Static path planning method and system applied to storage robot

Abstract

The invention belongs to the field of storage robots, particularly relates to a static path planning method and system applied to a storage robot, and provides the following scheme for solving the problems that after path planning of an existing storage robot, the use effect and execution accuracy of a planned path are inconvenient to evaluate, and problems cannot be timely and effectively adjusted when problems occur. The method comprises the following steps: S1, building a static path planning system, the static path planning system comprises a data collection module, a map establishment module, a path algorithm selection module, a path planning module, a path execution module, a travel trajectory tracking module, a deviation calculation module, a result output module, a path optimization module, a path evaluation module, an effect comparison module, a storage module and a management module. According to the system, the use effect and the execution accuracy of a planned path are evaluated, and problems can be timely and effectively adjusted when the problems occur.

Description

Technical Field

[0001] The present invention relates to the technical field of warehouse robots, and in particular to a static path planning method and system for warehouse robots. Background Art

[0002] Warehouse robots are mainly used for warehouse management and logistics operations. They improve warehouse efficiency, reduce labor costs, and optimize warehouse operation processes through automation and intelligence. Warehouse robots have autonomous navigation and path planning capabilities. They can automatically plan the optimal path for handling operations based on warehouse layout and operation requirements, reduce manual intervention, improve operation efficiency, and avoid congestion and collisions.

[0003] In the prior art, after the warehouse robot's path is planned, it is not convenient to evaluate the use effect and execution accuracy of the planned path, and problems cannot be adjusted in a timely and effective manner. Therefore, we propose a static path planning method and system for warehouse robots to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings in the prior art that after the warehouse robot path planning, it is not convenient to evaluate the use effect and execution accuracy of the planned path, and problems cannot be adjusted in a timely and effective manner. A static path planning method and system for warehouse robots are proposed.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A static path planning method for a warehouse robot comprises the following steps:

[0007] S1. Build a static path planning system, which includes a data collection module, a map building module, a path algorithm selection module, a path planning module, a path execution module, a travel trajectory tracking module, a deviation calculation module, a result output module, a path optimization module, a path evaluation module, an effect comparison module, a storage module, a management module, an early warning module and a path algorithm input module;

[0008] S2. Collect data about warehouse layout, cargo location and robot performance through the data collection module, build a warehouse map through the map building module, and mark the cargo location and robot motion range on the map;

[0009] S3, selecting a path algorithm through a path algorithm selection module, the path planning module executing path planning through a computer program according to the selected algorithm, and the path execution module executing the planned path, so that the storage robot moves;

[0010] S4. The actual motion trajectory of the storage robot is tracked through the travel trajectory tracking module, and the tracked motion trajectory is compared with the planned path through the deviation calculation module to calculate the deviation between the two. The deviation result is output through the result output module. If the deviation exceeds the normal value, an early warning is issued through the early warning module;

[0011] S5. The path is optimized through the path optimization module, and the use effect of the planned path is evaluated through the path evaluation module. The effect comparison module compares the evaluated effect with the normal effect. If the effect is lower than the normal effect, an early warning is issued through the early warning module.

[0012] Preferably, in S3, a path algorithm is selected by a path algorithm selection module, and the path algorithm is an A-Star algorithm. The implementation of the A-Star algorithm includes the following steps: definition of an evaluation function: evaluation function f(n)=g(n)+h(n), where g(n) is the actual cost from the starting point to the current node n, and h(n) is the estimated cost from the current node n to the target node; algorithm flow: the algorithm starts from the starting point, continuously expands nodes, and selects the next node to be explored according to the evaluation function. The use of a priority queue enables the algorithm to give priority to nodes with the smallest evaluation function values, thereby speeding up the process of finding the shortest path; and finally, the estimation and calculation method of the heuristic function.

[0013] Preferably, the path algorithm entry module is used to enter the path algorithm, and the path algorithm entry module includes an identity authentication unit, the identity authentication unit is connected to the algorithm input unit, the algorithm input unit is connected to the confirmation unit, and the confirmation unit is connected to the entry unit.

[0014] Preferably, the deviation calculation module includes a planned path extraction unit, the planned path extraction unit is connected to a travel trajectory extraction unit, the travel trajectory extraction unit is connected to a comparison unit, and the comparison unit is connected to a difference calculation unit.

