A method and system for station docking route planning in AGV path planning

Abstract

The disclosure provides a platform docking route planning method and system in AGV path planning. The method includes the following steps: obtaining three-dimensional data of the platform and on-site data of cargo storage on the platform; The two-dimensional model of the platform cargo storage; according to the obtained two-dimensional model, determine the interactive direction of the AGV access to the cargo, and then determine the boundary position of the platform cargo in the operating direction, as the starting and ending point position of the docking route of the platform; start from the starting and ending point position , set a safe distance away from the platform along the interactive direction of the platform, obtain the endpoint position of the docking route, and obtain the AGV docking route according to the starting and ending point positions, the safety distance and the endpoint position; this disclosure can accurately and quickly obtain the best driving route matched by the current platform parameters, and can intuitively display the whole process of AGV performing cargo access tasks to planners.

Description

A method and system for platform docking route planning in AGV route planning technical field [0001] The present disclosure relates to the technical field of AGV path planning, and in particular, to a platform docking route rule in a kind of AGV path planning. Planning method and system. Background technique [0002] The statements in this section merely provide background related to the present disclosure and do not necessarily constitute prior art. [0003] The warehouse generally contains several shelves and platforms, which are collectively referred to herein as platforms, and the docking routes entering and leaving the platform. line, including multiple driving lines. When accessing goods in daily warehouses, there are a variety of AGV vehicles to perform goods storage and retrieval tasks. When the AGV size is inconsistent, when picking and placing goods on the same platform, the AGV picking device can interact with the platform normally, and it is necessary to ens...

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

Images