【摘要】：立體車庫是用來實現智能停放和科學存取各種車輛的倉儲設備。在汽車擁有量迅速增長、停車位越發供不應求的背景下,立體車庫可以充分發揮空間利用率高、占地面積小、使用方便等優勢,盡可能多的存取車輛,成為緩解“停車難”困擾的重要途徑。本課題的研究對象是自主設計的田字立體車庫,將立體車庫總體框架的制造、運輸、安裝拆卸等成本以及機器人的運行智能化、運行效率等因素綜合考慮,來設計分析立體車庫的鋼結構框架、控制系統和存取策略。首先,充分研究國內外立體車庫搬運機器人的使用現狀和未來發展趨勢,設計出兩層4×3結構的立體車庫做為研究模型。文中簡單介紹了立體車庫的總體框架結構、載車板結構、舉升機構結構的特點,對立體車庫的控制系統總體框架以及周邊相關的一些安全裝置進行了簡要的闡述,根據運行原理,應用有限元方法對立體車庫鋼結構框架和舉升機構框架進行分析,為保證立體車庫結構的安全穩定性,對其應用強度理論進行校核;在有限元分析結果的基礎上,來優化立體車庫鋼結構框架,使整體框架減少了17.411%的重量,立體車庫鋼結構框架的制造和運輸成本也因此得以降低。然后,設計出立體車庫控制系統中的硬件和軟件結構。硬件結構設計中對下位機控制芯片及無線通信方式進行比較和選擇,上位機通過Wi-Fi向以STM32作為控制芯片的下位機發送存取動作指令,下位機收集各傳感器信號后整合打包通過Wi-Fi反饋給上位機;其中上位機的控制界面應用LabVIEW軟件進行設計;并且設計簡單實驗驗證用LabVIEW編寫的上位機程序可以通過Wi-Fi模塊同下位機進行通信。最后,對立體車庫的存取排隊模型和存取策略進行了分析,將排隊論中M/M/n排隊理論應用于本課題的立體車庫存取策略控制,并進行存取策略優化分析;根據存取車高峰期的不同,采用了以交叉存取、原地待命、存(取)車優先為主,分區存取、自調整的方式為輔的存取策略,并在輔助策略中運用廣度優先搜索算法高效的進行車位調度,有效的提高立體車庫的存取速度;將排隊論、廣度優先搜索算法融合到立體車庫的存取控制過程中,較好的嘗試了學科交叉這一研究方法。通過設計立體車庫模型,對其框架進行有限元分析,并設計控制系統和存取策略,證明本次設計的田字立體車庫方案的可行性,為以后的進一步研究打下了基礎。
[Abstract]:Stereoscopic garage is a storage equipment used to realize intelligent parking and scientific access to all kinds of vehicles. Under the background of the rapid growth of car ownership and the increasing demand of parking spaces, the three-dimensional garage can give full play to the advantages of high space utilization rate, small occupation area, convenient use and so on. It has become an important way to alleviate the problem of "parking difficulty" by accessing as many vehicles as possible. The research object of this subject is the self-designed three-dimensional garage. The steel structure frame, control system and access strategy of the three-dimensional garage are designed and analyzed by considering the overall cost of manufacturing, transportation, installation and disassembly of the three-dimensional garage, as well as the intelligent operation and operation efficiency of the robot. Firstly, the present situation and future development trend of stereoscopic garage handling robot at home and abroad are fully studied, and a two-story 4 脳 3 structure stereoscopic garage is designed as the research model. In this paper, the overall frame structure, vehicle board structure and lifting mechanism structure of the three-dimensional garage are briefly introduced, and the overall framework of the control system of the three-dimensional garage and some surrounding safety devices are briefly described. according to the operation principle, the steel structure frame and lifting mechanism frame of the three-dimensional garage are analyzed by finite element method in order to ensure the safety and stability of the three-dimensional garage structure. The application of strength theory is checked. On the basis of finite element analysis, the steel frame of stereoscopic garage is optimized, and the weight of the whole frame is reduced by 17.411%, and the manufacturing and transportation cost of steel frame of stereoscopic garage is also reduced. Then, the hardware and software structure of the three-dimensional garage control system is designed. In the hardware structure design, the control chip of the lower computer and the wireless communication mode are compared and selected. The upper computer sends the access action instruction to the lower computer with STM32 as the control chip through the Wi-Fi, and the lower computer collects the signals of each sensor and is integrated and packaged to the upper computer through Wi-Fi feedback, in which the control interface of the upper computer is designed by LabVIEW software. A simple experiment is designed to verify that the upper computer program written with LabVIEW can communicate with the lower computer through Wi-Fi module. Finally, the access queuing model and access strategy of stereoscopic garage are analyzed, and the M/n queuing theory in queuing theory is applied to the access policy control of stereoscopic garage, and the access policy optimization analysis is carried out. According to the difference of the rush hour of the access vehicle, the access strategy is supplemented by cross access, standby in situ, priority storage and self-adjustment, and the breadth first search algorithm is used to schedule the parking space efficiently in the auxiliary strategy, so as to effectively improve the access speed of the three-dimensional garage. The queuing theory and breadth first search algorithm are integrated into the access control process of stereoscopic garage, and the interdisciplinary research method is well tried. Through the design of the three-dimensional garage model, the finite element analysis of its framework, and the design of the control system and access strategy, the feasibility of the design of the field character three-dimensional garage scheme is proved, which lays a foundation for further research in the future.
【學位授予單位】：哈爾濱理工大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：U491.71

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