CN116561874B

CN116561874B - Layout planning method and device for intelligent parking lot, electronic equipment and storage medium

Info

Publication number: CN116561874B
Application number: CN202310806257.5A
Authority: CN
Inventors: 彭靖萱; 魏中华; 王世豪; 李嘉烨; 李昀轩; 马厚强
Original assignee: Beijing University of Technology
Current assignee: Beijing University of Technology
Priority date: 2023-07-04
Filing date: 2023-07-04
Publication date: 2023-10-03
Anticipated expiration: 2043-07-04
Also published as: CN116561874A

Abstract

The disclosure relates to a layout planning method and device for an intelligent parking lot, electronic equipment and storage medium, wherein the method comprises the following steps: obtaining basic information of a parking lot to be planned, wherein the basic information comprises: length information and width information of a parking lot to be planned, and length information and width information of a single parking lot. Based on the basic information, the parking lot to be planned is divided into a plurality of target areas, wherein the target areas comprise a plurality of parking spaces. And determining the road area in the parking lot to be planned based on the area information of the plurality of target areas in the parking lot to be planned, and obtaining the planned target parking lot, wherein the area information comprises the size and the number of the areas. The layout planning method effectively increases the total number of parking spaces, not only improves the land utilization efficiency of the parking lot, but also can cope with the large-flow access scheduling requirement.

Description

Layout planning method and device for intelligent parking lot, electronic equipment and storage medium

Technical Field

The disclosure relates to the technical field of parking lot layout planning, in particular to a layout planning method and device for an intelligent parking lot, electronic equipment and a storage medium.

Background

In recent years, with the promotion of the national construction and digital industrialization of novel smart cities, intelligent parking lots meet new development opportunities. The automatic guided vehicle (Automated Guided Vehicle, AGV) intelligent parking lot has advantages in aspects of separation of vehicles and persons, few mechanical faults, parking experience and the like, and is widely applied. However, the current AGV parking lot does not fundamentally improve the land utilization efficiency of the parking lot, and cannot cope with the requirement of large-flow access scheduling.

Disclosure of Invention

The disclosure provides a layout planning method and device for an intelligent parking lot, electronic equipment and a storage medium.

According to a first aspect of the present disclosure, there is provided a layout planning method for an intelligent parking lot, the method comprising:

acquiring basic information of a parking lot to be planned; the basic information includes: the length information and the width information of the parking lot to be planned and the length information and the width information of the single parking lot;

dividing the parking lot to be planned into a plurality of target areas based on the basic information; wherein the target area comprises a plurality of parking spaces;

determining road areas in the parking lot to be planned based on the area information of the target areas in the parking lot to be planned, and obtaining a planned target parking lot; wherein the area information includes the size and number of areas.

According to a second aspect of the present disclosure, there is also provided a layout planning method of an intelligent parking lot, the method including:

dividing the parking lot to be planned into a target area based on the basic information; wherein the target area comprises a plurality of parking spaces;

determining an entrance and an exit in the parking lot to be planned based on the area information of the target area to obtain a planned target parking lot; wherein the area information includes an area size and an area position.

According to a third aspect of the present disclosure, there is provided a layout planning apparatus for an intelligent parking lot, the apparatus comprising:

the data acquisition module is used for acquiring basic information of the parking lot to be planned; the basic information includes: the length information and the width information of the parking lot to be planned and the length information and the width information of the single parking lot;

the layout planning module is used for dividing the parking lot to be planned into a plurality of target areas based on the basic information; wherein the target area comprises a plurality of parking spaces;

The layout planning module is further used for determining a road area in the parking lot to be planned based on the area information of the plurality of target areas in the parking lot to be planned, and obtaining a planned target parking lot; wherein the area information includes the size and number of areas.

According to a fourth aspect of the present disclosure, there is also provided a layout planning apparatus for an intelligent parking lot, the apparatus including:

the layout planning module is used for dividing the parking lot to be planned into a target area based on the basic information; wherein the target area comprises a plurality of parking spaces;

the layout planning module is further used for determining an entrance and an exit in the parking lot to be planned based on the area information of the target area to obtain a planned target parking lot; wherein the area information includes an area size and an area position.

According to a fifth aspect of the present disclosure, an electronic device is provided. The electronic device includes: a memory and a processor, the memory having stored thereon a computer program, the processor implementing the method as described above when executing the program.

According to a sixth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the above-described method of the present disclosure.

According to the layout planning method, device, electronic equipment and storage medium for the intelligent parking lot, basic information of the parking lot to be planned is obtained, wherein the basic information comprises the following steps: length information and width information of a parking lot to be planned, and length information and width information of a single parking lot. Dividing a parking lot to be planned into a plurality of target areas according to the basic information; wherein the target area comprises a plurality of parking spaces. Finally, determining the road area in the parking lot to be planned based on the area information of the plurality of target areas in the parking lot to be planned, and obtaining the planned target parking lot; wherein the area information includes the size and number of areas.

And determining the size and the number of the target areas according to the length information and the width information of the parking lot to be planned, wherein the size of the target areas comprises the row number and the number of the parking spaces in the target areas. After the target area for parking is planned, the road area in the parking lot to be planned can be determined according to the area information and the area position of the target area, and the planned target parking lot is obtained. According to the layout planning method for the intelligent parking lot, the stability and the linkage of the AGV technology can be utilized to closely arrange the parking spaces, and only part of lanes are reserved in the parking lot, so that the occupied area of the lanes is reduced, the parking space capacity of the parking lot is improved, and the land utilization efficiency is improved.

Drawings

Further details, features and advantages of the present disclosure are disclosed in the following description of exemplary embodiments, with reference to the following drawings, wherein:

FIG. 1 shows a schematic diagram of a linked-intensive layout parking lot;

FIG. 2 is a graph showing the relationship of the number of partitions, the number of rows and columns of a central module, and the floor space of a unit parking space in a linkage intensive layout parking lot;

FIG. 3 shows a rectangular parking lot with an AGV parking lot planned in a coordinated intensive layout;

FIG. 4 illustrates a rectangular parking lot as an AGV parking lot planned in a conventional layout;

FIG. 5 shows a schematic view of a vehicle handoff in a linked-complex layout parking lot;

FIG. 6 illustrates a central module rotation mode schematic of a linked-intensive layout parking lot;

fig. 7 shows a schematic diagram of a resetting process of an empty parking space;

FIG. 8 shows a flow chart of a first come first served task allocation algorithm;

FIG. 9 shows a flow chart of a transport AGV within a linked, centralized layout parking lot;

FIG. 10 shows a schematic diagram of latency relationship;

FIG. 11 illustrates pick-up mission transit times at different locations;

FIG. 12A shows user waiting times for 10 transport AGVs;

FIG. 12B shows the user waiting time under 11 transport AGVs;

FIG. 12C illustrates user waiting times for a 12 transport AGV;

FIG. 12D illustrates user waiting time under 13 transport AGVs;

FIG. 13A shows a schematic diagram of a waffle-style layout parking lot;

FIG. 13B shows a schematic illustration of a round robin fashion for a Huarong road type layout parking lot;

FIG. 14 illustrates a flow diagram of a linked intensive layout planning method for an intelligent parking lot in accordance with an exemplary embodiment of the present disclosure;

FIG. 15 illustrates a flow diagram of a waffle-style layout planning method for intelligent parking lots, according to an exemplary embodiment of the present disclosure;

FIG. 16 is a functional block diagram of a linkage intensive layout planning apparatus for intelligent parking lots according to an exemplary embodiment of the present disclosure;

FIG. 17 is a schematic block diagram of functional modules of a Walker type layout planning apparatus for an intelligent parking lot according to an exemplary embodiment of the present disclosure;

fig. 18 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present disclosure;

fig. 19 is a block diagram of a computer system according to an exemplary embodiment of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure have been shown in the accompanying drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.

It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.

The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below. It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.

It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.

The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

When the traditional manual parking lot is designed in layout planning, enough space needs to be reserved for the parking process of getting on and off the vehicle and backing into storage of a driver, so that the layout of the parking spaces is scattered, the occupied area of the lane is large, and the land utilization efficiency is low. However, the AGV parking lot does not need manual parking, but still adopts the layout planning of the traditional manual parking lot, so that the land utilization efficiency of the parking lot is not fundamentally improved, and meanwhile, the requirement of large-flow access scheduling cannot be met.

Therefore, in order to fundamentally improve the land utilization efficiency of a parking lot and meet the access scheduling requirement of large traffic flow, the embodiment of the disclosure firstly provides a layout planning method of an intelligent parking lot, and the stability and the linkage of an AGV technology are utilized to closely arrange parking spaces, so that only partial lanes are reserved in the parking lot, the occupied area of the lanes is reduced, the parking space capacity of the parking lot is improved, and the land utilization efficiency is improved.

Before describing embodiments of the present disclosure, the following definitions are first provided for the relative terms involved in the embodiments of the present disclosure:

Euclidean distance: euclidean distance generally refers to Euclidean metrics. In mathematics, the Euclidean distance or Euclidean metric is the linear distance between two points in Euclidean space.

Automated guided vehicle (Automated Guided Vehicle, AGV) parking lot: an AGV parking lot refers to a parking lot that parks using Automatic Guided Vehicles (AGVs). An AGV is an unmanned vehicle capable of autonomous navigation and task execution that can travel on a preset path and operate following preset rules. In an AGV parking lot, a vehicle is generally driven to a designated parking space through a preset path, and the vehicle is automatically parked at a designated position by the AGV without manual operation.

