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["楚天车库的车位模型"]
[]
[null,null,"A库的主视图，横轴为x轴，纵轴为z轴",{"$nulls":10},"B库的主视图，横轴为x轴，纵轴为z轴",{"$nulls":10},"C库的主视图，横轴为x轴，纵轴为z轴"]
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[16800,"8层","A37","A40",null,"A38","A41",null,"A39","A42",null,16800,"8层","B37","B40",null,"B38","B41",null,"B39","B42",null,16800,"8层","C37","C40",null,"C38","C41",null,"C39","C42"]
[14600,"7层","A31","A34",null,"A32","A35",null,"A33","A36",null,14600,"7层","B31","B34",null,"B32","B35",null,"B33","B36",null,14600,"7层","C31","C34",null,"C32","C35",null,"C33","C36"]
[12400,"6层","A25","A28",null,"A26","A29",null,"A27","A30",null,12400,"6层","B25","B28",null,"B26","B29",null,"B27","B30",null,12400,"6层","C25","C28",null,"C26","C29",null,"C27","C30"]
[10200,"5层","A19","A22",null,"A20","A23",null,"A21","A24",null,10200,"5层","B19","B22",null,"B20","B23",null,"B21","B24",null,10200,"5层","C19","C22",null,"C20","C23",null,"C21","C24"]
[8000,"4层","A13","A16",null,"A14","A17",null,"A15","A18",null,8000,"4层","B13","B16",null,"B14","B17",null,"B15","B18",null,8000,"4层","C13","C16",null,"C14","C17",null,"C15","C18"]
[5800,"3层","A7","A10",null,"A8","A11",null,"A9","A12",null,5800,"3层","B7","B10",null,"B8","B11",null,"B9","B12",null,5800,"3层","C7","C10",null,"C8","C11",null,"C9","C12"]
[3300,"2层","A1","A4",null,"A2","A5",null,"A3","A6",null,3300,"2层","B1","B4",null,"B2","B5",null,"B3","B6",null,3300,"2层","C1","C4",null,"C2","C5",null,"C3","C6"]
[]
[0,"1层","北：3号出口",null,null,null,"北：4号出口",{"$nulls":4},0,"1层","北：3号出口",null,null,null,"北：4号出口",{"$nulls":4},0,"1层","北：3号出口",null,null,null,"北：4号出口"]
[null,null,"南：1号入口",null,null,null,"南：2号入口",{"$nulls":6},"南：1号入口",null,null,null,"南：2号入口",{"$nulls":6},"南：1号入口",null,null,null,"南：2号入口"]
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[]
[]
[null,null,"A库的2楼的俯视图，横轴为x轴，纵轴为y轴",{"$nulls":10},"A库的2楼的俯视图，横轴为x轴，纵轴为y轴",{"$nulls":10},"A库的2楼的俯视图，横轴为x轴，纵轴为y轴"]
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[null,"2层北面","A4",null,null,"A5",null,null,"A6",null,null,null,"2层北面","B4",null,null,"B5",null,null,"B6",null,null,null,"2层北面","C4",null,null,"C5",null,null,"C6",null,"16480，汽车前轮y值"]
[null,"2楼中间","搬运器的过道",{"$nulls":9},"2楼中间","搬运器的过道",{"$nulls":9},"2楼中间","搬运器的过道",{"$nulls":7},"9050，汽车4轮中心y值"]
[null,"2层南面","A1",null,null,"A2",null,null,"A3",null,null,null,"2层南面","B1",null,null,"B2",null,null,"B3",null,null,null,"2层南面","C1",null,null,"C2",null,null,"C3",null,"4280，汽车前轮y值"]
[]
[{"$nulls":11},"注：\n1.楚天有3个单元，每个单元独立运行，调度管理，plc调度，数据库，都要有3个独立的程序。\n2.整个楚天车库的坐标原点在1楼西南边，就是左下角。\n3.A库的原点（0，0，0），B库的原点（7600,0,0），C库的原点（15200,0,0）\n4.B库整体坐标往右偏了50，可以后期修改原点位置。\n5.楚天的1楼出入口的X值可能不准确，以实际施工为准，\n6.搬运器在1楼抓车和放车时，搬运器的中心和汽车的4轮中心对齐，\n7.搬运器到楼上存车和取车时，搬运器的前爪和车位的前轮拖板对齐。"]
[null,null,"小车，限高1550"]
[null,null,"中车，限高1750"]
[null,null,"大车，限高2050"]

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[null,null,"普爱车库的车位模型"]
[{"$nulls":11},9400,null,11600,null,14100,null,16300,null,18500,null,21000,null,23200,null,25400,null,27900,null,30100,null,32300,null,32600,"7X运动坐标"]
[null,"3X运动坐标",{"$nulls":7},7200,null,9400,null,11600,null,14100,null,16300,null,18500,null,21000,null,23200,null,25400,{"$nulls":8},"3X运动坐标"]
[null,"0X运动坐标",0,300,null,2500,null,4700,null,7200,null,9400,null,11600,null,14100,null,16300,null,18500,null,21000,null,23200]
[]
