，同时将该搬运台车、升降电梯和行走路线标记为忙碌；1) The driver swipes the IC card, the main processor obtains the location of the target parking space according to the binding information, traverses all the idle transport trolleys, calculates and obtains the idle trolley closest to the target trolley, and lifts the elevator to the transport trolley and the pick-up trolley Send pickup instructions and plan routes, while marking the trolley, elevator, and walking route as busy;
2）搬运台车获得车辆并按照既定路线行走至存取车出入口，完成取车后，搬运台车和升降电梯回到初始位置处，搬运台车、升降电梯和行走路线状态恢复至空闲。2) The handling trolley obtains the vehicle and walks to the entrance and exit of the access vehicle according to the established route. After the vehicle is retrieved, the handling trolley and the elevator return to the initial position, and the state of the handling trolley, the elevator and the walking route returns to idle.
基上所述，存车过程的步骤3）和取车过程的步骤1）中， 规划路线按照以下条件设定：规划出距离最近的若干条路线，按照最短距离至最长距离的方式排序，然后自前而后将与标记为忙碌状态的行走路线有重叠的路径屏蔽，直到获得可用的最短路线。Based on the above, in step 3) of the car storage process and step 1) of the car pick-up process, the planned route is set according to the following conditions: several routes with the closest distance are planned, and they are sorted according to the shortest distance to the longest distance. Routes that overlap with the walking route marked as busy are then masked from front to back until the shortest route available is obtained.
基上所述，存车高峰期，两部升降电梯的初始位置均位于一层，搬运台车的初始位置向矮层聚拢，两部升降电梯均用于存车；取车高峰期，存车升降电梯的初始位置位于高位，而取车升降电梯的初始位置位于低位，搬运台车的初始位置向高层聚拢，两步升降电梯均用于取车。Based on the above, during the peak period of car storage, the initial positions of the two elevators are located on the first floor, the initial positions of the transport trolleys are gathered towards the lower floor, and the two elevators are used for car storage; The initial position of the lift elevator is at the high position, while the initial position of the lift lift for taking the car is at the low position, and the initial position of the transport trolley is gathered towards the upper floor.
本发明相对现有技术具有突出的实质性特点和显著的进步，具体的说，本发明在立体车库的左右两侧分别设置两部升降电梯，分别用于存车和取车，同时，每两层配置一组搬运台车，当存车发生时，整个存车过程从立体车库的左侧开始，取车发生时，整个取车过程从立体车库的右侧开始，存取构成环形路径，互不干扰，可以同步进行，而且，两组路线极少出现重叠问题，无需停机等待，存取效率较高。Compared with the prior art, the present invention has outstanding substantive features and remarkable progress. Specifically, the present invention is provided with two elevators on the left and right sides of the three-dimensional garage, which are respectively used for storing and retrieving cars. A group of handling trolleys are arranged on the floor. When the car is stored, the entire car storage process starts from the left side of the three-dimensional garage. When the car is retrieved, the entire car retrieval process starts from the right side of the three-dimensional garage, and the access forms a circular path. No interference, can be carried out synchronously, and the two sets of routes rarely have overlapping problems, no need to stop and wait, and the access efficiency is high.
附图说明Description of drawings
图1是本发明中双通道多机器人协作的自动车库系统的车库外形图。FIG. 1 is an outline drawing of a garage of the automatic garage system with dual-channel multi-robot cooperation in the present invention.
图2是本发明立体车库首层平面图。Figure 2 is a plan view of the first floor of the three-dimensional garage of the present invention.
图3是本发明立体车库的单层结构图。Fig. 3 is a single-layer structure diagram of the three-dimensional garage of the present invention.
图4是本发明一般情况下搬运台车和升降电梯的初始位置图。Fig. 4 is a diagram showing the initial position of the conveying trolley and the elevator under the general condition of the present invention.
图5是本发明存车高峰期搬运台车和升降电梯的初始位置图。Fig. 5 is the initial position diagram of the transport trolley and the elevator during the peak period of the storage of vehicles according to the present invention.