[0015] Preferably, the planned path extraction unit is used to extract the planned path, the travel trajectory extraction unit is used to extract the actual travel trajectory, the comparison unit is used to compare the planned path with the travel trajectory, and the difference calculation unit is used to calculate the difference between the two.

[0016] Preferably, the data collection module includes a sensor unit, the sensor unit is connected to a scanning unit, the scanner unit is connected to a data identification unit, and the data identification unit is connected to a data transmission unit.

[0017] Preferably, the storage module is used to store the effect comparison data, and the management module is used to manage the data stored in the storage module.

[0018] The present invention also proposes a static path planning system for a warehouse robot, comprising a data collection module, a map building module, a path algorithm selection module, a path planning module, a path execution module, a travel trajectory tracking module, a deviation calculation module, a result output module, a path optimization module, a path evaluation module, an effect comparison module, a storage module, a management module, an early warning module and a path algorithm entry module.

[0019] Preferably, the data collection module is connected to the map establishment module, the map establishment module is connected to the path algorithm selection module, the path algorithm selection module is connected to the path planning module, the path planning module is connected to the path execution module, the path execution module is connected to the travel trajectory tracking module, the travel trajectory tracking module is connected to the deviation calculation module, and the deviation calculation module is connected to the early warning module and the result output module.

[0020] Preferably, the path execution module is connected to the path optimization module, the path optimization module is connected to the path evaluation module, the path evaluation module is connected to the effect comparison module, the effect comparison module is connected to the early warning module and the storage module, the management module is connected to the storage module, and the path algorithm entry module is connected to the path algorithm selection module.

[0021] In the present invention, the beneficial effects of the static path planning method and system applied to a warehouse robot are:

[0022] The data collection module collects data about the warehouse layout, cargo location and robot performance, and the map building module builds a map of the warehouse, and marks the cargo location and the robot's motion range on the map; the path algorithm selection module selects the path algorithm, the path planning module executes the path planning through a computer program according to the selected algorithm, and the path execution module executes the planned path, so that the warehouse robot moves;

[0023] The actual motion trajectory of the storage robot is tracked through the travel trajectory tracking module, and the tracked motion trajectory is compared with the planned path through the deviation calculation module to calculate the deviation between the two. The deviation result is output through the result output module. If the deviation exceeds the normal value, an early warning module will issue an early warning; the path is optimized through the path optimization module, and the effect of the planned path is evaluated through the path evaluation module. The effect comparison module compares the evaluated effect with the normal effect. If it is lower than the normal effect, an early warning module will issue an early warning;

[0024] The present invention evaluates the use effect and execution accuracy of the planned path, and can make timely and effective adjustments when problems arise. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1This is a structural schematic diagram of a static path planning method and system for a warehouse robot proposed by the present invention;

[0026] Figure 2 A block diagram of a deviation calculation module for a static path planning method and system for a storage robot proposed by the present invention;

[0027] Figure 3 A block diagram of a path algorithm input module for a static path planning method and system for a warehouse robot proposed by the present invention;

[0028] Figure 4 A block diagram of a warning mode setting module for a static path planning method and system for a warehouse robot proposed by the present invention;

[0029] Figure 5 This is a block diagram of a data collection module for a static path planning method and system for a warehouse robot proposed by the present invention. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] Embodiment 1

[0032] Reference Figure 1 , Figure 2 , Figure 3 , Figure 5 , a static path planning method for a warehouse robot, comprising the following steps:

[0033] S1. Build a static path planning system, which includes a data collection module, a map building module, a path algorithm selection module, a path planning module, a path execution module, a travel trajectory tracking module, a deviation calculation module, a result output module, a path optimization module, a path evaluation module, an effect comparison module, a storage module, a management module, an early warning module and a path algorithm input module;

[0034] S2. Collect data about warehouse layout, cargo location and robot performance through the data collection module, build a warehouse map through the map building module, and mark the cargo location and robot motion range on the map;

[0035] S3, selecting a path algorithm through a path algorithm selection module, the path planning module executing path planning through a computer program according to the selected algorithm, and the path execution module executing the planned path, so that the storage robot moves;

[0036] S4. The actual motion trajectory of the storage robot is tracked through the travel trajectory tracking module, and the tracked motion trajectory is compared with the planned path through the deviation calculation module to calculate the deviation between the two. The deviation result is output through the result output module. If the deviation exceeds the normal value, an early warning is issued through the early warning module;

[0037] S5. The path is optimized through the path optimization module, and the use effect of the planned path is evaluated through the path evaluation module. The effect comparison module compares the evaluated effect with the normal effect. If the effect is lower than the normal effect, an early warning is issued through the early warning module.