First come first scheduling algorithm (First come First Serve, FCFS): the basic idea of the scheduling algorithm of the operating system is that each task is put into a task queue in turn according to the sequence of task submission, and when one task is completed, the next task is taken out from the task queue to be executed until all the tasks are completed.

RRT x-ACO algorithm: RRT-ACO is a path planning algorithm, combining Rapidly-exploring Random Tree (RRT) algorithm and ant colony optimization algorithm (Ant Colony Optimization, ACO). The algorithm aims to solve the graph-based path planning problem. The RRT-ACO algorithm has better performance in the path planning problem, and is particularly suitable for complex environments and high-dimensional spaces. It can be applied to robot path planning, navigation of automatic driving vehicles and other fields requiring path planning in complex environments.

An AGV parking lot refers to a parking lot system that uses automatic guided vehicles (Automated Guided Vehicles, AGV for short) for vehicle parking and management. In an AGV parking lot, a user only needs to park a vehicle into a storage bin of the parking lot, a vehicle storage instruction is sent out, and the parking lot system can schedule an idle AGV to transfer the vehicle to a designated parking space for storage. After the vehicle is stored, the AGV will send a storage completion message to the parking lot system so that the system updates the parking lot status and vehicle position. The parking lot system can also send the parking completion information and the parking space position information corresponding to the vehicle to the user so that the user can acquire the real-time parking position and the parking state of the vehicle.

When a user needs to take a car, the user can firstly use the mobile phone client or an AGV parking lot operation interface to send a car taking instruction. After receiving the vehicle taking instruction, the parking lot system sends the vehicle taking instruction and the position of the target vehicle to the idle first type tray, and the selected first type tray starts from the initial position according to the instruction and goes to the vehicle storage area. Meanwhile, the second type of trays rotate the target vehicles to the boundary parking spaces of the target area. After the first type tray reaches the parking area, a sensor or a vision system can be used for positioning the position of the target vehicle, and after the position of the target vehicle is locked, the first type tray and the target vehicle are connected and the target vehicle is taken out. The first type of pallet carries the target vehicle and plans or navigates the system according to the route preset, navigate to the corresponding access storehouse from the parking area. And after the vehicle reaches the storage bin, the first type of tray unloads the target vehicle, the vehicle taking task is completed, and a signal of the vehicle taking completion is sent to the control system so that the system updates the state of the parking lot and the vehicle position. The parking lot system can also send the vehicle taking completion information and the corresponding storage bin position information to the user, and the user can go to the corresponding storage bin to take the vehicle after receiving the information.

Therefore, the parking and picking up scenes of the AGV parking lot are realized through command transmission and navigation planning between the control system and the tray, and the automatic parking and picking up process can improve efficiency, reduce labor cost and ensure safe and accurate vehicle management.

In the disclosed exemplary embodiment, in order to reduce the occupation area of a lane, improve the parking space capacity of a parking lot and improve the land utilization efficiency, two AGV parking lot layout schemes are provided, the parking spaces are closely arranged by utilizing the stability and the linkage of an AGV technology, more intensive waffle road type layout and linkage intensive type layout schemes are designed, the lifting effect of the layout schemes on the parking space capacity is analyzed, and an AGV operation strategy in the parking lot is formulated. The parking system comprises a parking area, a parking area management module and a parking area management module, wherein the target area comprises a first parking area and a second parking area, the first parking area can be divided into a left module and a right module, the left module and the right module are respectively adjacent to a left wall surface and a right wall surface of a parking area, the second parking area can be a central module, the side surface of the central module is surrounded by a road area, and the central module is positioned between the left module and the right module. The first type of pallet may be a transport AGV and the second type of pallet may be a pallet AGV.

Fig. 1 shows a schematic diagram of a linked-intensive layout parking lot. As shown in fig. 1, the linkage intensive layout may include one or more partitions, each of which may include a left module, a center module, and a right module, each of which is communicated with the sub-modules through lanes. The ganged-intensive layout parking lot may also include one or more access bins.

In an alternative manner, if the occupation shape of the parking lot to be planned is an irregular polygon, such as a trapezoid, a circle, etc., the terrain of the parking lot to be planned may be preprocessed, a rectangular frame is defined in the parking lot to be planned, and the partition, the lane, and the access bin are all planned and laid out in the rectangular frame.

In an alternative, each partition may be composed of an n row and n column central module, an n row and 2 column left module, and an n row and 2 column right module.

In an alternative manner, as shown in fig. 1, the access bins may be disposed at upper and lower sides of the parking lot, so as to shunt and manage vehicles in the parking lot, relieve traffic pressure of the lane, and improve road utilization efficiency.

In an alternative mode, in a parking lot adopting a linkage intensive layout, because the AGV parking lot has high-precision positioning capability and guiding capability and does not need users to personally participate in the process of parking and taking vehicles, the size of a single parking space can be further reduced on the premise of ensuring the safe distance between vehicles. For example, the parking space size may be set to 2.3m×5.5m, the lanes in the parking lot are two-way two lanes, and the lanes satisfy the minimum standard of 5.5m.

In order to further evaluate the land utilization rate of the linkage intensive type layout parking lot, the occupation area of the unit parking spaces can be calculated by the following formula (1) and formula (2), and a occupation area function diagram of the unit parking spaces is drawn.

（1）

（2）

wherein ,H: the number of partitions is indicated and,n: representing the number of ranks of the central module,M: the number of the total vehicle positions is represented,S _A : the unit parking space occupation area is represented, the lane width and the parking space length are 5.5m, and the parking space width is 2.3m.

FIG. 2 is a graph showing the relationship among the number of partitions, the number of rows and columns of central modules and the occupied area of a unit parking space in a linkage intensive layout parking lot, wherein the x-axis is the number of rows and columns of central modules as shown in FIG. 2nIn units of one, the y-axis is the number of partitionsHThe unit is that the z-axis is that the parking space occupies a floor area, and the unit is that the m ² . With the number of partitionsHAnd the number of central module linesnThe occupied area of the unit parking spaces in the linkage intensive parking lot is reduced from 22m to 16m, wherein about 86% of the occupied area of the unit parking spaces in the parking lot is distributed below 20 m. According to the urban parking planning Specification GB/T51149-2016, the unit parking space occupation area of the traditional manual ground parking lot is about 30m ² Unit parking space occupation of underground parking garage and overground parking buildingThe product is about 40m ² . Therefore, under the condition that the total area of the parking lot is the same, compared with the traditional layout, the linkage intensive layout can realize the increase of the parking space capacity by more than about 50%, and the parking space capacity in the parking lot is greatly improved.

By way of example, assuming a rectangular parking lot 91m long and 88m wide, the parking lot is planned in a coordinated intensive layout and a conventional layout, respectively, fig. 3 shows an AGV parking lot in which the rectangular parking lot is planned in the coordinated intensive layout, and fig. 4 shows an AGV parking lot in which the rectangular parking lot is planned in the conventional layout.

As shown in fig. 3, the parking lot includes three partitions, and partition 1 includes: left module 1, center module 1 and right module 1, partition 2 includes: left module 2, center module 2 and right module 2, partition 3 includes: a left module 3, a center module 3 and a right module 3. The parking lot further comprises: longitudinal aisles 1, longitudinal aisles 2, transverse aisles 1, transverse aisles 2, transverse aisles 3, transverse aisles 4 and access bins. Wherein the longitudinal aisle 1 connects the left module and the central module of each partition, and the longitudinal aisle 2 connects the right module and the central module of each partition. The cross aisle 1 is connected with the subarea 1 and the lower access bin, the cross aisle 2 is connected with the subarea 1 and the subarea 2, the cross aisle 3 is connected with the subarea 2 and the subarea 3, and the cross aisle 4 is connected with the subarea 3 and the upper access bin. The arrow in the aisle indicates the travel direction of the transport AGV.

According to the given rectangular parking field length and width area, 3 partitions can be planned under the linkage intensive layout, the central module scale of each partition is 10 rows and 10 columns, the left module is 10 rows and 2 columns, the right module is 10 rows and 2 columns, the total number of 3 partitions is 30 rows and 14 columns, the total number of 420 parking spaces can be set, the size of each parking space is 2.3mX5.5m, and the lane meets the minimum standard of 5.5m.

As shown in fig. 4, the parking lot includes a plurality of scattered parking areas and access bins on the upper and lower sides, and arrows in the aisle indicate the traveling direction of the vehicle. In a parking lot employing a conventional layout, since a user is required to personally participate in a parking and taking process, a parking space size of 2.5m×5.5m can be set. According to the given rectangular parking lot size, the traditional layout can only plan 270 parking spaces, the rest space is uniformly distributed to the lanes, and the final lane width is 6.6m.

For example, the above formula (1) and formula (2) can be used to obtain the unit parking space occupation area of the parking lot with linkage intensive layout and the parking lot with traditional layout, wherein in the parking lot with linkage intensive layout, the unit parking space occupation area is about 19m ² The method comprises the steps of carrying out a first treatment on the surface of the In a parking lot with a traditional layout, the occupied area of a unit parking space is about 29.6m ² . Therefore, the linkage intensive layout can greatly improve the parking space capacity of the parking lot, compared with the traditional layout, the parking space capacity increase of about 55% is realized, and the parking space capacity and the land utilization efficiency of the parking lot are greatly improved.