图6是本发明取车高峰期搬运台车和升降电梯的初始位置图。FIG. 6 is the initial position diagram of the transport trolley and the elevator in the peak period of the present invention.
图7是本发明存车流程图。FIG. 7 is a flow chart of the present invention for car storage.
图8是本发明取车流程图。Figure 8 is a flow chart of the present invention for taking a car.
图9是本发明中路线规划的距离计算坐标系。FIG. 9 is a distance calculation coordinate system for route planning in the present invention.
图中：1.第一升降通道；2.第二升降通道；3.搬运台车；4.搬运通道；5.升降电梯；6.立体车库；7.存取车出入口；8.车位。In the picture: 1. The first lift channel; 2. The second lift channel; 3. The transport trolley; 4. The transport channel;
具体实施方式Detailed ways
下面通过具体实施方式，对本发明的技术方案做进一步的详细描述。The technical solutions of the present invention will be further described in detail below through specific embodiments.
如图1-6所示，一种双通道多机器人协作的自动车库系统，包括立体车库6、设于立体车库左侧的第一升降通道1、设于立体车库右侧的第二升降通道2和若干搬运台车3，所述立体车库为6层、前后双排的车库，每层的双排车库之间为横向的搬运通道4，搬运通道4的两端连接至第一升降通道1和第二升降通道2，第一升降通道1和第二升降通道2内分别设置升降电梯5，至少每两层设有一组搬运台车3，每组一台，所述搬运台车3可在所述搬运通道4内横向移动。As shown in Figures 1-6, a dual-channel multi-robot collaborative automatic garage system includes a three-dimensional garage 6, a first lift channel 1 located on the left side of the three-dimensional garage, and a second lift channel 2 located on the right side of the three-dimensional garage and a number of transport trolleys 3, the three-dimensional garage is a 6-storey, front and rear double-row garage, and between the double-row garages on each floor is a transverse transport channel 4, and both ends of the transport channel 4 are connected to the first lift channel 1 and 1. The second lift channel 2, the first lift channel 1 and the second lift channel 2 are respectively provided with lift elevators 5, and at least every two floors are provided with a group of transport trolleys 3, one for each group, and the transport trolleys 3 can be Move laterally in the conveying channel 4.
一般情况下，第一升降通道1和第二升降通道2分别为存车通道和取车通道，在存取车的高峰期，两个升降通道可通用。In general, the first lift channel 1 and the second lift channel 2 are respectively a car storage channel and a car pick-up channel, and the two lift channels can be used in common during the peak period of accessing vehicles.
所述立体车库的存取车出入口位于首层车库的中间，且为双向车道。闲置状态下，位于首层的搬运台车位于存取车出入口处，矮层的搬运台车靠近存车通道处，高层的搬运台车靠近取车通道处。目的是为了方便存取，避免升降电梯和搬运台车行走过多路程，浪费时间。The access car entrance and exit of the three-dimensional garage is located in the middle of the first-floor garage, and is a two-way lane. In the idle state, the handling trolley on the first floor is located at the entrance and exit of the access vehicle, the handling trolley on the lower floor is close to the storage aisle, and the handling trolley on the upper floor is close to the retrieval aisle. The purpose is to facilitate access and avoid excessive travel of lifts and transport trolleys and waste of time.
所述搬运通道4上和各个车位上均铺设导向磁条，搬运台车上设置磁导航传感器，用于搬运台车的导向和行走。Guide magnetic strips are laid on the handling channel 4 and on each parking space, and a magnetic navigation sensor is arranged on the handling trolley for guiding and walking of the handling trolley.
所述每个车位处设置射频卡，搬运台车上设置射频读卡器，搬运台车在行进过程中，可以读取到每个射频卡的信息，能够知道是否到达目标车位，可方便计算运行的距离。A radio frequency card is set at each parking space, and a radio frequency card reader is set on the handling trolley. During the traveling process of the handling trolley, the information of each radio frequency card can be read, and the information of each radio frequency card can be read, and it can know whether the target parking space is reached, which is convenient for calculation and operation. the distance.
