田字立体车库结构设计与控制
发布时间：2019-06-24 23:52
【摘要】：立体车库是用来实现智能停放和科学存取各种车辆的仓储设备。在汽车拥有量迅速增长、停车位越发供不应求的背景下,立体车库可以充分发挥空间利用率高、占地面积小、使用方便等优势,尽可能多的存取车辆,成为缓解“停车难”困扰的重要途径。本课题的研究对象是自主设计的田字立体车库,将立体车库总体框架的制造、运输、安装拆卸等成本以及机器人的运行智能化、运行效率等因素综合考虑,来设计分析立体车库的钢结构框架、控制系统和存取策略。首先,充分研究国内外立体车库搬运机器人的使用现状和未来发展趋势,设计出两层4×3结构的立体车库做为研究模型。文中简单介绍了立体车库的总体框架结构、载车板结构、举升机构结构的特点,对立体车库的控制系统总体框架以及周边相关的一些安全装置进行了简要的阐述,根据运行原理,应用有限元方法对立体车库钢结构框架和举升机构框架进行分析,为保证立体车库结构的安全稳定性,对其应用强度理论进行校核;在有限元分析结果的基础上,来优化立体车库钢结构框架,使整体框架减少了17.411%的重量,立体车库钢结构框架的制造和运输成本也因此得以降低。然后,设计出立体车库控制系统中的硬件和软件结构。硬件结构设计中对下位机控制芯片及无线通信方式进行比较和选择,上位机通过Wi-Fi向以STM32作为控制芯片的下位机发送存取动作指令,下位机收集各传感器信号后整合打包通过Wi-Fi反馈给上位机;其中上位机的控制界面应用LabVIEW软件进行设计;并且设计简单实验验证用LabVIEW编写的上位机程序可以通过Wi-Fi模块同下位机进行通信。最后,对立体车库的存取排队模型和存取策略进行了分析,将排队论中M/M/n排队理论应用于本课题的立体车库存取策略控制,并进行存取策略优化分析;根据存取车高峰期的不同,采用了以交叉存取、原地待命、存(取)车优先为主,分区存取、自调整的方式为辅的存取策略,并在辅助策略中运用广度优先搜索算法高效的进行车位调度,有效的提高立体车库的存取速度;将排队论、广度优先搜索算法融合到立体车库的存取控制过程中,较好的尝试了学科交叉这一研究方法。通过设计立体车库模型,对其框架进行有限元分析,并设计控制系统和存取策略,证明本次设计的田字立体车库方案的可行性,为以后的进一步研究打下了基础。
[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.
【学位授予单位】：哈尔滨理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U491.71
本文编号：2505467
[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.
【学位授予单位】：哈尔滨理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U491.71
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