Therefore, the parking lot with the linkage intensive layout fully utilizes the stability and linkage advantages of the AGV technology, and simplifies the internal lanes of the parking lot. The results show that compared with the traditional layout, the parking field with the linkage intensive layout can achieve more than 50% of parking space capacity increase. Meanwhile, due to the strong combinability of the modules, the number of the partitions can be planned according to the actual area of the parking lot, and when the parking lot with a non-rectangular area is encountered, the number of the left module, the central module and the right module and the corresponding row and column numbers can be respectively set according to the actual condition of the parking lot. Therefore, the parking lot with the linkage intensive layout also has great layout flexibility.

In an alternative, two forms of AGVs may be included in a linked compact layout parking lot: tray AGVs within the modules and transport AGVs within the lanes. The parking space of the linkage intensive layout parking lot can be provided with a tray AGV capable of carrying vehicles, and the tray AGV is responsible for up-down, left-right rotary movement and matched transport AGVs to finish vehicle handover. In order to realize the wheel movement of the tray AGV, an empty space is arranged in each module, and the empty space is kept in a vacant state. Various sensors can be carried on the transport AGV, the transport AGV can automatically run according to a planned route, and the transport AGV can go back and forth between the storage bin and the parking space to finish the vehicle storage task.

By way of example, fig. 5 shows a schematic diagram of a vehicle delivery mode of a linkage-intensive layout parking lot, taking a user as an example. As shown in fig. 5, the vehicle delivery method of the linkage intensive layout parking lot may include the steps of:

step S510: and after receiving a vehicle taking instruction sent by a vehicle owner, judging the position of the target vehicle. Before a user arrives at the storage bin, a vehicle taking instruction can be sent out in a mode of inputting a license plate number, and after the vehicle taking instruction sent by a vehicle owner is received, the position of a target vehicle is inquired.

Step S520: it is determined whether the position of the target vehicle is at the module boundary, if not, step S530 is performed, and if so, step S560 is performed.

Step S530: if the target vehicle is determined to be located inside the center module, step S540 is executed, and if not, the target vehicle is located on the wall side of the left module or the right module, and step S550 is executed.

Step S540: the central module rotation mode is executed. When the target vehicle is inside the central module, the target vehicle inside the central module may be wheeled to the central module boundary by the rotation of the pallet AGVs.

Step S550: and executing a left-right module rotation mode. When the target vehicle is positioned on the wall-leaning side of the left module or the right module, the left module and the right module only consist of two rows of parking spaces, and the front parking space of the target vehicle is the boundary of the left module or the right module. The empty parking spaces in the modules can be moved to the front of the target vehicles through the wheel movement of the tray AGVs, the target trays corresponding to the target vehicles carry the target vehicles to move forward to the empty parking spaces, and the target vehicles can be moved to the boundaries of the left modules or the right modules.

Step S560: the boundary of the transport AGV toward the module completes the handoff of the target vehicle with the pallet AGV.

Step S570: and the transport AGV sends the target vehicle to a storage bin to finish the vehicle taking task.

In an alternative way, since the central module of the linkage intensive layout parking lot is positioned in the center of the parking lot and lanes are all around, the central module can be set to be of a scalen×nThe central module rotation mode may include the steps of:

and determining the position of the target vehicle in the central module, and finding the parking space positions of four boundaries of the train where the target vehicle is located.

According to the shortest principle of the module boundary path, the Euclidean distance from the position of the target vehicle to four boundary parking spaces can be calculated, and the four Euclidean distances can be respectively set asx ₁ ，x ₂ ，x ₃ ，x ₄ . Then, throughmin{x ₁ ,x ₂ ,x ₃ ,x ₄ Finding out the shortest one of the four Euclidean distances, and taking the corresponding boundary parking space as the target boundary parking space for confirming the expected arrival of the target vehicle. When a plurality of shortest Euclidean distances appear, randomly selecting one shortest Euclidean distance, and taking the corresponding boundary parking space as a target boundary parking space for confirming the expected arrival of the target vehicle.

In an alternative mode, when the target boundary parking space is occupied by the previous task vehicle, the target vehicle of the current task enters a waiting state. And the current task vehicle is delivered by the transport AGV, the target boundary parking space is moved out, the target boundary parking space is in an empty state, and the waiting state is ended. The target vehicle starts to rotate.

And determining the position of the empty parking space in the central module, moving the empty parking space to the position of the target boundary parking space through the wheel movement of the tray AGV, realizing the coincidence of the empty parking space and the target boundary parking space, and ensuring that no vehicle is parked on the target boundary parking space and the empty parking space is in an empty load state.

And constructing a rotation range. In an alternative mode, the target vehicle and the target boundary parking space can be used as two vertexes of the rectangle, when the two vertexes are positioned on the same side of the rectangle, one side of the rectangle can be formed by the two vertexes, and the tray on the same side next to the side forms the other side of the rectangle, so that a rectangular rotation range is constructed. When the two vertexes are positioned on the diagonal line of the rectangle, straight lines are drawn by the two vertexes along the x axis and the y axis until the straight lines of the other vertexes are interacted, the other two vertexes of the rectangle are confirmed, and a rectangle rotation range is constructed through the four vertexes.

The tray AGV carries the target vehicle to rotate towards the target boundary parking space direction, and finally the target vehicle reaches the target boundary parking space and is positioned at the boundary of the central module.

Fig. 6 shows a schematic diagram of a central module rotation mode of a linkage-intensive layout parking lot. As shown in fig. 6, a rectangular coordinate system may be established for the central module, and a specific position of the parking space may be represented by coordinates, for example, a position of the vehicle 1 may be represented as (3, 2), and a position of the empty space may be represented as (5, 5).

Illustratively, taking the vehicle 1 (3, 2) as an example, the central module rotation method of the linkage intensive layout parking lot may include the steps of:

after receiving a vehicle taking instruction sent by a vehicle owner of the vehicle 1, determining the position of a target vehicle in the central module, and finding the parking space positions of four boundaries of a train where the target vehicle is located. As can be seen from fig. 6, the positions of the vehicle 1 are (3, 2), and the parking space positions of the four boundaries are respectively: left boundary parking space position (1, 2), right boundary parking space position (5, 2), lower boundary parking space position (3, 1) and upper boundary parking space position (3, 5).

According to the shortest principle of the module boundary path, euclidean distances from the position of the target vehicle to four boundary parking spaces can be calculated respectively, and the boundary parking space corresponding to the shortest Euclidean distance is determined as the target boundary parking space. By passing throughmin{x ₁ ,x ₂ ,x ₃ ,x ₄ The euclidean distance from the position where the vehicle 1 reaches the lower boundary parking space (3, 1) is found to be shortest, and therefore, the lower boundary parking space (3, 1) is determined as the target boundary parking space.

The empty space position in the central module is determined, and as can be seen from fig. 6, the empty space position is (5, 5).

And constructing a rotation range. The position of the target boundary parking space and the position of the empty parking space are positioned on the diagonal line of the rectangle, the positions (3, 1) of the target boundary parking space and the positions (5, 5) of the empty parking space are taken as two vertexes of the rectangle, straight lines are drawn by the two vertexes along the X axis and the Y axis until the straight lines of the other vertexes are interacted, the other two vertexes (3, 5) and (5, 1) of the rectangle are confirmed, and a rectangular rotation range is constructed through the four vertexes.

The empty parking space is moved to the position of the target boundary parking space through the rotation of the tray AGV, and the specific rotation process is as follows:

the tray AGVs at the positions (5, 1), (5, 2), (5, 3) and (5, 4) are moved upwards in a linkage way together, so that the gaps of (5, 5) are filled and (5, 1) is left.

The tray AGVs at the positions (4, 1) and (3, 1) are moved in a right linkage way together, so that the gaps (5, 1) are filled, the gaps (3, 1) are left, and the movement of the gaps is realized.

The pallet AGVs on the vehicle 1 (3, 2) are moved down to the position (3, 1) to reach the central module boundary, completing the round robin operation. At this time, the empty space is located at the rear position (3, 2) of the target boundary space.

In an alternative manner, taking a vehicle taking as an example, after the target vehicle of the current vehicle taking task has moved to the module boundary, if the next task is not received, the empty vehicle can be moved to the module boundary again, waiting for receiving the next task, and no need to wait for the target vehicle of the previous vehicle taking task to complete the handover with the transport AGV.

If the next task has been received, but the target vehicle of the previous task has not yet completed the handover with the transport AGV, the target tray corresponding to the target vehicle in the previous task may be locked to the module boundary, and no longer participates in the rotation, waiting for the transport AGV to handover. Meanwhile, the empty parking space can be scheduled to serve the target vehicle of the next task through the empty parking space resetting process. Fig. 7 shows a schematic diagram of a resetting process of an empty parking space, wherein the empty parking space in fig. 7 refers to the empty parking space, and the P parking space refers to a target boundary parking space of the next task. As shown in fig. 7, the target vehicle in the previous task mounted on the pallet 1 has moved to the module boundary, has not completed the transfer with the transport AGV, and has received the pick-up instruction of the vehicle mounted on the pallet 2. At this time, the empty parking space can be moved to the P parking space along the black arrow path in the figure, and the vehicle taking instruction of the vehicle carried by the tray 2 is serviced. Similarly, when the access tasks are continuously overlapped, the empty parking spaces are continuously scheduled to serve the subsequent access tasks.