它包括存取车的控制系统，所述控制系统包括上位机、主处理器、若干子处理器和一个车辆尺寸检测装置。所述子处理器设置于所述升降电梯和各搬运台车上用于控制升降电梯和搬运台车的运行状态，所述主处理器连接各子处理器和上位机用于将上位机的命令发送至各子处理器执行以及协调各子处理器的执行动作。It includes a control system for accessing the vehicle, and the control system includes a host computer, a main processor, several sub-processors and a vehicle size detection device. The sub-processor is arranged on the elevator and each transport trolley to control the running state of the elevator and the transport trolley, and the main processor is connected to each sub-processor and the upper computer for transferring the commands of the upper computer. It is sent to each sub-processor to execute and coordinate the execution actions of each sub-processor.
本实施例中，主处理器和子处理器均采用PLC，主PLC的作用是：In the present embodiment, both the main processor and the sub-processor adopt PLC, and the function of the main PLC is:
（1）和上位机进行连接，对整个立体车库过程的存取进行监控。(1) Connect with the host computer to monitor the access of the entire three-dimensional garage process.
（2）负责三个搬运车和两辆个电梯的协同调度问题，是他们之间协调配合运行，提高存取的效率。(2) Responsible for the coordinated scheduling of three trucks and two elevators. It is the coordination and cooperation between them to improve the efficiency of access.
（3）控制电梯的运行和一些安全措施的检测和处理，如限长和限宽。(3) Control the operation of the elevator and the detection and processing of some safety measures, such as length limit and width limit.
子PLC的主要作用是：The main functions of the sub-PLC are:
（1）通过驱动器控制来控制步进电机，进行对车辆运行轨道的处理，修正搬运车的运行，使之沿直线运行。(1) Control the stepping motor through the driver control, process the running track of the vehicle, correct the running of the pallet truck, and make it run in a straight line.
（2）对车位的定位处理，确定每个车位的位置，完成搬运车对车辆的存取过车。(2) Positioning processing of parking spaces, determining the location of each parking space, and completing the access of the truck to the vehicle.
（3）其他一些外接传感器作为辅助，帮助整个系统完成稳定高效的运行。(3) Some other external sensors are used as auxiliary to help the whole system to complete stable and efficient operation.
所述车辆尺寸检测装置设置在立体车库的存取车出入口处，用于测定车辆的尺寸是否符合要求，是否过高、过长或过宽，不符合要求的不允许进入车库。The vehicle size detection device is arranged at the access car entrance and exit of the three-dimensional garage, and is used to determine whether the size of the vehicle meets the requirements, whether it is too high, too long or too wide, and those that do not meet the requirements are not allowed to enter the garage.
该车库的具体使用方法：包括存车过程和取车过程，如图4和图7所示，存车过程包括以下步骤：The specific use method of the garage: including the process of car storage and the process of taking the car, as shown in Figure 4 and Figure 7, the car storage process includes the following steps:
1）存车过程：车辆进入车辆尺寸检测装置，判断是否超长超高，超长超高禁止停放，符合要求时，允许通行；1) Car storage process: The vehicle enters the vehicle size detection device to determine whether it is super long and super high. It is forbidden to park in the super long and super high, and it is allowed to pass when it meets the requirements;
2）司机刷取IC卡，主处理器遍历车位情况，计算出距离存取车出入口最近的空余车位位置并标定其编号，同时将车位编号与IC卡绑定，以方便车主取车时刷卡确认取车车位；2) The driver swipes the IC card, and the main processor traverses the parking space situation, calculates the position of the vacant parking space closest to the entrance and exit of the access vehicle and demarcates its number, and binds the parking space number with the IC card to facilitate the owner to swipe the card for confirmation when picking up the car pick up a parking space;