[0038] In this embodiment, in S3, a path algorithm is selected by a path algorithm selection module, and the path algorithm is the A-Star algorithm. The implementation of the A-Star algorithm includes the following steps: definition of an evaluation function: evaluation function f(n)=g(n)+h(n), where g(n) is the actual cost from the starting point to the current node n, and h(n) is the estimated cost from the current node n to the target node; algorithm flow: the algorithm starts from the starting point, continuously expands nodes, and selects the next node to be explored according to the evaluation function. The use of a priority queue enables the algorithm to give priority to nodes with the smallest evaluation function values, thereby speeding up the process of finding the shortest path; and finally, the estimation and calculation method of the heuristic function.

[0039] In this embodiment, the path algorithm entry module is used to enter the path algorithm, and the path algorithm entry module includes an identity authentication unit, the identity authentication unit is connected to the algorithm input unit, the algorithm input unit is connected to the confirmation unit, and the confirmation unit is connected to the entry unit.

[0040] In this embodiment, the deviation calculation module includes a planned path extraction unit, the planned path extraction unit is connected to the travel trajectory extraction unit, the travel trajectory extraction unit is connected to the comparison unit, and the comparison unit is connected to the difference calculation unit.

[0041] In this embodiment, the planned path extraction unit is used to extract the planned path, the travel trajectory extraction unit is used to extract the actual travel trajectory, the comparison unit is used to compare the planned path with the travel trajectory, and the difference calculation unit is used to calculate the difference between the two.

[0042] In this embodiment, the data collection module includes a sensor unit, the sensor unit is connected to a scanning unit, the scanner unit is connected to a data identification unit, and the data identification unit is connected to a data transmission unit.

[0043] In this embodiment, the storage module is used to store the effect comparison data, and the management module is used to manage the data stored in the storage module.

[0044] The present invention also proposes a static path planning system for a warehouse robot, comprising a data collection module, a map building module, a path algorithm selection module, a path planning module, a path execution module, a travel trajectory tracking module, a deviation calculation module, a result output module, a path optimization module, a path evaluation module, an effect comparison module, a storage module, a management module, an early warning module and a path algorithm entry module.

[0045] In this embodiment, the data collection module is connected to the map establishment module, the map establishment module is connected to the path algorithm selection module, the path algorithm selection module is connected to the path planning module, the path planning module is connected to the path execution module, the path execution module is connected to the travel trajectory tracking module, the travel trajectory tracking module is connected to the deviation calculation module, and the deviation calculation module is connected to the early warning module and the result output module.

[0046] In this embodiment, the path execution module is connected to the path optimization module, the path optimization module is connected to the path evaluation module, the path evaluation module is connected to the effect comparison module, the effect comparison module is connected to the early warning module and the storage module, the management module is connected to the storage module, and the path algorithm entry module is connected to the path algorithm selection module.

[0047] Embodiment 2

[0048] Reference Figure 1 , Figure 4 The difference between this embodiment and the first embodiment is that: a static path planning system for a warehouse robot includes a data collection module, a map building module, a path algorithm selection module, a path planning module, a path execution module, a travel trajectory tracking module, a deviation calculation module, a result output module, a path optimization module, a path evaluation module, an effect comparison module, a storage module, a management module, an early warning module and a path algorithm input module, an early warning mode setting module, the early warning mode setting module is connected to the early warning module, and is used to set the early warning mode of the early warning module, and the early warning mode setting module includes a login unit, an audio and video early warning unit, an information early warning unit and a voice call early warning unit.

