Method for planning route in warehousing system

Abstract

The invention discloses a method for planning a route in a warehousing system and mainly solves the problem that the route planning efficiency of a robot in a warehousing system is low at present. According to the scheme, the method comprises steps as follows: 1) establishing a 3D space-time map; 2) acquiring information of a starting point and a destination of the robot, and setting the startingpoint as a current node; 3) selecting an extensible node in the 3D map according to the current node, and judging whether the extensible node meets the requirement, and abandoning the extensible nodeif the extensible node does not meet the requirement; 4) calculating heuristic function values of remaining nodes, setting a father node of the remaining nodes as a current node, and putting all the nodes into an open list; 5) selecting the node with the smallest heuristic function value from the open list, setting the node as a current node, and putting the node into a closed list; 6) repeating the step 3) and the step 5) until the cycle termination condition is met; 7) generating a complete route by looking up the father node from the node which is put into the closed list at last. Collaborate work of robots is enhanced, turning consumption is reduced, the system efficiency is improved, and the method can be used for the warehousing system.

Description

technical field [0001] The invention relates to the technical field of warehousing, in particular to a path planning method, which can be used in a warehousing system. Background technique [0002] In recent years, with the vigorous development of e-commerce, higher requirements have been put forward for the scale, efficiency and automation level of warehousing. The multi-AGV automatic storage system represented by the Amazon Kiva storage system has realized the transformation of the storage mode from "people to goods" to "goods to people", improving the overall efficiency of the system. However, as the scale of the e-commerce storage system increases day by day, the warehouse area expands, the number of robots increases, and the road network situation becomes more complicated. In a dynamic environment, due to mutual influence and obstacles between robots, path planning becomes a very important part of the storage system. At the same time, higher requirements are put forwar...

AI Technical Summary

Problems solved by technology

For dynamic obstacles, that is, other robots, they can only use strategies such as waiting and specifying the path direction to avoid them, which is less efficient

Moreover, in the path planning process, usually only the path itself is considered, and the turning cost of the robot in the actual operation process is not considered. The robot will take longer when turning than walking in a straight line. If there are more turns in the same path length, it will be completed. This path takes longer

This situation makes path planning fail to achieve the goal of the shortest travel time, which will affect the efficiency of large-scale storage systems

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