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AGV (Automated Guide Vehicle) path planning method based on minimum turning cost

A path planning and shortest path technology, applied in the field of AGV, can solve the problem of short turning time, avoid a large number of turns, and improve transportation efficiency

Inactive Publication Date: 2019-03-29
上海威瞳视觉技术有限公司
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Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art, to provide an AGV path planning method based on the minimum turning cost, which can avoid a large number of AGV turns, and effectively solve the AGV driving route that does not consider the time-consuming turning in the existing AGV path planning method The overall transportation time is not the shortest problem, improve transportation efficiency

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  • AGV (Automated Guide Vehicle) path planning method based on minimum turning cost

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[0056] In order to make the above objects, features and advantages of the present application more obvious and comprehensible, the present application will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0057] The present invention provides an AGV path planning method based on the minimum turning cost, such as figure 1 and figure 2 As shown, the method includes the following steps:

[0058] The upper computer system reads the path and node information according to the pre-drawn map model, and marks the node coordinates; the upper computer system receives the demand information sent by the station and sends the demand information to the control processing system of each AGV; The control processing system receives the demand information, judges whether the current AGV is in an idle state, if not, does not execute the task; if yes, obtains the coordinate information of the current AGV, and sends it to th...

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Abstract

The invention discloses an AGV (Automated Guide Vehicle) path planning method based on the minimum turning cost. The method comprises the following steps: an upper computer system reads path and nodeinformation according to a map model; station demand information is received, an idle AGV nearest to the station is selected, and the coordinate information of the AGV is read; with the AGV coordinates as a starting point and the station coordinates as an end point, a shortest path planning algorithm is called to search for the shortest path between the starting point and the end point; and the shortest path is converted to a motion instruction, and a control processing system controls the AGV to execute a task. According to the AGV path planning method based on the minimum turning cost, a large number of AGV turnings can be avoided, the problem that the existing AGV path planning method does not consider the turning time consumption and thus, the total consumed transportation time of theAGV driving path is not the shortest can be effectively solved, and the transportation efficiency is improved.

Description

technical field [0001] The invention relates to the field of AGV technology, in particular to an AGV path planning method based on minimum turning cost. Background technique [0002] AGV (Automated Guide Vehicle, automatic guided transport vehicle) refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, which can adjust the corresponding transportation route in time with the adjustment of the production process without manual participation. Instead of manual transportation, it can effectively reduce the labor intensity of the staff and improve work efficiency, so it has been widely used in manufacturing, electronics, logistics and other industries. [0003] The automatic transportation of materials in the factory usually requires multiple AGVs to run material handling tasks at the same time. There are often multiple AGV running tracks that can reach the target location between the material stations, that is, there are multip...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0217
Inventor 钮旭东王志鹏黄怡
Owner 上海威瞳视觉技术有限公司
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