3）计算出距离存取车出入口最近的空闲搬运台车，向该搬运台车和存车通道内的升降电梯发送存车指令和规划路线，同时将该搬运台车、升降电梯和行走路线标记为忙碌，该步骤中，发出指令和规划路线均依靠主PLC，各子PLC负责将自身所在位置及工作状态发给主PLC，以便主PLC进行运算，如图9所示，距离计算过程中，分为两部分，一部分为搬运台车至存取车出入口的距离，另一部分为目标车位距离存取车出入口的距离，两者相加即为存取车规划路线的总行程，其中，目标车位的距离为固定距离，存储于数据库中，目标车位距离存取车出入口的距离通过射频卡与读卡器相配合，读取最近车位数据，实现计算；3) Calculate the idle transport trolley closest to the entrance and exit of the access vehicle, send the storage instruction and planned route to the transport trolley and the elevator in the storage channel, and mark the transport trolley, elevator and walking route at the same time In this step, the main PLC is responsible for issuing instructions and planning routes. Each sub-PLC is responsible for sending its own location and working status to the main PLC, so that the main PLC can perform calculations. As shown in Figure 9, during the distance calculation process, It is divided into two parts, one part is the distance from the transport trolley to the entrance and exit of the access vehicle, and the other part is the distance from the target parking space to the entrance and exit of the access vehicle. The sum of the two is the total travel of the planned route of the access vehicle. The distance is a fixed distance, which is stored in the database. The distance between the target parking space and the entrance and exit of the access vehicle is calculated through the cooperation of the radio frequency card and the card reader to read the data of the nearest parking space;
4）搬运台车获得车辆并按照既定路线行走至目标车位，将车存入后，搬运车和升降电梯回到初始位置处，搬运台车、升降电梯和行走路线状态恢复至空闲，可以执行下一次存车命令或取车命令；4) The handling trolley obtains the vehicle and walks to the target parking space according to the established route. After the vehicle is stored, the handling trolley and elevator return to the initial position, and the state of the handling trolley, elevator and walking route returns to idle, and the following can be executed. A deposit order or a pickup order;
如图4和图8所示，取车过程包括以下步骤：As shown in Figure 4 and Figure 8, the car pickup process includes the following steps:
1）司机刷取IC卡，主处理器根据绑定信息获取目标车位所在位置，遍历全部空闲搬运台车，计算获得距离目标台车最近的空闲台车，向该搬运台车和取车升降电梯发送取车指令和规划路线，同时将该搬运台车、升降电梯和行走路线标记为忙碌，该过程中，目标距离的计算也分两部分， 其中，车位距离存取车出入口的距离为确定的，搬运台车距离目标车位的距离通过计算获得，同上，搬运台车所在位置根据射频卡和读卡器配合确定最近车位，进行计算；1) The driver swipes the IC card, the main processor obtains the location of the target parking space according to the binding information, traverses all the idle transport trolleys, calculates and obtains the idle trolley closest to the target trolley, and lifts the elevator to the transport trolley and the pick-up trolley Send the car pick-up command and plan the route, and at the same time mark the transport trolley, elevator and walking route as busy. In this process, the calculation of the target distance is also divided into two parts, wherein the distance between the parking space and the access vehicle entrance and exit is determined. , the distance between the handling trolley and the target parking space is obtained by calculation, as above, the location of the handling trolley is based on the radio frequency card and the card reader to determine the nearest parking space for calculation;
2）搬运台车获得车辆并按照既定路线行走至存取车出入口，完成取车后，搬运台车和升降电梯回到初始位置处，搬运台车、升降电梯和行走路线状态恢复至空闲，可以执行下一次存车命令或取车命令。2) The handling trolley obtains the vehicle and walks to the entrance and exit of the access vehicle according to the established route. After picking up the vehicle, the handling trolley and the elevator return to the initial position, and the state of the handling trolley, the elevator and the walking route returns to idle. Execute the next store or fetch command.