In order to improve the parking space capacity of the parking lot, the central module cancels the internal lanes and the parking spaces are closely arranged. In order to transfer the target vehicle inside the central module to the boundary of the central module, a central module rotation mode is required. The central module rotation mode is adopted, the capacity of the parking lot can be utilized to the greatest extent, and when the parking spaces rotate, the empty parking spaces can be used by other vehicles, so that the idle time of the parking lot is reduced. Meanwhile, due to the efficient use of the parking spaces, the operation and maintenance costs of the parking lot can be uniformly spread, and the effects of reducing the cost and improving the benefits are achieved.

In the linkage intensive AGV parking lot, a user only needs to wait for the transport AGV to take out the vehicle outside the storage bin, and if the user waits too long outside the storage bin, the problem of difficult parking and taking is generated. Therefore, to ensure reasonable pick-up waiting time, an effective multi-AGV conflict resolution strategy and a transport AGV quantity configuration scheme need to be formulated. In this embodiment, taking the vehicle taking process of the linkage intensive parking lot as an example, theoretical guidance is provided for the dispatching operation of the parking lot by an effective task allocation algorithm and reasonably configuring the number of transport AGVs.

In an alternative approach, a coordinated intensive AGV parking lot may employ a first come first served task allocation algorithm with task priorities decreasing sequentially with task generation time, with higher priorities for the tasks the earlier the task generation time. For example, the task allocation algorithm may select the FCFS algorithm.

For example, a task queue may be created, the newly generated tasks may be sequentially queued at the end of the queue, and the tasks at the beginning of the queue may be preferentially allocated to the currently free transport AGVs. The more forward a task is in the queue, the higher the priority of the task, the higher the priority of the corresponding transport AGV, and the higher the road weight. FIG. 8 shows a flow chart of a first come first served task allocation algorithm, which may include the specific steps of:

step S810: waiting for a task request. The task request may include: a parking task and a picking task.

Step S820: and configuring a task queue. In an alternative manner, the task queue may be configured with time of task generation, with the earlier the time of task generation, the earlier the position in the task queue, the higher the priority of the task.

Step S830: and judging whether the task queue is empty, and if so, returning to the step S810. If the task queue is not empty, step S840 is performed.

Step S840: the first task in the task queue is assigned to an idle transport AGV.

Because the first-come first-serve task allocation algorithm is a non-preemptive strategy, the algorithm is simple and easy to implement and relatively fair in a linkage intensive parking lot with few lanes and frequent vehicle turnover, the task with long transportation time is not delayed infinitely, and the requirement of a user for accessing vehicles can be better met.

Fig. 9 shows a flow diagram of a transport AGV in a linkage intensive layout parking lot, as shown in fig. 9, a driving aisle is two-way lanes, the transport AGV can turn around across a path, black circles indicate parking space nodes at the boundary of a module, hollow circles indicate aisle nodes corresponding to the parking space nodes, arrow directions indicate the driving directions of the transport AGV, and gray rectangles indicate intersections. Assuming that the target vehicle has moved to the P parking spaces at the module boundary, after the transport AGV completes the vehicle handover with the pallet AGV of the target vehicle at the P parking spaces, the travel path of the transport AGV may include: the P parking space is driven out to reach the aisle node B, then the crossing path reaches the aisle node C to finish turning around, then the P parking space passes through the aisle node D, E, F, finally leaves along the aisle node G, H, I after passing through the intersection, and is driven to the access bin.

In an alternative, the travel path of the transport AGV may be calculated by an algorithm, and the shortest travel path from the access bin may be selected based on a shortest path principle.

In an alternative approach, the vehicle transport efficiency of a linked-intensive layout parking lot may be assessed by analyzing the vehicle transport flows within the parking lot and the times corresponding to each flow.

For example, the vehicle transportation flow of the linkage intensive layout parking lot may be divided into five parts, i.e., a vehicle waiting service time, a module transportation time, a transport AGV transportation time, a vehicle handover time, and a collision time. FIG. 10 is a schematic diagram showing the relationship of wait time, wherein the sum of module transport time, transport AGV transport time, vehicle handoff adjustment time, collision time is the vehicle transport time, and the sum of vehicle wait service time and vehicle transport time is the user wait time.

In an alternative manner, the vehicle transportation flow of the parking task may include: and the user stops the vehicle in the storage bin, and if no idle transport AGVs exist in the yard, the vehicle enters a waiting service state until the idle transport AGVs accept the task. The transport AGVs travel to the access bins to deliver vehicles and then to the in-field modules to complete the vehicle handoff with the empty pallet AGVs in the modules.

In an alternative manner, the vehicle transportation flow of the pick-up task may include: and the user issues a vehicle taking task, and if no idle transport AGVs exist in the yard, the vehicle enters a vehicle waiting service state until the idle transport AGVs accept the task. And the tray AGVs carrying the target vehicles in the modules rotate to the module boundary, the transport AGVs go to the module boundary and return to the storage bin after completing the vehicle handover with the tray AGVs, the vehicles are handed over again, and the users get away.

In practical application, the access peak of the parking lot does not occur in the same time period, and the access process is similar, so taking a vehicle taking task as an example, combining the vehicle taking process with a central module rotation mode to construct a time model and an average transportation time formula of the vehicle taking task, wherein the average transportation time of the vehicle taking task can be represented by the following formula (3):

（3）

wherein ,T _p : representing the average transportation time of the vehicle taking task;T ₁ : representing the average transit time of the module;T ₂ : indicating the average transport time of the transport AGV;T ₃ : indicating the total hand-over time of the transport AGVs and the pallet AGVs, the access bins;T ₄ : indicating total adjustment time of the transport AGV for adjusting the posture of the vehicle body on the lane before and after the handover, the part is fixed because each vehicle taking task needs to complete two handover and four vehicle body adjustments The time loss is fixed, and the time loss is set to 120s according to the simulation experiment condition;T ₅ : the transport AGV collision time is shown, here set to 0s.

Exemplary, in a linked-centralized layout parking lot, module transit timeT _t May include a vacancy reset time and a tray AGV cycle timeT _c And module transport timeT _t Can be represented by the following formula set (4) and formula set (5):

（4）

（5）

wherein ,c: indicating the number of turns of the pallet AGV corresponding to the target vehicle,c=1 indicates that the pallet AGV corresponding to the target vehicle is located at the module boundary,cand 2. Gtoreq. Indicates that the tray AGV corresponding to the target vehicle is positioned in the module,T _f : indicating the vacancy resetting time, setting for convenient analysisT _f 10s.

In an alternative, the number of pallet AGVs in the left and right modules is far less than that in the central module, and the module transit time of the left and right modules is negligible for ease of calculation.

In an alternative manner, the number of rows and columns of the central module can be based onnSum of turnscCalculating the number of parking spaces of each circle of central moduleM _c Number of parking spacesM _c The formula can be represented by the following formula group (6):

（6）

wherein ,n: representing the number of rows and columns of the central module;c: representing the number of turns; ceil: representing the numerical value rounded up;mod: representing the function of the remainder of the solution,mod(n,2): representation ofnThe remainder after division by 2.

For example, if the number of rows and columns of one central module is 5, the number of turns of the central module is 3, the number of turns of the outermost parking space of the central module can be recorded as 1, the number of turns of the next outer parking space is recorded as 2, and the number of turns of the innermost parking space is recorded as 3. As can be seen from the formula (6), the number of parking spaces with 1 turn numberM ₁ Number of parking spaces of 16 turns 2M ₂ 8, number of turns 3M ₃ 1.

The method has the advantages that the parking space quantity formula is built according to the number of rows and the number of turns of the central module, the number of the parking spaces of each turn in the central module can be conveniently calculated, a parking lot planner is helped to quickly know the total number of the parking spaces and the number of the vehicles of each turn, and the calculation efficiency and accuracy are improved. In addition, the parking space quantity formula can also be used as a reference basis for designing and planning a parking lot. Through the formula, the number of rows, columns and turns of the central module can be flexibly determined according to requirements and limiting conditions when the parking lot is designed, so that the expected parking space requirements can be met. This helps to optimize the layout and space utilization of the parking lot. In addition, the parking space quantity formula can also play a role in parking lot management and operation. Through the formula, a manager can easily calculate the total number of vehicles in the parking lot and the number of vehicles in each circle, so that the allocation and management of the vehicle spaces are better carried out, and the use efficiency and the service quality of the parking lot are ensured.

Therefore, the calculation process can be simplified, the efficiency and the accuracy can be improved, and meanwhile, reference basis is provided for the design, planning and management of the parking lot, so that the operation of the parking lot is more efficient and optimized.

Exemplary, can be based onT _t And module size determinationT ₁ . Taking a central module with a rank number of 6 as an example, calculatingT ₁ The method of (1) comprises the following steps:

calculating each turn based on the above formulas (4) and (5)T _t . In the number of turns 1 of the yarn,T _t =0s; in the number of turns 2,T _t =15s; in the number of turns 3,T _t =35s。

based on the above formula (6)Number of parking spaces per turnM _c . In the number of turns 1 of the yarn,M _c =20; in the number of turns 2,M _c =12; in the number of turns 3,M _c =4。

the total number of central modules is determined based on the number of ranks of the central modules, the total number of central modules=6×6=36.

