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AGV real-time path gauge and anti-collision method and system

A real-time path planning and anti-collision technology, applied in the field of AGV navigation, can solve the problems of difficult to meet demand, large number of grid picking and loading points, and complexity, so as to reduce the computational workload, simplify the path calculation and Anti-collision calculation, the effect of improving efficiency

Pending Publication Date: 2022-03-01
青晨(广州)电子商务科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] For this reason, the embodiment of the present invention provides an AGV real-time path gauge and anti-collision method to solve the problem that the existing grid format has a large number of picking and loading points, and is densely arranged, and order picking and loading is multi-point If the job depends on the path algorithm alone, it is not only complicated, but also difficult to meet the demand

Method used

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  • AGV real-time path gauge and anti-collision method and system
  • AGV real-time path gauge and anti-collision method and system
  • AGV real-time path gauge and anti-collision method and system

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Embodiment 1

[0079] like figure 1 As shown, the present embodiment proposes an AGV real-time path planning and collision avoidance method, the method comprising:

[0080] S100, carry out AGV walking road planning according to the structure of the grid format loading area, and obtain the planned road network, the road network includes multiple X-axis one-way streets and multiple Y-axis one-way streets set in the grid format loading area, And fast one-way passages are set on the rear side, left and right sides of the grid-style loading area and between the grid-style loading area and the area to be delivered, and the area to be delivered is located on the front side of the grid-style loading area.

[0081] In this embodiment, the road network includes two schemes, scheme one: as image 3 As shown, the multiple one-way lanes in the Y-axis are only set in the negative direction of the Y-axis, and the rear side of the grid-shaped loading area is set up with a fast one-way lane in the positive ...

Embodiment 2

[0141] Corresponding to the above-mentioned embodiment 1, this embodiment proposes an AGV real-time path planning and collision avoidance system, and the system includes:

[0142] The road network planning module is used to plan the AGV walking road according to the structure of the grid loading area, and obtain the planned road network. The road network includes multiple X-axis one-way streets and multiple Y Axial one-way lanes, and fast one-way passages set on the rear side, left and right sides of the grid-style loading area and between the grid-style loading area and the area to be delivered, the said area to be delivered is located at the edge of the grid-style loading area front side;

[0143] The real-time path planning and anti-collision module is used to plan the real-time picking path for the AGV according to the order in the road network according to the preset traffic rules, and perform real-time anti-collision protection for the AGV during the walking process.

...

Embodiment 3

[0146] Corresponding to the above-mentioned embodiments, this embodiment proposes a computer storage medium, which contains one or more program instructions, and one or more program instructions are used to be used by an AGV real-time path planning and collision avoidance system Carry out the method as embodiment 1.

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Abstract

The embodiment of the invention discloses an AGV real-time path planning and anti-collision method and system, and the method comprises the steps: carrying out the planning of an AGV walking road according to the structure of a grid-type loading area, and obtaining a planning road network; and according to a preset traffic rule, real-time picking path planning is carried out on the AGV in the road network according to the order, and real-time anti-collision protection is carried out on the AGV in the walking process. By introducing the road network concept and the traffic rule, path calculation and anti-collision calculation are simplified, the calculation workload is reduced, the efficiency is improved, AGV anti-collision is more efficiently achieved through real-time anti-collision calculation, AGV navigation for carrying out grid type multi-point picking according to orders is truly achieved, and meanwhile simultaneous parallel operation of a large number of AGVs is supported.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of AGV navigation, and in particular to an AGV real-time path planning and anti-collision method and system. Background technique [0002] At present, the navigation path planning of AGV (Automated Guided Vehicle, referred to as AGV) is basically a point-to-point pure algorithm method, which is not suitable for multi-point picking path planning according to orders. If the path is planned in advance, but the actual operation time of picking according to the order will fluctuate, it will cause the time window of the path to change, and the paths of a large number of AGVs working in parallel at the same time will definitely overlap. When the time window changes, The calculations required to avoid collisions are extremely complex, with a large amount of calculations, complex operations, and low navigation efficiency. The number of picking and loading points in the grid format is large and ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214
Inventor 陆德
Owner 青晨(广州)电子商务科技有限公司
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