Path planning method and system of logistics system

A path planning and logistics system technology, applied in road network navigator, comprehensive factory control, navigation, etc., can solve problems such as poor flexibility, complex calculation, and low reliability of path planning models, and achieve guaranteed reliability and strong analysis and verifiable effects

Active Publication Date: 2020-01-10
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a route planning method and system for a logistics system, which is used to solve the problem of low reliability, complex calculation and poor flexibility of the route planning model existing in the prior art. It has better compatibility and scalability, and can better coordinate and deal with deadlock problems that occur during operation

Method used

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  • Path planning method and system of logistics system
  • Path planning method and system of logistics system
  • Path planning method and system of logistics system

Examples

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Effect test

Embodiment 1

[0066] See figure 1 , a route planning method for a logistics system provided by the present invention, in this embodiment, the method includes the following steps:

[0067] S1: Determine the system default model for path planning according to the system characteristics of the logistics system; in order to use a formal method to construct the system default model, please refer to figure 2 , the construction method includes:

[0068] S11: Carry out grid division on the work area of ​​the logistics system, and use a single grid to mark the spatial position in the work area;

[0069] In the specific implementation, the working area of ​​the logistics system is divided in the form of a regular grid, and each grid identifies a spatial state, and the working area is represented by a grid as:

[0070] W={r 1 , r 2 , r 3 ,...,r n}

[0071] S12: Build system parameters; the system parameters include the spatial position information, motion state information, execution strategy ...

Embodiment 2

[0109] A schematic flow chart of a route planning method for a logistics system in another embodiment provided by the present invention is roughly the same as the steps of the method in Embodiment 1, except that:

[0110] Before executing the step S3, that is, before the robot executes the transfer program, obtain the priority information of the robot; the priority information includes its own priority information and the total priority information of all robots in the system .

[0111] In a specific implementation, the manner of obtaining the priority information includes obtaining the priority information through communication between the robot and the server.

[0112] Further, the overall priority information is information reflecting the priority order of all robots in the logistics system, and the self-priority information is information reflecting the priority order of a single robot among all robots; The priority information of the system is a group of incremental seri...

Embodiment 3

[0131] The present invention provides a route planning method for a logistics system. In this embodiment, the method includes the following steps:

[0132] S1: According to the system characteristics of the logistics system, a formal method is used to construct a system preset model for determining the path planning;

[0133] S2: The robot is initialized, including initializing the priority information and status information of each robot;

[0134] Further, the initialization of the robot also includes setting the current spatial position of the robot after initialization as the initial position.

[0135] S3: The robot acquires task instruction information, and executes a transfer program according to the task instruction information until the task instruction is completed.

[0136] In the step S1, the formal method is used to construct the system preset model, the construction method is the same as that of the system preset model in the above-mentioned embodiment 1, and will...

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Abstract

The invention provides a path planning method and system of a logistics system, which are suitable for the logistics system composed of a plurality of robots. The method comprises the following stepsof building a preset system model according to system characteristics; initializing a robot; and executing a transfer program after the robot acquires a task instruction until the task instruction iscompleted. According to the path planning method and system for the logistics system, the reliability and credibility of the built logistics system model can be better ensured; a distributed path cooperation method is adopted, so that the calculation complexity is greatly reduced and the path planning method has the higher flexibility and compatibility; and the common collision and deadlock problems in the logistics system can be better solved, so that the path planning method and system have the relatively high practicability.

Description

technical field [0001] The invention relates to the field of path planning, in particular to a path planning method and system for a logistics system. Background technique [0002] With the development of social productivity and science and technology, as well as the continuous increase of labor costs, the traditional logistics methods of manpower and warehousing systems can no longer meet the needs of modern logistics, and automated and intelligent logistics methods have become the trend of social development. Among them, the AGV (Automated Guided Vehicle) system combines the comprehensive application of computer, automatic control and other science and technology, which is of great significance for improving automated production, reducing production costs, and promoting social development. [0003] At present, in the field of AGV system control, designers generally adopt centralized control and path planning methods. Although autonomous obstacle avoidance, task reachabilit...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446Y02P90/60
Inventor 殷翔杨沅江赵佳伟李少远
Owner SHANGHAI JIAO TONG UNIV
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