Parallel path planning method for automatic guided vehicles in warehouse sorting

An automatic guided vehicle and path planning technology, applied in the field of logistics, can solve the problems of small planning solution space for automatic guided vehicles, unfavorable automatic guided vehicle scheduling, lack of planning research, etc., to achieve short running distance and strengthen automatic guided vehicle workshop coordination , run flexible effects

Active Publication Date: 2021-06-25
XIDIAN UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

Although this patent involves traffic control and real-time operation, it lacks planning research on multiple AGVs in parallel, which will lead to a smaller planning solution space for AGVs and fewer feasible solutions, which is not conducive to the effective scheduling of AGVs in warehouses

Method used

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  • Parallel path planning method for automatic guided vehicles in warehouse sorting
  • Parallel path planning method for automatic guided vehicles in warehouse sorting
  • Parallel path planning method for automatic guided vehicles in warehouse sorting

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Embodiment Construction

[0025] In order to better understand the technical content of the present invention, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0026] refer to figure 1 , the implementation steps of the present invention are as follows:

[0027] Step 1. Make a topological map of the storage environment and create an adjacency matrix of the topological map.

[0028] This step focuses on collecting the relative position of the feasible path of the automatic guided vehicle in the storage environment and the shelf. According to the collected information, set the nodes that the unmanned vehicle can reach, and create an adjacency matrix based on the topology map according to the node information. The realization is as follows:

[0029] 1.1) Collect environmental map information, use the turning point of each intersection in the environmental map and the point where the unmanned vehicle needs to stop as a topological n...

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Abstract

The invention discloses a parallel path planning method for automatic guided vehicles in storage sorting, which mainly solves the problem of low storage sorting efficiency in the prior art. The implementation plan is: 1) According to the environment, make a topological map and adjacency matrix based on the environment; 2) Formulate the operation rules of automatic guided vehicles according to the adjacency matrix collected by the topological map; Run the obstacle avoidance strategy that may cause congestion and deadlock; 4) The multi-automatic guided vehicle system operates according to the order in 2) and the strategy in 3), and records its overall operation; The changing multi-automatic guided vehicle system performs path planning, and combines the real-time driving track conditions for departure. The invention can effectively avoid obstacles encountered in path running, and greatly improves the system efficiency, automation level and reliability of storage and sorting.

Description

technical field [0001] The invention belongs to the technical field of logistics, and in particular relates to a parallel path planning method for automatic guided vehicles, which can be used for storage and sorting in logistics processes. Background technique [0002] Logistics is a dynamic process of transporting target items from the supply point to the receiving point. The logistics warehouse is the starting point of the entire process and the key point to improve logistics efficiency. However, the automation coverage rate of my country's logistics warehousing is still at a low level, and the express sorting ability is relatively backward. The entire sorting process cannot be completely completed manually. The identification, sorting and transportation of express parcels need human assistance to complete. According to statistics, the manpower required for the sorting link in the logistics process accounts for more than 50%, the time-consuming accounted for more than 40%,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B65G1/04
CPCB65G1/0492
Inventor 王勇胥克翔刘雪月靳伟昭杨琦朱文涛
Owner XIDIAN UNIV
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