Laser forklift path searching method

Abstract

The invention discloses a laser forklift path searching method, which comprises the following steps that S1, a main directed graph and a sub directed graph are respectively constructed based on a main station and sub stations in a laser forklift operation environment, a plurality of sub stations can belong to the same main station, and one sub station cannot belong to two different main stations; s2, a starting station Vstart and a task station Vtask which are away from the laser forklift are determined; and S3, detecting site attributes of the Vstart and the Vtask, if sub-sites exist, respectively planning a shortest main path between the main sites and a shortest sub-path between the sub-sites based on the main directed graph and the sub-directed graph, and splicing the shortest main path and the shortest sub-path to form a shortest path from the Vstart to the Vtask. According to the method, the main directed graph and the sub directed graph are respectively established for the sites with different attributes, so that the path search among the sites with different attributes is separated, the number of nodes in the shortest path search process is reduced, the data processing amount is reduced, the task path search efficiency is improved, and the flexibility is better.

Description

technical field [0001] The invention belongs to the technical field of path planning, and more specifically, the invention relates to a laser forklift path search method. Background technique [0002] In recent years, with the rapid development of material conveying systems and automated three-dimensional warehouses, forklifts, as an efficient loading and unloading vehicle, have been widely used in the transportation of manufacturing industries. Among them, laser forklifts can be directly applied in the application scenarios of manual driving forklifts due to their small turning radius and high degree of automation. [0003] Because the application environment of laser forklifts is usually more complex, there are not only more equipment, but also equipment operators. Therefore, before the laser forklift automatically works, it is usually necessary to manually set the forklift driving path station and work station, and design the forklift driving path. Usually, the end point...

AI Technical Summary

Problems solved by technology

Usually, the end points of the forklift driving path and the forklift work site are not directly distinguished, and a directed graph is directly generated based on all nodes in the forklift work environment model, which not only leads to the need to traverse the directed graph when searching for the shortest path of the laser forklift There are too many nodes, the data redundancy is too large, the search efficiency is low, and the different attributes between nodes are ignored, so it is impossible to set the nodes in the directed graph to correspond to the laser forklift work site

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