Task planning method for indoor visual-guidance AGV

Abstract

The invention discloses a task planning method for an indoor visual-guidance AGV. The method comprises: firstly, according to a practical factory environment, a tag and environment database is established; secondly, a coordinate of each fixed AVG task point is stored in the database obtained at the first step; thirdly, an AGV task point is selected at a mobile terminal and factory modeling is carried out by using the selected AGV task point as a unit; fourthly, an optimal execution sequence is calculated by using a Floyd algorithm; fifthly, the mobile terminal sends the optimal execution sequence to a master station server and the master station server calculates a final path of vehicle operation according to the execution sequence; and sixthly, the master station server sends the final pat to an AGV and the AGV realizes task planning of the AGV based on the path. Therefore, the AGV can change the operation tasks in real time during the operation process and a task planning way of using the task point as a unit is employed, so that the influence on the whole system operation by the local environment change can be reduced.

Description

technical field [0001] The invention belongs to the field of path planning, and in particular relates to a task planning method for an indoor vision-guided AGV. Background technique [0002] Traditional warehouse transportation mainly relies on manual loading and unloading of goods and transportation, the transportation speed is slow, it cannot work continuously for a long time, and artificial improper operation may even cause safety accidents; Production costs are rising steadily. AGV (Automated Guided Vehicle) is a mobile transportation tool that manually or automatically loads goods or workpieces on the vehicle, automatically walks to a designated location, and then unloads the goods or workpieces. AGV has a high degree of intelligence, will not be fatigued, will not be afraid of danger, will not be sluggish and distracted, and is precise and precise. It can not only greatly save the labor cost of the enterprise; it can also enable employees to get out of dangerous posit...

AI Technical Summary

Problems solved by technology

[0005] Purpose of the invention: Aiming at the single task planning mode of the traditional AGV in the prior art, it is difficult to maintain and change the path, and the cost is high, lack of flexibility, and cannot adapt to the requirements of the factory to change the operation task in real time according to the demand. The present invention Provide an indoor vision-guided AGV task planning method that improves the flexibility of AGV operation, realizes that the trolley can change operating tasks in real time according to production, and improves the flexibility and intelligence of the AGV transportation system

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