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Logistics center carrying robot path planning method based on traffic jamming control

A technology for handling robots and logistics centers, applied in non-electric variable control, control/regulation systems, two-dimensional position/channel control, etc. problems, to achieve the effect of shortening the system running time and reducing the burden

Inactive Publication Date: 2018-11-27
HEBEI UNIV OF TECH
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AI Technical Summary

Problems solved by technology

[0003] In view of the fact that the current robot path planning algorithm based on time windows has too high computational complexity in practical applications and cannot cope with sudden environmental changes, the present invention proposes a robot path planning algorithm based on traffic congestion control. By reducing traffic congestion to improve the operational efficiency of the multi-robot management system in the logistics center
At the same time, since the driving road of the robot in the logistics center is often one-way, the robot can only change the path direction at the intersection, so the congestion degree of the intersection grid is used to represent the congestion degree of a certain road section to solve the problem of each road in the computing environment. The problem of excessive calculation caused by grid congestion

Method used

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  • Logistics center carrying robot path planning method based on traffic jamming control
  • Logistics center carrying robot path planning method based on traffic jamming control
  • Logistics center carrying robot path planning method based on traffic jamming control

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Embodiment 1

[0040] A method for path planning of a logistics center handling robot based on traffic congestion control, comprising the following steps:

[0041] Step 1: Create a grid map of the robot's working environment, such as figure 1 ; The map is modeled by the grid method: the logistics center is divided into a square network, and the two-dimensional code is placed on the nodes of the regular square grid, and the side length of each square is equal to 2 meters. A node represents a grid, the number of grids: 30~35×20~25;

[0042] Among them, the working environment of the handling robot in the logistics center includes: multiple mobile robots move in the logistics center at the same time. In order to avoid collisions and improve the safety and robustness of the system operation, the passage between the shelves is a single-row lane, and the black grid indicates the shelf. ;The logistics center includes robot docking points, robot charging points, receiving areas, temporary storage a...

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Abstract

The invention provides a logistics center carrying robot path planning method based on traffic jamming control. The method provides a robot path plan algorithm based on traffic jamming control. The operation efficiency of a multi-robot management system of a logistics center is improved by solving the traffic jamming problem. During the path planning, the environment jamming degree is added to consideration, so that the robots possibly avoid regions with high jamming degrees during the operation; the system operation time is shortened by reducing the system jamming degree. Meanwhile, the robotrunning road in the logistics center is unidirectional, the robot can change the path direction in the crossing position, so that the jamming degree of the grid in the crossing represents the jammingdegree of a certain road section, so that the problem of excessive calculation quantity due to the jamming degree of each grid in the calculation environment can be solved.

Description

technical field [0001] The invention belongs to the technical field of industrial control, and in particular relates to a path planning method for a logistics center handling robot based on traffic congestion control. Background technique [0002] With the improvement of production and logistics automation, handling robot systems are more and more used in logistics centers, manufacturing raw material warehouses, tobacco, automobiles and other industries. In a multi-robot environment, the work area usually contains multiple robots operating simultaneously, and traffic congestion can greatly reduce the efficiency of robots in handling goods. Most of the currently applied multi-robot path planning methods in logistics centers are multi-robot path planning methods based on time windows. When performing path planning, it is necessary to plan all robots uniformly, and calculate the trajectory of each robot and the time to reach a certain position. However, in the actual operation...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0291G05D1/0217G05D1/0234
Inventor 董朝瑞郭欣
Owner HEBEI UNIV OF TECH
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