AGV path planning method and device in storage environment

A path planning and environmental technology, which is applied in transportation and packaging, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve problems such as detours and stops, improve accuracy, shorten distance, The effect of improving flexibility

Active Publication Date: 2022-02-25
INST OF MICROELECTRONICS CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of the above analysis, the embodiment of the present invention aims to provide an AGV path planning method and device in a storage environment, to solve the problem that the existing partial path planning method will stop or detour when passing through the pass.

Method used

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  • AGV path planning method and device in storage environment
  • AGV path planning method and device in storage environment
  • AGV path planning method and device in storage environment

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Experimental program
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Embodiment 1

[0101] Please refer to figure 2 , figure 2 It is a schematic flowchart of a path planning method provided in this application, and the path planning method may include:

[0102] S1: Obtain the motion model and current pose of the AGV.

[0103] This step aims to obtain the linear velocity based on the current motion model of the AGV and the pose of the AGV v and the current angular velocity ω and the current position of the AGV ( x , y ) and the current angle θ, used to determine the initial velocity space and position of the next step. This process can be realized based on sensor information collection equipment. This application does not limit the types and models of sensors and information collection equipment, which can be radars, professional cameras, etc. Need to obtain the following information of AGV:

[0104] T ={ x , y , θ , v , ω}

[0105] It mainly includes the horizontal and vertical coordinates and the orientation angle of the position of the AGV...

Embodiment 2

[0149] The path planning method in the storage environment has been described in detail above. The starting point and end point of AGV driving are as follows image 3 As shown, the present application also provides a method for selecting transit points and variable endpoints corresponding to this method.

[0150] Through the relevant steps of Embodiment 1, the movement of the AGV has been guaranteed, but in order to prevent possible difficulties in passing through the pass and detours, and effectively set the coordinate threshold, the determination and arrival at the end point can be divided into two parts: Finding in the global path The transit point enables the AGV to pass through the key pass; after passing the pass, the AGV accurately reaches the end point along the obstacles.

[0151] image 3 In order not to set a transfer point and a variable end point, the AGV may go directly to the end position and go around a long way. In actual operation, the steering time will be ...

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Abstract

The invention relates to an AGV path planning method and device in a storage environment, belongs to the technical field of automated guided vehicles, and solves the problems of pause or detour and the like when passing through a gap in an existing local path planning method. The method comprises the following steps: acquiring a motion model and a pose of an AGV in a current state; sampling the speed of the AGV so as to simulate the moving trajectory of the AGV by using the sampled speed; calculating the total scores of the Euclidean distance, the orientation angle, the obstacle distance, the linear speed and the Manhattan distance from the starting point and the terminal point of the moving trajectory, and selecting the trajectory with the best total score as the optimal trajectory; judging whether the current point position of the AGV reaches a coordinate threshold value or not, and when the current point position of the AGV does not reach the coordinate threshold value, judging whether the AGV reaches a target coordinate position or not; and when the AGV arrives at the target coordinate position, obtaining a moving trajectory diagram of the AGV. In the path planning process, a variable end point is introduced and the position of a transit point is reasonably set, so that the accuracy of path planning is improved.

Description

technical field [0001] The invention relates to the technical field of automatic guided transport vehicles, in particular to an AGV path planning method and device in a storage environment. Background technique [0002] With the development of intelligent technology, AGV (automated guided vehicle, which means "automatic guided vehicle") undertakes daily tasks such as lifting and transporting goods in the warehouse, and plays an important role in the warehousing process, which can effectively improve the quality of goods in the warehouse. Access efficiency refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, which can drive along the prescribed guidance path, and has safety protection and various transfer functions. Reasonable path planning can reduce the accident rate of AGV during the handling process and improve the work efficiency of the entire warehouse. The path planning technology needs to comprehensively consider ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0217G05D1/0221G05D1/0223G05D2201/0216
Inventor 胡子骏汪洋班健张宁
Owner INST OF MICROELECTRONICS CHINESE ACAD OF SCI
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