Research On Scheduling System Of Plane Mobile Stereo Garage

As one of the solutions to the problem of "parking difficulty",the plane mobile stereo garage has the characteristics of high utilization rate of space and flexible operation.However,due to the need to schedule a number of RGVS and lifts at the same time,compared with other types of stereo garage,plane mobile stereo garage on the system scheduling strategy requirements are higher,different scheduling strategies will lead to a large difference in the performance of the system.In this thesis,the scheduling system is studied for the multi-equipment operation and the interaction between the equipment in the plane mobile stereo garage.On the basis of modeling the stereo garage,the minimum time planning method of single RGV considering the dynamic changes of the lift is studied.At the same time,considering the conflict problems existing in the operation of the multi-RGV,the avoidance strategy for the multi-RGV is proposed,and the multi-RGV scheduling algorithm is designed,so as to realize the efficient operation of the plane mobile stereo garage.The research content of this thesis is as follows:(1)The overall scheme design of scheduling system.Firstly,the working characteristics of the plane mobile stereo garage and the design requirements of the scheduling system are analyzed.Then,according to the functional requirements,the overall design scheme of the system is proposed,including the overall architecture of the system,the scheduling system software design scheme,the function of each function module and the hardware communication scheme.Finally,the overall task scheduling strategy of plane mobile stereo garage is proposed,which foreshadows the development of this thesis.(2)Modeling and simulation of plane mobile stereo garage.Firstly,the operation process and characteristics of the plane mobile stereo garage under different RGV configurations are analyzed,and the time and energy consumption model of the plane mobile stereo garage is established,which provides a foundation for the study of the garage scheduling problem.Secondly,based on the access car model,the queuing model of the garage is established to simulate the operation of the garage,which provides the basis for the study of the garage scheduling problem.Then,the scheduling strategy of single server is designed to limit the number of RGVS in each tier,so as to avoid the conflict and interlock phenomenon of multiple RGVS.Finally,the queuing model is simulated,and the performance of the plane mobile stereo garage access vehicle is studied,so as to optimize the garage operation,improve the operation efficiency and save the cost.(3)Research on Scheduling Algorithm of plane mobile stereo garage.Firstly,the electronic map model is established for the plane mobile stereo garage,and the way of RGV and its possible conflicts are established.Then,an improved A* algorithm is proposed to plan the shortest running path of single RGV,which takes the dynamic change of lift position into account,fuses the position information into the heuristic function,and makes it more suitable for the actual stereo garage environment.Finally,on the basis of single RGV path planning,a multi-RGV scheduling algorithm based on time window is proposed.According to the time window of the pre-planning path,the rationality of the path is determined,so as to decide whether to take further policies for resscheduling and realize the non-conflict scheduling of multi-RGV.(4)Software design and experimental analysis of scheduling system.Firstly,based on the research of the operation mode of the plane mobile stereo garage and the multiRGV scheduling strategy,the scheduling system software is developed,which mainly includes communication control,task management,path planning and database module,etc.The system has been applied in a stereo garage in Sanhe,and the running results show that the system can realize the path planning of RGV and the reasonable scheduling of multiple devices.Then,a plane mobile stereo garage experiment bench is built,and the developed scheduling system is tested in the laboratory and the field respectively.Finally,based on the experiment bench and the developed scheduling system,the multi-RGV scheduling algorithm experiment is carried out,which verifies the effectiveness of the scheduling algorithm proposed in this thesis.There are 72 figures,18 tables,and 85 references in this thesis.