Based on the number of parking spaces of each circleM _c Each turn ofT _t Determining the central module by the total number of parking spacesT ₁ 。T ₁ =[(20×0)+(12×15)+(4×35)]/36=8.89s

In an alternative, the average travel time formula for transporting an AGV may be represented by the following formula set (7):

（7）

wherein ,T ₂ : indicating the average transport time of the transport AGV;H: the number of partitions is indicated and the number of partitions is indicated,n: representing the number of rows and columns of the central module,mod(H,2): representation ofHThe remainder after division by 2.

In the above-mentioned formula (3), The representation is: indicating a single pass of the transport AGV.

In an alternative way, the first and second modules,T ₃ the determination of (2) may include: acquisition ofT ₂ Will beT ₂ Is added to the minimum and maximum values, and divided by two to obtainT ₃ 。

In an alternative way, the first and second modules,T ₃ the method for determining the parking lot environment electronic map can also be established by adopting Matlab R2019a simulation software, the transport behavior, interaction process and storage bin operation of the transport AGV are simulated, the time of each intersection point is recorded, and the required time length of each intersection point is added to obtain the total intersection time. To ensure accurate data, multiple simulations can be performed to obtain an average of total handover time, i.eT ₃ 。

In an alternative way, the average transportation time of the picking-up tasks under different parking lot scales can be obtained according to formulas (3) - (7)T _p Statistics table 1 shows the average transportation time statistics table of the pick-up task.

Table 1 average transit time for pick-up missionT _p Statistics(s)

As shown in table 1, as the number of rows and columns of the central module and the number of partitions increase, the average transportation time of the vehicle taking task also increases, and taking a linkage intensive parking lot with 3 partitions, 10×10 central module scale and 420 parking spaces as an example, 193s is required for completing one vehicle taking task in the parking lot, i.e. 18 vehicle taking tasks can be completed per hour by one transport AGV in the parking lot.

In a coordinated intensive AGV parking lot, the number of AGVs transported directly affects the waiting time of the user outside the access bin. If the number of transport AGVs is too small, the large-flow vehicle taking requirement cannot be met, tasks are accumulated, and the vehicle taking time is far longer than the acceptable waiting time of users. If the number of transport AGVs is too many, it is easy to cause congestion in the interior road, and the transport AGVs are frequently started and stopped, increasing unnecessary time delay. Therefore, the number of the transport AGVs is not as large as possible, and the number of the transport AGVs needs to be reasonably configured by comprehensively considering the influence factors such as the parking lot scale, the peak hour flow and the like.

By way of example, a pick-up process may be taken as an example to analyze user latency. To simplify the analysis process, target hypothesis conditions may be set, which may include:

(1) existence in linkage intensive parking lot systemNThe table transports the AGV;

(2) the vehicle taking task of the user isFirst, thenThe picking-up task number of the individual user is +.>；

(3) The waiting time of the user isW _i First, thenThe waiting time of each user isW _n ；

(4) The transport AGV executes the tasks according to the order of the delivery of the vehicle taking tasks;

(5) the time intervals of the vehicle taking tasks are the same, which ist；

(6) The vehicle taking time of all tasks in the parking lot is the same, and is the average transportation time of the vehicle taking tasks T _p 。

Table 2 shows the user waiting time for 3 transport AGVs in a coordinated intensive AGV parking lot.

TABLE 2 user waiting time with 3 transport AGVs

As shown in table 2, the smaller the number of transport AGVs in the parking lot, the longer the user waiting time for a pick-up task to be issued later. The user waiting time will vary with the size of the parking lot, the peak traffic volume, the duration of the peak time, the order of the pick-up tasks, and the number of transport AGVs.

In practice, most car peaks in a parking lot last for 1-2 hours, so that the waiting time of users is controlled within acceptable waiting time during the car peaks, and the total number of transport AGVs is considered to meet the configuration standard of the car flow.

In an alternative, a model of the number of transport AGVs versus user waiting time may be constructed based on target hypothesis conditions, which may be represented by the following formulas (8) - (10):

（8）

（9）

（10）

wherein ,N: representing the total number of transport AGVs present in the linked staging parking system;: a pick-up task number indicating a user;W _i : representing the waiting time of the user;t: representing a time interval issued by a vehicle taking task;ceil: representing the numerical value rounded up; λ: representing the vehicle flow of the vehicle;T _p : representing the average transportation time of the vehicle taking task;W _a : representing a waiting time acceptable to the user, whereinW _a The specific numerical value of the parking lot can be obtained through field questionnaire investigation, and can also be adjusted according to the actual requirement of the parking lot.

In order to verify the feasibility of the linkage intensive layout parking lot provided by the present disclosure, for example, matlab R2019a simulation software may be used to build an electronic map of a parking lot environment, and each element attribute in a parking lot simulation model is set successively, including a tray AGV, a transport AGV, an access bin, a transport task, a time node, a simulation interface, and the like:

can input the attribute data such as the parking space numbers, the states and the like of all trays in the parking lot as matrix informationceilWithin the function. And numbering each parking space according to the sequence from bottom to top and from left to right, wherein the number range is 1-420. Each tray AGV in the module has two states: idle and working. After a certain module receives a vehicle taking task, all the AGV numbers of the trays participating in the rotation are determined, the states are set to be working states, and then the rotation operation is started.

The transport AGVs may be numbered as AGV1, AGV2, AGV3 … and specific numbers may be set according to actual needs. The transport AGV has two operating states: idle and working. In the simulation system, each transport AGV contains the following pieces of data information, and Table 3 shows the data information of the transport AGVs.

TABLE 3 data information for transport AGVs

The access bin is a vehicle returning node of all vehicle taking tasks. In the simulation experiment, the access bin can be arranged at the center of the top and the bottom of the parking lot, and after the vehicle reaches the access bin, the vehicle can enter the access bin to carry out the vehicle handover operation.

Defining a collection of transportation tasks asAlong with the assignment of the tasks, the transport task numbers are as follows: />、/>、、/>… in the simulation system, each transportation task contains the following pieces of data information, and table 4 shows the transportation task data table.

Table 4 transport task data sheet

As shown in Table 4, when a user issues a pick-up task, a task generation time point is generatedt ₁ The method comprises the steps of carrying out a first treatment on the surface of the When the transport AGV starts to execute the picking task, a task starting execution time point is generatedt ₂ The method comprises the steps of carrying out a first treatment on the surface of the After the transport AGV returns to the storage bin to finish the vehicle handover, a task ending time node is generatedt ₃ The method comprises the steps of carrying out a first treatment on the surface of the The waiting service time of the vehicle is%t ₂ -t ₁ ) The method comprises the steps of carrying out a first treatment on the surface of the The task transportation time is%t ₃ -t ₂ ) The method comprises the steps of carrying out a first treatment on the surface of the The waiting time of the user is%t ₃ -t ₁ ) The method comprises the steps of carrying out a first treatment on the surface of the The parking avoidance time of the vehicle due to collision isT ₅ . Setting a timer to record the time nodes of each process in the transportation task and storing the time nodes.

In the simulation interface, the empty space can be set to be white, the task vehicle in the module is blue, and the transport AGV in the lane is black.

Taking the parking lot of fig. 3 as an example, 100 vehicle picking tasks are randomly generated in an electronic map of the parking lot, and the generation position of the vehicle in the parking lot is observed. And respectively carrying out 5 times of simulation, and recording the position information of the target vehicle each time. Table 5 shows the generated positions of the target vehicle in 5 simulations:

TABLE 5 Generation position of target vehicle in simulation

As shown in table 5, in 5 simulations, the probability that the target vehicle is located in the center module was about 70% of the total, the probability that the target vehicle is located in the center module was about 45%, and the probabilities that the target vehicle is located in the left and right modules were lower, each of which was about 20%. In the task generation process, the vehicle generation positions have strong randomness and are distributed uniformly, so that the vehicle generation positions cannot be concentrated in the same module, and the effectiveness and the credibility of the data are ensured.

In order to simulate the transport efficiency of the picking-up task in the linkage intensive parking lot without AGV collision, experiments generate picking-up tasks at different positions in the module respectively, sequentially pick up the task vehicles, transport the task vehicles to the storage bin, record the transport time of each picking-up task, and figure 11 shows the transport time of the picking-up task at different positions, wherein in the linkage intensive AGV parking lot with 420 parking space scales, 101 picking-up tasks are simulated, when no transport AGV collision exists, the picking-up time of a single vehicle is between 134s and 306s, and in most cases, the transport time of the picking-up task is distributed at about 200s and is within the acceptable range of users.

In order to verify the rationality and effectiveness of the configuration scheme of the number of the transport AGVs, simulation experiments are carried out on the vehicle picking tasks during the peak period of the linkage intensive AGV parking lot. In the simulation experiment, the duration of the peak car taking time of the parking lot is 1 hour, and all the tray AGVs are in a full-load state before the peak car taking time arrives. Assume that 210 vehicle pick-up tasks are issued within 1 hour, wherein the tasks are randomly issued, and vehicles are randomly generated in a parking lot.