在存车过程的步骤3）和取车过程的步骤1）中， 规划路线按照以下条件设定：规划出距离最近的若干条路线，按照最短距离至最长距离的方式排序，然后自前而后将与标记为忙碌状态的行走路线有重叠的路径屏蔽，直到获得可用的最短路线。In step 3) of the car storage process and step 1) of the car pickup process, the planned route is set according to the following conditions: plan out several routes with the closest distance, sort them from the shortest distance to the longest distance, and then arrange the routes from front to back. Routes that overlap with walking routes marked as busy are masked until the shortest route available is obtained.
该过程主要发生在高频次的存取车过程中，多个搬运台车同时运行，会发生占道情况。This process mainly occurs in the process of high-frequency access to vehicles, and multiple transport trolleys run at the same time, which will cause lane occupation.
如图5和图7所示，存车高峰期，两部升降电梯的初始位置均位于一层，搬运台车的初始位置向矮层聚拢，两部升降电梯均用于存车，这是由于存车高峰期，大部分工作都是存车，为避免浪费，两部电梯均用于存车，且搬运台车向矮层聚拢，已获得最短的存车路径，节省时间。As shown in Figure 5 and Figure 7, during the peak period of car storage, the initial positions of the two elevators are located on the first floor, the initial positions of the transport trolleys are gathered towards the lower floor, and the two elevators are used for car storage. This is because During the peak period of car storage, most of the work is car storage. In order to avoid waste, two elevators are used for car storage, and the transport trolleys are gathered to the lower floor, which has obtained the shortest car storage path and saved time.
如图6和图8所示，取车高峰期，存车升降电梯的初始位置位于高位，而取车升降电梯的初始位置位于低位，搬运台车的初始位置向高层聚拢，两步升降电梯均用于取车，这是由于驱车高峰期，车库中已经存有大量车辆，高层矮层的车辆分布相对均衡，故而将升降电梯一高一低设置，而高层车辆取出相对更费时间，因此将搬运台车尽量往高处放置。As shown in Figure 6 and Figure 8, during the peak period of car retrieval, the initial position of the car storage elevator is at a high position, while the initial position of the car retrieval elevator is at a low position, and the initial position of the transport trolley is gathered towards the upper floor. It is used to pick up a car. This is because a large number of vehicles are already stored in the garage during the peak driving period, and the distribution of vehicles on high-rise and low-rise floors is relatively balanced. Therefore, the elevators are set one high and the other low, and it is relatively time-consuming to take out high-rise vehicles. The handling trolley should be placed as high as possible.
最后应当说明的是:以上实施例仅用以说明本发明的技术方案而非对其限制；尽管参照较佳实施例对本发明进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本发明的具体实施方式进行修改或者对部分技术特征进行等同替换；而不脱离本发明技术方案的精神，其均应涵盖在本发明请求保护的技术方案范围当中。Finally it should be noted that: the above embodiment is only used to illustrate the technical scheme of the present invention and not to limit it; Although the present invention has been described in detail with reference to the preferred embodiment, those of ordinary skill in the art should understand: The specific embodiments of the invention are modified or some technical features are equivalently replaced; without departing from the spirit of the technical solutions of the present invention, all of them should be included in the scope of the technical solutions claimed in the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910414020.6ACN110056226B (en) | 2019-05-17 | 2019-05-17 | Automatic garage system with double-channel multi-robot cooperation and control method thereof |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910414020.6ACN110056226B (en) | 2019-05-17 | 2019-05-17 | Automatic garage system with double-channel multi-robot cooperation and control method thereof |
| Publication Number | Publication Date |
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| CN110056226Atrue CN110056226A (en) | 2019-07-26 |
| CN110056226B CN110056226B (en) | 2024-05-24 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910414020.6AActiveCN110056226B (en) | 2019-05-17 | 2019-05-17 | Automatic garage system with double-channel multi-robot cooperation and control method thereof |
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| CN (1) | CN110056226B (en) |
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| CN112459581A (en)* | 2020-12-08 | 2021-03-09 | 深圳中集智能停车有限公司 | Control method and device of stereo garage, electronic equipment and storage medium |
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| CN113706924A (en)* | 2021-08-26 | 2021-11-26 | 安徽春华智能科技有限公司 | Intelligent control system of planar mobile stereo garage |
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