Real-time path planning method and system based on multiple regions

Abstract

The invention discloses a real-time path planning method and system based on multiple regions, and the method comprises the following steps: map construction, segmented task path planning, generation of a point location list and a point location lock list, point location comparison and task execution, and a real-time path planning system based on multiple regions is also provided. According to the method and the system, the characteristics of real-time scheduling and flexible control of the equipment are combined, the point location lock list and the point location list are compared in real time, related point locations are unlocked from the point location lock list in time, different tasks cannot lock the same point location at the same time, the purpose that multiple pieces of equipment and multiple tasks are parallel and do not conflict is achieved. The task execution efficiency is improved, the task conflict and the equipment waiting time are effectively reduced, and the equipment use efficiency is improved. And meanwhile, the real-time requirements on the equipment hardware capability and the field network environment are reduced, the equipment investment and the operation and maintenance investment are reduced, and the input-output ratio is improved. The method and the system are high in operability, good in universality and strong in adaptability.

Description

technical field [0001] The present invention relates to a real-time path planning method and system, in particular to a multi-region-based real-time path planning method and system. Background technique [0002] In recent years, with the advancement of industry and technology, AGV has become an important equipment for factory logistics handling and storage handling. In a large-scale application environment, it has become normal for multiple devices to perform tasks in multiple regions, and the more devices, the larger the span of the region, and the path planning when the devices perform tasks is particularly important. [0003] The existing path planning methods are divided into two categories. The first type is to pre-plan the global path. Before the current task is executed, other tasks cannot use the route and points occupied by the task. The advantage of this type of path planning method is that It avoids path conflicts in the process of task execution, but the disadva...

AI Technical Summary

Problems solved by technology

[0003]Currently existing path planning methods are divided into two categories. The first type is to pre-plan the global path. Before the execution of the current task is completed, other tasks cannot use this task. Occupied routes and points, the advantage of this type of path planning method is that it avoids path conflicts during task execution, but the disadvantage is that it is not flexible enough, and the overall efficiency is lost. There may be all other new tasks during the execution of a certain task The other is real-time planning, which is often said to "take one step at a time", and plan the next move after completing the current move. The advantage of this type of path planning method is that it is flexible and can adjust the path in real time. The disadvantage is the lack of overall planning, increased adjustment costs in the middle section, and reduced operating efficiency of a single device and single task. It has extremely high requirements for the hardware capabilities of the device, the algorithm of the scheduling system, and the real-time performance of the network connection.

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