And (3) carrying out preliminary configuration on the number of the transport AGVs according to the formulas (4) - (6) and the task allocation principle of first-come first-serve. Calculated, the task demand is substantially met when the number of AGVs is about 12. 13 transport AGVs, 12 transport AGVs, 11 transport AGVs and 10 transport AGVs are sequentially arranged, a RRT-ACO algorithm is adopted to conduct path planning on the transport AGVs, and simulation experiments are conducted on 210 car picking tasks respectively. The user waiting time for each pick-up task is recorded, and fig. 12A shows the user waiting time under 10 transport AGVs, fig. 12B shows the user waiting time under 11 transport AGVs, fig. 12C shows the user waiting time under 12 transport AGVs, and fig. 12D shows the user waiting time under 13 transport AGVs. As shown in FIG. 12A, when the number of transport AGVs is 10, the user waiting time is long, only 25% of the picking tasks can be completed within 5 minutes, and the user waiting time after the picking task number is even close to 880s. As shown in fig. 12B, when the number of transport AGVs is 11, the curve is in a fluctuating upward trend, and the waiting time of the user is between 146s and 548s, which is greatly reduced compared with the case of 10 transport AGVs. As shown in fig. 12C and 12D, when the number of transport AGVs is 12 and 13, the curve fluctuation is substantially stable, and the user waiting time is between 135s and 360s, indicating that the number of transport AGVs at this time can meet the task demand.

In order to avoid the accidental of simulation data, 6 simulations are also performed on the vehicle taking tasks under the four transport AGVs in the experimental process, the average waiting time and the average collision time of the users are respectively recorded, and simulation results are shown in tables 6 and 7. Table 6 shows the average waiting time(s) of the user for different transport AGVs and table 7 shows the average collision time(s) for different transport AGVs:

TABLE 6 average waiting time(s) for users at different transport AGVs

TABLE 7 average collision time(s) for different transport AGVs

As can be seen from table 6 and table 7, when the number of transport AGVs is 13, the average waiting time of the user is about 267s, and is slightly longer than the number of transport AGVs arranged 12, which means that the longer the number of transport AGVs is, the longer the collision time generated in the lane is. Secondly, by analyzing Table 7, it can be found that when the number of AGVs is 10-13, a large number of blocking conditions are not generated in the lane, and the collision time is within an acceptable range. The result shows that in the linkage intensive parking lot with 420 parking spaces, 12 transport AGVs are configured to meet the vehicle taking requirement of 210 times per hour, and the waiting time of a user outside a storage bin can be ensured to be about 5 minutes.

In an exemplary embodiment of the present disclosure, a waffle-type layout suitable for small parking lots is also provided, and fig. 13A shows a schematic diagram of a waffle-type layout parking lot. As shown in fig. 13A, the waffle road layout may be a rectangular target area, where no lanes exist, all areas are planned as parking spaces closely arranged, and an empty parking space may be reserved in front of the exit and the entrance of the parking lot, and the empty parking space may be kept in an empty state for realizing vehicle rotation. Except for the empty parking spaces, the rest parking spaces are provided with a tray AGV capable of carrying vehicles, and the storage and taking operation of the vehicles can be realized in a rectangular wheel rotation mode in the waffle type layout parking lot through the tray AGV. As shown in fig. 13A, when a parking space is not parked, the corresponding parking space is marked as an empty AGV, when the parking space is parked, the corresponding parking space is marked as full, and the entrance and exit of the parking space are communicated with an external road, so that a user can conveniently park and take a vehicle.

Fig. 13B shows a schematic illustration of a round robin fashion for a waffle type layout parking lot. As shown in fig. 13B, a rectangular coordinate system may be established for the waffle-type layout parking lot, where the position of a specific parking space is represented by coordinates, and as shown in fig. 13B, the entrance coordinates of the parking lot are (5, -1), the coordinates of the vehicle 1 are (3, 3), the coordinates of the vehicle 2 are (2, 3), the coordinates of the vehicle 3 are (2, 5), and the coordinates of the vehicle 4 are (5, 3).

Illustratively, taking the vehicle 1 (3, 3) as an example, after receiving a vehicle taking command issued by a vehicle owner of the vehicle 1, taking (1, 1), (1, 2), (1, 3), (2, 3), (3, 2), (3, 1), (2, 1), (1, 1) as a round-robin rectangle, the vehicle 1 is rotated to a (1, 1) position along a round-robin track of (3, 3), (3, 2), (3, 1), (2, 1), (1, 1) in a clockwise round-robin manner, and then enters a vehicle exit platform (1, -1) and a user completes the handover of the vehicle, a specific round-robin manner of the waffle parking lot may include the following steps:

step S1301: the tray AGVs at the positions (2, 1), (3, 1) simultaneously move one parking space leftwards, and the parking space (3, 1) is left.

Step S1302: the tray AGVs at the positions (3, 3), (3, 2) simultaneously move down one parking space, freeing the parking space (3, 3), at which time the position of the vehicle 1 becomes (3, 2).

Step S1303: the tray AGVs at the positions (1, 3) and (2, 3) simultaneously move rightwards by one parking space to leave the parking space (1, 3).

Step S1304: the tray AGVs at the positions (1, 1) and (1, 2) simultaneously move upwards by one parking space, and the parking space (1, 1) is vacated again.

Step S1305: the tray AGVs at the positions (2, 1), (3, 1) simultaneously move one parking space leftwards, and the parking space (3, 1) is vacated again.

Step S1306: the tray AGVs at the positions (3, 3), (3, 2) simultaneously move down one parking space, and the parking space (3, 3) is vacated again, and at this time, the position of the vehicle 1 becomes (3, 1).

Step S1307: the tray AGVs at the positions (1, 3) and (2, 3) simultaneously move one parking space to the right, and the parking spaces (1, 3) are vacated again.

Step S1308: the tray AGVs at the positions (1, 1) and (1, 2) simultaneously move upwards by one parking space, and the parking space (1, 1) is vacated again.

Step S1309: the tray AGVs at the positions (2, 1), (3, 1) simultaneously move one parking space to the left, and the parking space (3, 1) is vacated again, and at this time, the position of the vehicle 1 becomes (2, 1).

Step S1310: the tray AGVs at the positions (3, 3) and (3, 2) simultaneously move downwards one parking space, and the parking space (3, 3) is vacated again.

Step S1311: the tray AGVs at the positions (1, 3) and (2, 3) simultaneously move one parking space to the right, and the parking spaces (1, 3) are vacated again.

Step S1312: the tray AGVs at the positions (1, 1) and (1, 2) simultaneously move upwards by one parking space, and the parking space (1, 1) is vacated again.

Step S1313: the tray AGVs at the positions (2, 1), (3, 1) simultaneously move one parking space to the left, and the parking space (3, 1) is vacated again, and at this time, the position of the vehicle 1 becomes (1, 1).

Step S1314: the pallet AGV carries the vehicle 1 into the vehicle exit deck (1, -1) and the user completes the handoff of the vehicle.

As the Hua-appearance road type layout parking lot cancels all lanes, only two empty parking spaces are reserved in front of the entrance and exit, and the rest areas are used for planning the parking spaces. Therefore, the Hua-appearance road type layout parking lot utilizes the land area in the parking lot almost 100%, and the land utilization rate of the parking lot is greatly improved. When the total area of the parking lot is smaller or the vehicle access frequency is lower, the high-intensive Hua-rong road type layout can be selected, the total number of parking spaces of the small-sized parking lot is increased, and the land area of the parking lot is fully utilized.

Meanwhile, the AGV parking lot has high-precision positioning capability and guiding capability, and a user does not need to personally participate in the parking and taking process, so that the size of a single parking space can be further reduced on the premise of ensuring the safe distance between vehicles. For example, the parking space size of the parking lot may be set to 2.3m×5.5m. Therefore, compared with the layout of the traditional parking lot, the parking lot with the Hua-Kong road layout can plan more parking spaces under the condition that the total area of the parking lots is the same.

Based on the above embodiments, fig. 14 shows a schematic flow diagram of a linkage intensive layout planning method for an intelligent parking lot according to an exemplary embodiment of the present disclosure, and as shown in fig. 14, the method may include the following steps:

step S1410: obtaining basic information of a parking lot to be planned, wherein the basic information comprises: length information and width information of a parking lot to be planned, and length information and width information of a single parking lot.

Step S1420: based on the basic information, the parking lot to be planned is divided into a plurality of target areas. Wherein the target area comprises a plurality of parking spaces.

Step S1430: and determining the road area in the parking lot to be planned based on the area information of the plurality of target areas in the parking lot to be planned, and obtaining the planned target parking lot. Wherein the area information includes the size and number of areas.

In an embodiment, a linkage intensive layout scheme is provided, and first, basic information of a parking lot to be planned and the length and width of a single parking space are acquired. If the occupation shape of the parking lot to be planned is an irregular polygon, such as a trapezoid, a circle and the like, the terrain of the parking lot to be planned can be preprocessed, a rectangular frame is defined in the parking lot to be planned, and the target area, the lane and the access bin are all planned and laid in the rectangular frame.

Optionally, the target area includes a first type parking sub-area and a second type parking sub-area, one side of the first type parking sub-area is adjacent to a side of the parking lot to be planned, and a side of the second type parking sub-area is adjacent to the road area.

Based on the above embodiment, in still another embodiment provided in the present disclosure, the determining the road area in the parking lot to be planned in step S1430 may specifically further include the following steps:

step S1431: and determining the area information of the first type parking subarea and the area information of the second type parking subarea in the parking lot to be planned based on the basic information.

Step S1432: determining the region position of the first type parking sub-region based on the region information of the first type parking sub-region, and determining the region position of the second type parking sub-region based on the region information of the second type parking sub-region.

Step S1433: based on the area information and the area location, a road area in the parking lot to be planned is determined.

