Trace navigation map design-based AGV navigation dispatching method

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...

AI Technical Summary

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 be customized according to the environmental information. When the environmental information When the (AGV path changes) changes, the AGV site path needs to be re-laid, and the corresponding software needs to be changed accordingly, and the development and maintenance costs are high