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Platform docking route planning method and system in AGV route planning

A technology of route planning and path planning, which is applied in control/adjustment system, vehicle position/route/height control, non-electric variable control, etc., can solve problems such as weak sense of space and poor adaptability of AGV, and improve accuracy Speed ​​and efficiency, and improve the effect of obtaining loading and unloading efficiency

Active Publication Date: 2021-01-29
SHANDONG LOGISTIC TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The inventors of the present disclosure found that: currently, the AGV path planning platform docking route for the warehouse environment is based on the docking route obtained from the starting and ending points marked at the center of the platform, so that when different types of AGVs are operating on the platform, the AGV needs to use complex logic. Complete the interaction with the platform to ensure the safety of related equipment and goods, so the adaptability of AGV types is not strong; the center of the platform is the reference point, although the storage location of the goods on the platform is clearly defined, it is used as the spatial information of the AGV interactive equipment model For example, the sense of space is not strong

Method used

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  • Platform docking route planning method and system in AGV route planning
  • Platform docking route planning method and system in AGV route planning

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Experimental program
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Embodiment 1

[0033] Embodiment 1 of the present disclosure provides an AGV path planning platform docking route method, including the following steps:

[0034] Build a two-dimensional model of platform cargo storage;

[0035] Determine the platform operation direction: the interactive direction of AGV access to goods;

[0036] Determine the boundary position point of the cargo on the platform in the working direction as the starting and ending point of the docking route of the platform;

[0037] Starting from the starting and ending points, set a specified safety distance away from the platform along the interaction direction of the platform, as the other end point of the docking route;

[0038] In this way, different AGVs use the boundary position point as the boundary control point of the goods when picking and placing goods with the AGV according to their own characteristic information, so as to achieve the common operation of the same platform of various AGVs.

[0039] In detail, com...

Embodiment 2

[0048] Embodiment 2 of the present disclosure provides a platform docking route planning system in AGV path planning, including:

[0049] The data acquisition module is configured to: acquire the three-dimensional data and field data of the platform;

[0050] The two-dimensional model building module is configured to: construct a two-dimensional model of platform cargo storage according to the acquired platform three-dimensional data and platform cargo storage site data;

[0051] The starting and ending point acquisition module is configured to: determine the interactive direction of the AGV's access to the goods according to the obtained two-dimensional model, and then determine the boundary position of the platform goods in the operating direction, as the starting and ending point position of the docking route of the platform;

[0052] The route acquisition module is configured to: start from the starting and ending point position, set a safe distance away from the platform ...

Embodiment 3

[0055] Embodiment 3 of the present disclosure provides a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, the steps in the method for planning a station docking route in AGV path planning as described in Embodiment 1 of the present disclosure are implemented. , the steps are:

[0056]Obtain the three-dimensional data of the platform and the on-site data of the cargo storage on the platform;

[0057] Construct a two-dimensional model of platform cargo storage based on the acquired platform 3D data and platform cargo storage site data;

[0058] According to the obtained two-dimensional model, determine the interaction direction of the AGV access to the goods, and then determine the boundary position of the platform goods in the working direction, as the starting and ending point position of the docking route of the platform;

[0059] Starting from the starting and ending point position, set a safe distance away fro...

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Abstract

The invention provides a platform docking route planning method and system in AGV route planning. The method comprises the following steps of acquiring three-dimensional data of a platform and platform cargo storage site data; constructing a platform cargo storage two-dimensional model according to the acquired platform three-dimensional data and the platform cargo storage field data; according tothe obtained two-dimensional model, determining the AGV goods storing and taking interaction direction, and then determining the boundary position of platform goods in the operation direction to serve as the start-stop point position of the butt joint route of the platform; and starting from the start-stop point position, setting a safety distance away from the platform in the platform interaction direction, obtaining the end point position of the butt joint route, and obtaining an AGV butt joint route according to the start-stop point position, the safety distance and the end point position.The optimal driving route parameter matched with the current platform can be accurately and quickly obtained, and the whole process of executing the cargo storing and taking task by the AGV can be visually displayed to planners.

Description

technical field [0001] The present disclosure relates to the technical field of AGV path planning, and in particular to a method and system for planning a station docking route in AGV path planning. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. [0003] Warehouses generally contain several shelves and platforms, which are collectively referred to as platforms in this article, and the docking routes to and from the platforms, including multiple driving lines. When accessing goods in the daily warehouse, there are many kinds of AGV vehicles to perform cargo access tasks. When the sizes of different AGVs are inconsistent, when picking and placing goods on the same platform, the AGV picking device can interact with the platform normally, and it is also necessary to ensure that the goods and Equipment Security. [0004] The inventors of the presen...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0225G05D1/0214G05D1/0276Y02P90/60
Inventor 聂建波张小艺刘鹏张贻弓沈长鹏
Owner SHANDONG LOGISTIC TECH CO LTD