Trace navigation map design-based AGV navigation dispatching method

A technology of navigation map and scheduling method, applied in navigation, surveying and navigation, road network navigator, etc., can solve the problems of high implementation cost, high development and maintenance cost, inconsistent ground laying environment, etc. To debug the effect of work

Inactive Publication Date: 2019-11-01
BEIJING INST OF SPECIALIZED MACHINERY
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Problems solved by technology

In this way: some control information of the AGV is given by the physical landmark label, the ground laying environment is not uniform, and the implementation cost is high; the AGV reads the on-site environmental information according to the sensor, and the navigation program needs to

Method used

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Embodiment Construction

[0019] In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with examples.

[0020] The invention designs a traced navigation map format, and proposes an AGV navigation scheduling method based on the map. The map specifies the node and path type, provides AGV positioning information and can reflect the constraint information of the on-site environment on AGV navigation. The scheduling method includes a traced navigation map design step, an AGV scheduling step, and a navigation step. The AGB scheduling step is based on map information for path planning, and the navigation step is based on path and map information. Motion control, when the on-site path environment changes, It only needs to change the map information according to the change of the site environment, and does not need to change the AGV scheduling steps and navigati...

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Abstract

The invention relates to a trace navigation map design-based AGV navigation dispatching method, and relates to the technical field of AGV control. The invention designs a trace navigation map format and proposes a map-based AGV navigation dispatching method. A node and a path type are stipulated in a map, and AGV positioning information and information which can be used for reflecting constraint of a site environment on AGV navigation are provided. The dispatching step is used for path planning according to the map, and the navigation step is used for achieving motion control according to pathand map information. Under the condition that a site path environment is changed, the map is only needed to be changed according to site change, the AGV dispatching and navigation mode is not neededto be changed, the universality of AGV application is improved, and the debugging operation after site demand change is omitted.

Description

technical field [0001] The invention relates to the technical field of AGV control, in particular to an AGV navigation scheduling method based on trace navigation map design. Background technique [0002] Track automatic guidance is a specific way of AGV automatic navigation. At present, the commonly used forms include magnetic strips, ribbons, QR codes, etc. AGV navigation is to drive along the current track path until it encounters the control label (left Turn, turn right, etc.), in this form to cooperate with the pre-set program flow to complete the navigation task. In this way: some control information of the AGV is given by the physical landmark label, the ground laying environment is not uniform, and the implementation cost is high; the AGV reads the on-site environmental information according to the sensor, and the navigation program needs to be customized according to the environmental information. When the environmental information When the (AGV path changes) chang...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01C21/34
CPCG01C21/3415G01C21/3446G05D1/0221G05D1/0223G05D1/0276G05D2201/02
Inventor 汪名飞李波段三军李明宋策
Owner BEIJING INST OF SPECIALIZED MACHINERY
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