[null,"0Z运动坐标","楼层","车位",{"$nulls":29},"楼层","7Z运动坐标"]
[null,28525,"12层",151,null,152,null,153,null,154,null,155,null,156,null,157,null,158,null,159,null,160,null,161,null,162,null,163,null,164,null,165,null,"12层",28525]
[null,25925,"11层",136,null,137,null,138,null,139,null,140,null,141,null,142,null,143,null,144,null,145,null,146,null,147,null,148,null,149,null,150,null,"11层",25925]
[null,23325,"10层",121,null,122,null,123,null,124,null,125,null,126,null,127,null,128,null,129,null,130,null,131,null,132,null,133,null,134,null,135,null,"10层",23325,"车位分配，分配3个车位并临时锁定\n（左侧车位，右侧车位，缓存车位）\n并带上估算时间。\n然后由调度去选择最优路线。\n\n之后根据实际操作的反馈结果，\n将实际停车位占有，其他车位释放。\n"]
[null,20725,"9层",106,null,107,null,108,null,109,null,110,null,111,null,112,null,113,null,114,null,115,null,116,null,117,null,118,null,119,null,120,null,"9层",20725]
[null,18125,"8层",91,null,92,null,93,null,94,null,95,null,96,null,97,null,98,null,99,null,100,null,101,null,102,null,103,null,104,null,105,null,"8层",18125]
[null,15525,"7层",76,null,77,null,78,null,79,null,80,null,81,null,82,null,83,null,84,null,85,null,86,null,87,null,88,null,89,null,90,null,"7层",15525]
[null,12925,"6层",61,null,62,null,63,null,64,null,65,null,66,null,67,null,68,null,69,null,70,null,71,null,72,null,73,null,74,null,75,null,"6层",12925]
[null,10325,"5层",46,null,47,null,48,null,49,null,50,null,51,null,52,null,53,null,54,null,55,null,56,null,57,null,58,null,59,null,60,null,"5层",10325]
["2Z运动坐标"]
[5410,7725,"4层",31,null,32,null,33,null,34,null,35,null,36,null,37,null,38,null,39,null,40,null,41,null,42,null,43,null,44,null,45,null,"4层",7725]
[5220,5125,"3层",16,null,17,null,18,null,19,null,20,null,21,null,22,null,23,null,24,null,25,null,26,null,27,null,28,null,29,null,30,null,"3层",5125]
[2620,2525,"2层",1,null,2,null,3,null,4,null,5,null,6,null,7,null,8,null,9,null,10,null,11,null,12,null,13,null,14,null,15,null,"2层",2525]
[]
[0,0,"1层",null,"0#出口",null,null,"保安室",null,"1#出入口",null,null,"2#出入口",null,null,"3#出入口",null,null,"4#出入口",null,null,"5#出入口",null,null,"6#出入口",null,null,"控制室",null,"7#出口",null,null,null,"1层",0]
[]
[]
[{"$nulls":9},7755,null,null,11055,null,null,14655,null,null,17955,null,null,21555,null,null,24855,{"$nulls":4},31600,null,null,null,0,"7X运动坐标"]
[null,"3X运动坐标",{"$nulls":7},7755,null,null,11055,null,null,14655,null,null,17955,null,null,21555,null,null,24855,{"$nulls":9},"3X运动坐标"]
[null,"0X运动坐标",null,null,1000,{"$nulls":4},7755,null,null,11055,null,null,14655,null,null,17955,null,null,21555,null,null,24855]
[null,"2X运动坐标",{"$nulls":7},7755,null,null,11055,null,null,14655,null,null,17955,null,null,21555,null,null,24855,{"$nulls":9},"2X运动坐标"]
[]
[null,null,"小车的车位分配优先级\n先按区间分配\n再按楼层分配",{"$nulls":8},"中车的车位分配优先级\n先按区间分配\n再按楼层分配",{"$nulls":12},"中车的车位分配优先级\n先按区间分配\n再按楼层分配"]
[]
[]
[null,null,null,"最高优先级，小车专用",{"$nulls":9},"最高优先级，中车专用",{"$nulls":12},"最高优先级，大车专用"]
[null,null,null,"次高优先级，小车专用",{"$nulls":9},"最高优先级，中车专用"]
[]
[{"$nulls":13},"临时缓存位，中车专用",{"$nulls":12},"临时缓存位，大车专用"]
[]
[null,null,"普通工作，按照正常的优先级进行分配，任务繁忙时，可以使用临时缓存位置。\n小车的车位爆满，则去分配中车的车位，最后分配大车的车位"]
[]
[]
["模型各轴极限位置"]
["最小","最大"]
[7000,25500,"2X"]
[2500,3600,"2Y"]
[0,5420,"2Z"]
[80,280,"2B"]
[0,650,"2D1",null,null,"2D1-2D2零位间距1903mm"]
[0,650,"2D2"]
[]
[0,29000,"0Z"]
[0,29000,"7Z"]
[0,25000,"0X"]
[7000,25000,"3X"]
[7000,32600,"7X"]
[3000,9100,"0Y"]
[3000,9100,"3Y"]
[0,6100,"7Y"]