In an embodiment, the first parking sub-area may be further divided into a left module and a right module, which are respectively adjacent to a left wall surface and a right wall surface of the parking lot, the second parking sub-area may be a central module, and a side surface of the central module is surrounded by the road area and is located in the middle of the left module and the right module.

In an alternative, each partition may be composed of an n row and n column central module, an n row and 2 column left module, and an n row and 2 column right module. In practical application, the number of partitions can be determined according to the basic information of the parking lot to be planned, and when the parking lot with a non-rectangular area is encountered, the number of left modules, central modules and right modules and the corresponding row and column numbers can be respectively set according to the actual situation of the parking lot. Therefore, the parking lot with the linkage intensive layout also has great layout flexibility.

Optionally, the first parking subarea and the second parking subarea respectively comprise at least one empty parking space; the target parking lot includes a first type of pallet for transporting vehicles in the road area and a second type of pallet for wheeling in the target area.

Optionally, the access storehouse can set up in the upper and lower both sides in parking area to reposition of redundant personnel management parking area inside vehicle, alleviate lane transportation pressure, improve road utilization efficiency.

In an embodiment, the first type of pallet may be a transport AGV and the second type of pallet may be a pallet AGV. Except the empty parking space, a tray AGV capable of carrying vehicles can be arranged on each parking space, and the tray AGVs can be responsible for up-down, left-right rotary movement and matched with the transport AGVs to finish vehicle handover. In order to realize the wheel movement of the tray AGV, an empty space is arranged in each module, and the empty space is kept in a vacant state. Various sensors can be carried on the transport AGV, the transport AGV can automatically run according to a planned route, and the transport AGV can go back and forth between the storage bin and the parking space to finish the vehicle storage task.

In an embodiment, a parking method applied to a linkage intensive layout parking lot is further provided, and the method specifically includes the following steps:

And under the condition that a parking instruction of a user aiming at the target vehicle is received, responding to the parking instruction, and acquiring a target parking space of the target vehicle. And transporting the target vehicles stored in the access bin to a second type of trays of the target parking spaces through the first type of trays.

Specifically, the user opens the target vehicle to the access bin for parking, inputs the license plate number on the operation interface of the parking lot or the mobile phone APP and sends out a parking instruction. After the parking lot system receives the parking instruction, the parking lot system responds to the parking instruction to acquire a target parking space of the target vehicle, and dispatches the idle transport AGVs to the access bin to deliver the target vehicle. After the transport AGV is delivered to the target vehicle, the loaded target vehicle is moved to the target parking space. Meanwhile, the parking lot system rotates the tray AGVs of the target parking spaces to the boundary parking spaces of the target area. And the transport AGVs transport the target vehicles to the corresponding boundary parking spaces and interface the target vehicles with the tray AGVs. The pallet AGV carries the target vehicle, and the target vehicle is moved to the target parking space in a rotary mode, so that the vehicle storage step is completed. For specific rotation, please refer to the above central module rotation and left and right module rotation.

In an embodiment, a vehicle taking method applied to a linkage intensive layout parking lot is further provided, and the method specifically includes the following steps:

And under the condition that a vehicle taking instruction of a user aiming at the target vehicle is received, responding to the vehicle taking instruction, and acquiring a target parking space of the target vehicle. In the case where the target parking space is not adjacent to the road area, the target vehicle is rotated into the parking space adjacent to the road area by the second type of tray located on the target parking space. The target vehicle is transported to a storage bin by a first type of pallet.

Specifically, the user can input license plate numbers on an operation interface of a parking lot or a mobile phone APP and send out a vehicle taking instruction. After receiving the vehicle taking instruction, the parking lot system responds to the vehicle taking instruction to obtain a target parking space of the target vehicle, and dispatches the idle transport AGVs to go to the target area to deliver the target vehicle. Meanwhile, the tray AGVs on the target parking spaces rotate target vehicles to the boundary parking spaces of the target areas in a rotating mode. And the transport AGV runs to the boundary parking space to finish the handover with the target vehicle, and the transport AGV carries the target vehicle to run to the storage bin. And the user starts the target vehicle in the storage bin to finish the vehicle taking step. In the specific vehicle taking step, please refer to the above vehicle delivery mode of the linkage intensive layout parking lot, and the specific wheel rotation mode refers to the above central module wheel rotation mode and the left and right module wheel rotation mode.

In an embodiment, in order to determine the number of first-type trays, a number configuration model of the first-type trays is constructed by:

defining target hypothesis conditions;

constructing a quantity configuration model of the first type of trays based on the target hypothesis conditions, wherein the quantity configuration model comprises the following steps:

wherein ,N: representing the total number of transport AGVs present in the linked staging parking system;: a pick-up task number indicating a user;t: representing a time interval issued by a vehicle taking task;ceil: representing the numerical value rounded up;λ: representing the vehicle flow of the vehicle;T _p : representing the average transportation time of the vehicle taking task;W _a : representing a waiting time acceptable to the user, whereinW _a The specific numerical value of the parking lot can be obtained through field questionnaire investigation, and can also be adjusted according to the actual requirement of the parking lot.

Alternatively, the target hypothesis conditions may include:

(5) the time intervals of the vehicle taking tasks are the same, which ist；

In a coordinated intensive AGV parking lot, the number of AGVs transported directly affects the waiting time of the user outside the access bin. If the number of transport AGVs is too small, the large-flow vehicle taking requirement cannot be met, tasks are accumulated, and the vehicle taking time is far longer than the acceptable waiting time of users. If the number of transport AGVs is too many, it is easy to cause congestion in the interior road, and the transport AGVs are frequently started and stopped, increasing unnecessary time delay. Thus, it is not as good as to transport the number of AGVs, and it is desirable to rationally configure the number of AGVs to be transported by the first type of tray number configuration model.

According to one or more technical schemes provided by the embodiment of the disclosure, basic information of a parking lot to be planned, and length information and width information of a single parking lot are obtained. The parking lot to be planned is then divided into a plurality of target areas based on the basic information, wherein the target areas comprise a plurality of parking spaces. And finally, determining the road area in the parking lot to be planned based on the area information of the plurality of target areas in the parking lot to be planned, and obtaining the planned target parking lot, wherein the area information comprises the size and the number of the areas. The layout planning method can effectively increase the total number of parking spaces, not only can improve the land utilization efficiency of the parking lot, but also can cope with the large-flow access scheduling requirement.

Based on the above embodiments, fig. 15 shows a schematic flow diagram of a waffle-channel layout planning method for an intelligent parking lot according to an exemplary embodiment of the disclosure, and as shown in fig. 15, the method may include the following steps:

step S1510: obtaining basic information of a parking lot to be planned, wherein the basic information comprises: length information and width information of a parking lot to be planned, and length information and width information of a single parking lot.

Step S1520: based on the basic information, the parking lot to be planned is divided into a target area. Wherein the target area comprises a plurality of parking spaces.

Step S1530: and determining an entrance and an exit in the parking lot to be planned based on the area information of the target area, and obtaining the planned target parking lot. Wherein the area information includes an area size and an area position.

In an embodiment, the side of the target area is adjacent to the side of the parking lot to be planned, and the target area comprises at least two empty spaces, which are respectively located in front of the entrance and the exit.

In an embodiment, a waffle road layout suitable for a small parking lot is provided, the layout can be a rectangular target area, lanes do not exist in the target area, all areas are planned to be parking spaces which are closely arranged, an empty parking space can be reserved in front of an outlet and an inlet of the parking lot, and the empty parking space is kept in a vacant state for realizing vehicle rotation. Except for the empty parking spaces, the rest parking spaces are provided with a tray AGV capable of carrying vehicles, and the storage and taking operation of the vehicles can be realized in a rectangular wheel rotation mode in the waffle type layout parking lot through the tray AGV.

Under the condition that each functional module is divided by adopting corresponding each function, the embodiment of the disclosure provides a layout planning device of an intelligent parking lot, and the layout planning device of the intelligent parking lot can be a server or a chip applied to the server. Fig. 16 is a schematic block diagram of functional modules of a linkage intensive type layout planning device for an intelligent parking lot according to an exemplary embodiment of the present disclosure. As shown in fig. 16, the layout planning apparatus 1600 of the intelligent parking lot includes:

a data acquisition module 1610, configured to acquire basic information of a parking lot to be planned; the basic information includes: the length information and the width information of the parking lot to be planned and the length information and the width information of the single parking lot.

A layout planning module 1620, configured to divide the parking lot to be planned into a plurality of target areas based on the basic information; wherein the target area includes a plurality of parking spaces.

The layout planning module 1620 is further configured to determine a road area in the parking lot to be planned based on the area information of the plurality of target areas in the parking lot to be planned, so as to obtain a planned target parking lot; wherein the area information includes the size and number of areas.

The layout planning module 1620 is further configured to determine a road area in the parking lot to be planned, including: determining the area information of a first type parking subarea and the area information of a second type parking subarea in the parking lot to be planned based on the basic information; determining the region position of the first type parking sub-region based on the region information of the first type parking sub-region, and determining the region position of the second type parking sub-region based on the region information of the second type parking sub-region; and determining a road area in the parking lot to be planned based on the area information and the area position.

In yet another embodiment provided by the present disclosure, the layout planning apparatus of the intelligent parking lot further includes a data processing module.

The data processing module is used for responding to the parking instruction of the target vehicle under the condition that the parking instruction of the user aiming at the target vehicle is received, and acquiring a target parking space of the target vehicle; and transporting the target vehicle stored in the access bin to the second type tray of the target parking space through the first type tray.