[0049] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A static path planning method for a warehouse robot, characterized in that: The following steps are involved: S1. Build a static path planning system, which includes a data collection module, a map building module, a path algorithm selection module, a path planning module, a path execution module, a travel trajectory tracking module, a deviation calculation module, a result output module, a path optimization module, a path evaluation module, an effect comparison module, a storage module, a management module, an early warning module and a path algorithm input module; S2. Collect data about warehouse layout, cargo location and robot performance through the data collection module, build a warehouse map through the map building module, and mark the cargo location and robot motion range on the map; S3, selecting a path algorithm through a path algorithm selection module, the path planning module executing path planning through a computer program according to the selected algorithm, and the path execution module executing the planned path, so that the storage robot moves; S4. The actual motion trajectory of the storage robot is tracked through the travel trajectory tracking module, and the tracked motion trajectory is compared with the planned path through the deviation calculation module to calculate the deviation between the two. The deviation result is output through the result output module. If the deviation exceeds the normal value, an early warning is issued through the early warning module; S5. The path is optimized through the path optimization module, and the use effect of the planned path is evaluated through the path evaluation module. The effect comparison module compares the evaluated effect with the normal effect. If the effect is lower than the normal effect, an early warning is issued through the early warning module.

2. A static path planning method for a warehouse robot according to claim 1, characterized in that: In S3, a path algorithm is selected through a path algorithm selection module, and the path algorithm is an A-Star algorithm. The implementation of the A-Star algorithm includes the following steps: definition of an evaluation function: evaluation function f(n)=g(n)+h(n), where g(n) is the actual cost from the starting point to the current node n, and h(n) is the estimated cost from the current node n to the target node; algorithm flow: the algorithm starts from the starting point, continuously expands nodes, and selects the next node to be explored according to the evaluation function. The use of a priority queue enables the algorithm to give priority to processing nodes with the smallest evaluation function value, thereby speeding up the speed of finding the shortest path; and finally, the estimation and calculation method of the heuristic function.

3. A static path planning method for a warehouse robot according to claim 2, characterized in that: The path algorithm input module is used to input the path algorithm. The path algorithm input module includes an identity authentication unit, the identity authentication unit is connected to the algorithm input unit, the algorithm input unit is connected to the confirmation unit, and the confirmation unit is connected to the input unit.

4. A static path planning method for a warehouse robot according to claim 3, characterized in that: The deviation calculation module includes a planned path extraction unit, the planned path extraction unit is connected to a travel trajectory extraction unit, the travel trajectory extraction unit is connected to a comparison unit, and the comparison unit is connected to a difference calculation unit.

5. A static path planning method for a warehouse robot according to claim 4, characterized in that: The planned path extraction unit is used to extract the planned path, the travel trajectory extraction unit is used to extract the actual travel trajectory, the comparison unit is used to compare the planned path with the travel trajectory, and the difference calculation unit is used to calculate the difference between the two.

6. A static path planning method for a warehouse robot according to claim 5, characterized in that: The data collection module comprises a sensor unit, the sensor unit is connected to a scanning unit, the scanning unit is connected to a data identification unit, and the data identification unit is connected to a data transmission unit.

7. A static path planning method for a warehouse robot according to claim 6, characterized in that: The storage module is used to store the effect comparison data, and the management module is used to manage the data stored in the storage module.

8. A static path planning system for a warehouse robot, characterized in that: It includes the data collection module, map building module, path algorithm selection module, path planning module, path execution module, travel trajectory tracking module, deviation calculation module, result output module, path optimization module, path evaluation module, effect comparison module, storage module, management module, early warning module and path algorithm entry module as described in any one of claims 1 to 7.

9. The static path planning system for a warehouse robot according to claim 8, characterized in that: The data collection module is connected to the map establishment module, the map establishment module is connected to the path algorithm selection module, the path algorithm selection module is connected to the path planning module, the path planning module is connected to the path execution module, the path execution module is connected to the travel trajectory tracking module, the travel trajectory tracking module is connected to the deviation calculation module, and the deviation calculation module is connected to the early warning module and the result output module.

10. The static path planning system for a warehouse robot according to claim 9, characterized in that: The path execution module is connected to the path optimization module, the path optimization module is connected to the path evaluation module, the path evaluation module is connected to the effect comparison module, the effect comparison module is connected to the early warning module and the storage module, the management module is connected to the storage module, and the path algorithm entry module is connected to the path algorithm selection module.

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