AGV path planning method and device based on topology map

A topological map and path planning technology, applied in road network navigators, road vehicle traffic control systems, vehicle position/route/height control, etc., can solve problems such as path planning failure, node obstacles, and path inapplicability, etc. To achieve the effect of improving efficiency

Active Publication Date: 2019-05-07
ゼジャンハーレイテクノロジーカンパニーリミテッド
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] When using the topological map for path planning, the node parameters are variable. According to the actual situation, after some node parameters change, the AGV may encounter obstacles at the nodes after the parameter changes during the driving process using the planned topological map, resulting in path planning. fail
For example, in the actual situation, not every node in the topological map can be steered. When planning the path of the topological map, the traversability of each node in the map is not processed according to the steerability of the map nodes in the actual situation. The planned path is not applicable in the actual situation

Method used

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  • AGV path planning method and device based on topology map

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Embodiment 1

[0022] The invention provides an AGV path planning method based on topological map, such as figure 1 Shown, including:

[0023] Step 101: Obtain a topology map corresponding to the dispatch system.

[0024] Step 102: Perform preprocessing on the topology map according to the motion states and node positions occupied by all AGVs in the topology map in the scheduling system, and correct the node information in the topology map to obtain a corrected topology map.

[0025] Step 103: Determine the start point and end point of the current AGV in the above-mentioned modified topology map, calculate the total cost value of the nodes on the different paths from the start point to the end point according to the node information in the above-mentioned modified topological map, and perform the calculation of the current AGV according to the calculated total cost value of the node route plan.

[0026] In implementation, the above-mentioned topology map may be a global environment topology map or a...

Embodiment 2

[0103] Based on the same inventive concept, an AGV path planning device based on a topology map is provided in the embodiment of the present invention. For the specific implementation of the device, refer to the description of the method embodiment part, and the repetition will not be repeated.

[0104] The device mainly includes a processor and a memory, wherein the memory stores program code, and when the program code is executed by the processor, the processor is caused to perform the following steps:

[0105] Obtain the topology map corresponding to the dispatch system;

[0106] Preprocessing the topology map according to the motion states and node positions occupied by all AGVs in the topology map in the scheduling system, and correcting the node information in the topology map to obtain a corrected topology map;

[0107] Determine the start point and end point of the current AGV in the revised topology map, calculate the total cost value of nodes on different paths from the start...

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Abstract

The invention discloses an AGV path planning method and device based on a topology map, which can modify the passability among respective nodes in the topology map according to actual conditions, andreasonably and effectively plan the path. The method comprises the following steps: acquiring the topology map corresponding to the scheduling system; preprocessing the topology map according to the motion state of the all the AGVs in the topology map and the location of the occupied nodes in the scheduling system, and modifying the node information in the topology map to obtain a modified topology map; determining a starting point and an ending point of the current AGV in the modified topology map, calculating a total generation value of the nodes on different paths from the starting point tothe ending point according to the node information in the modified topology map, and performing path planning on the current AGV according to the calculated total generation value of the nodes.

Description

Technical field [0001] The invention relates to AGV path planning, in particular to an AGV path planning method and equipment based on a topology map. Background technique [0002] AGV (Automated Guided Vehicle) is an automatic guided transport vehicle, which refers to a transport vehicle equipped with electromagnetic or optical automatic guidance devices that can travel along a planned guided path, with safety protection and various transfer functions. With the rapid development of logistics systems, the scope of application of AGV is also expanding. AGV systems can be widely used in industry, military, transportation, electronics and other fields, with good environmental adaptability, strong anti-interference ability and target recognition ability. [0003] Topological map is an abstract map that keeps the relative positional relationship between points and lines correct, but not necessarily the shape, area, distance, and direction of the map; path planning refers to the AGV in ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3453G01C21/3446G01C21/3492G01C21/3807G08G1/096816G08G1/09685G08G1/096866G08G1/096883G01C21/3804G05D1/021G06Q50/30G01C21/3889G01C21/3874G01C21/3461G01C21/3614
Inventor 袁源强卢维金亦东殷俊穆方波
Owner ゼジャンハーレイテクノロジーカンパニーリミテッド
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