The data processing module is further used for responding to the vehicle taking instruction to acquire a target parking space of the target vehicle under the condition that the vehicle taking instruction of a user aiming at the target vehicle is received; rotating the target vehicle into a parking space adjacent to a road area through the second type of tray positioned on the target parking space under the condition that the target parking space is not adjacent to the road area; and transporting the target vehicle to a storage bin through the first type of tray.

The data processing module is further used for determining the number of the first type of trays through a number configuration model of the first type of trays; the quantity configuration model of the first type of trays is constructed by the following steps:

defining target hypothesis conditions;

The embodiment of the disclosure also provides a layout planning device of the intelligent parking lot, which can be a server or a chip applied to the server. Fig. 17 is a schematic block diagram of functional modules of a waffle-type layout planning device for intelligent parking lots according to an exemplary embodiment of the disclosure. As shown in fig. 17, the layout planning apparatus 1700 of the intelligent parking lot includes:

The data acquisition module 1710 is configured to acquire basic information of a parking lot to be planned; the basic information includes: the length information and the width information of the parking lot to be planned and the length information and the width information of the single parking lot;

a layout planning module 1720, configured to divide the parking lot to be planned into a target area based on the basic information; wherein the target area comprises a plurality of parking spaces;

the layout planning module 1720 is further configured to determine an entrance and an exit in the parking lot to be planned based on the area information of the target area, so as to obtain a planned target parking lot; wherein the area information includes an area size and an area position.

Optionally, the side surface of the target area is adjacent to the side surface of the parking lot to be planned; the target area comprises at least two empty parking spaces; the empty space is respectively positioned in front of the inlet and the outlet.

The embodiment of the disclosure also provides an electronic device, including: at least one processor; a memory for storing the at least one processor-executable instruction; wherein the at least one processor is configured to execute the instructions to implement the above-described methods disclosed by embodiments of the present disclosure.

Fig. 18 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present disclosure. As shown in fig. 18, the electronic device 1800 includes at least one processor 1801 and a memory 1802 coupled to the processor 1801, the processor 1801 may perform corresponding steps in the above-described methods disclosed by embodiments of the present disclosure.

The processor 1801 may also be referred to as a central processing unit (central processing unit, CPU), which may be an integrated circuit chip with signal processing capabilities. The steps of the above-described methods disclosed in the embodiments of the present disclosure may be accomplished by instructions in the form of integrated logic circuits or software in hardware in the processor 1801. The processor 1801 may be a general purpose processor, a digital signal processor (digital signal processing, DSP), an ASIC, an off-the-shelf programmable gate array (field-programmable gate array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present disclosure may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may reside in a memory 1802 such as random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as is well known in the art. The processor 1801 reads the information in the memory 1802 and, in combination with its hardware, performs the steps of the method described above.

In addition, various operations/processes according to the present disclosure, in the case of being implemented by software and/or firmware, may be installed from a storage medium or network to a computer system having a dedicated hardware structure, such as the computer system 1900 shown in fig. 19, which is capable of performing various functions including functions such as those described above, and the like, when various programs are installed. Fig. 19 is a block diagram of a computer system according to an exemplary embodiment of the present disclosure.

Computer system 1900 is intended to represent various forms of digital electronic computing devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 19, the computer system 1900 includes a computing unit 1901, and the computing unit 1901 can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 1902 or a computer program loaded from a storage unit 1908 into a Random Access Memory (RAM) 1903. In the RAM 1903, various programs and data required for the operation of the computer system 1900 may also be stored. The computing unit 1901, ROM 1902, and RAM 1903 are connected to each other via a bus 1904. An input/output (I/O) interface 1905 is also connected to bus 1904.

Various components in computer system 1900 are connected to I/O interface 1905, including: an input unit 1906, an output unit 1907, a storage unit 1908, and a communication unit 1909. The input unit 1906 may be any type of device capable of inputting information to the computer system 1900, and the input unit 1906 may receive input numeric or character information and generate key signal inputs related to user settings and/or function controls of the electronic device. The output unit 1907 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, video/audio output terminals, vibrators, and/or printers. Storage unit 1908 may include, but is not limited to, magnetic disks, optical disks. The communication unit 1909 allows the computer system 1900 to exchange information/data with other devices over a network, such as the internet, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers and/or chipsets, such as bluetooth (TM) devices, wiFi devices, wiMax devices, cellular communication devices, and/or the like.

The computing unit 1901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 1901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1901 performs the various methods and processes described above. For example, in some embodiments, the above-described methods disclosed by embodiments of the present disclosure may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 1908. In some embodiments, some or all of the computer programs may be loaded and/or installed onto electronic device 1900 via ROM 1902 and/or communication unit 1909. In some embodiments, the computing unit 1901 may be configured to perform the above-described methods of the disclosed embodiments by any other suitable means (e.g., by means of firmware).

The disclosed embodiments also provide a computer-readable storage medium, wherein instructions in the computer-readable storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the above-described method disclosed by the disclosed embodiments.

A computer readable storage medium in embodiments of the present disclosure may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium described above can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specifically, the computer-readable storage medium described above may include one or more wire-based electrical connections, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.

The disclosed embodiments also provide a computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the above-described methods of the disclosed embodiments.

In an embodiment of the present disclosure, computer program code for performing the operations of the present disclosure may be written in one or more programming languages, including but not limited to an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of remote computers, the remote computers may be connected to the user computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to external computers.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The modules, components or units referred to in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of a module, component or unit does not in some cases constitute a limitation of the module, component or unit itself.

The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.

The above description is merely illustrative of some embodiments of the present disclosure and of the principles of the technology applied. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in this disclosure is not limited to the specific combinations of features described above, but also covers other embodiments which may be formed by any combination of features described above or equivalents thereof without departing from the spirit of the disclosure. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).

Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A layout planning method for an intelligent parking lot, the method comprising:

determining road areas in the parking lot to be planned based on the area information of the target areas in the parking lot to be planned, and obtaining a planned target parking lot; wherein the area information includes the size and number of areas;

the determining the road area in the parking lot to be planned comprises the following steps:

determining the area information of a first type parking subarea and the area information of a second type parking subarea in the parking lot to be planned based on the basic information;

determining the region position of the first type parking sub-region based on the region information of the first type parking sub-region, and determining the region position of the second type parking sub-region based on the region information of the second type parking sub-region;

Determining a road area in the parking lot to be planned based on the area information and the area position;

the target area comprises a first type parking sub-area and a second type parking sub-area, one side of the first type parking sub-area is adjacent to the side face of the parking lot to be planned, and the side face of the second type parking sub-area is adjacent to the road area; the first parking subarea and the second parking subarea respectively comprise at least one empty parking space; the target parking lot comprises a first type of tray and a second type of tray, wherein the first type of tray is used for transporting vehicles in the road area, and the second type of tray is used for rotating in the target area;

determining the number of the first type of trays through a number configuration model of the first type of trays; the quantity configuration model of the first type of trays is constructed by the following steps:

defining target hypothesis conditions;

wherein ,N: representing the total number of transport AGVs present in the linked staging parking system;: a pick-up task number indicating a user;t: representing a time interval issued by a vehicle taking task; ceil: representing the numerical value rounded up;λ: representing the vehicle flow of the vehicle;T _p : representing the average transportation time of the vehicle taking task;W _a : representing a waiting time acceptable to the user, whereinW _a The specific numerical value of the parking lot can be obtained through field questionnaire investigation, and can also be adjusted according to the actual requirement of the parking lot.

2. The method of claim 1, wherein the target parking lot further comprises an access bin, the method further comprising:

under the condition that a parking instruction of a user for a target vehicle is received, responding to the parking instruction, and acquiring a target parking space of the target vehicle;

and transporting the target vehicle stored in the access bin to the second type tray of the target parking space through the first type tray.

3. The method according to claim 1, wherein the method further comprises:

under the condition that a vehicle taking instruction of a user aiming at a target vehicle is received, responding to the vehicle taking instruction, and acquiring a target parking space of the target vehicle;

rotating the target vehicle into a parking space adjacent to a road area through the second type of tray positioned on the target parking space under the condition that the target parking space is not adjacent to the road area;

And transporting the target vehicle to a storage bin through the first type of tray.

4. A layout planning apparatus for an intelligent parking lot, the apparatus comprising:

the layout planning module is further used for determining a road area in the parking lot to be planned based on the area information of the plurality of target areas in the parking lot to be planned, and obtaining a planned target parking lot; wherein the area information includes the size and number of areas;

defining target hypothesis conditions;

wherein ,N: representing the total number of transport AGVs present in the linked staging parking system;: a pick-up task number indicating a user;t: representing a time interval issued by a vehicle taking task; ceil: representation ofThe logarithmic value is rounded upwards;λ: representing the vehicle flow of the vehicle;T _p : representing the average transportation time of the vehicle taking task;W _a : representing a waiting time acceptable to the user, whereinW _a The specific numerical value of the parking lot can be obtained through field questionnaire investigation, and can also be adjusted according to the actual requirement of the parking lot.

5. An electronic device, comprising:

at least one processor;

a memory for storing the at least one processor-executable instruction;

wherein the at least one processor is configured to execute the instructions to implement the method of any of claims 1-3.

6. A computer readable storage medium, characterized in that instructions in the computer readable storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the method of any one of claims 1-3.