AGV planning method and device

A planning and node technology, applied in the direction of transportation and packaging, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve the problem of low execution efficiency of driving tasks, and achieve the effect of improving execution efficiency

Active Publication Date: 2022-04-05
XIAN JIAOTONG LIVERPOOL UNIV
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  • Claims
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Problems solved by technology

[0005] This application provides an AGV planning method and device, which can solve the problem of low execution efficiency of driving tasks caused by generating AGV driving routes based on the shortest path principle

Method used

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  • AGV planning method and device
  • AGV planning method and device

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Embodiment Construction

[0058] The specific implementation manners of the present application will be further described in detail below in conjunction with the drawings and embodiments. The following examples are used to illustrate the present application, but not to limit the scope of the present application.

[0059] Optionally, the present application takes the execution subject of each step in each embodiment as an example to describe the control terminal of the AGV, wherein the control terminal can be an electronic device with processing capabilities such as a computer, a mobile phone, a tablet computer, and a server. The embodiment does not limit the device type of the control terminal.

[0060] figure 1 It is a flowchart of an AGV planning method provided by an embodiment of this application. The method includes at least the following steps:

[0061] Step 101, obtain the topology structure of the AGV's drivable route, which includes at least two nodes and drivable routes between different n...

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Abstract

The application relates to an AGV planning method and device, which belong to the field of automatic control technology. The method includes: obtaining the topological structure of the AGV's drivable route, which includes at least two nodes and drivable routes between different nodes; obtaining each AGV The initial state data, the initial state data includes the initial position, movement speed and equipment identification of each AGV; obtain the driving task data of the AGV, the driving task data includes at least one driving task starting point and driving end point; based on the shortest time to complete the driving task The principle is to plan the AGV according to the topology structure, initial state data and driving task data; it can solve the problem that the driving route of the AGV generated based on the shortest path principle leads to the low execution efficiency of the driving task; because it can be generated based on the principle of the shortest completion time of the driving task The driving route of the AGV, therefore, can improve the execution efficiency of driving tasks.

Description

technical field [0001] The application relates to an AGV planning method and device, and belongs to the technical field of automatic control. Background technique [0002] Automated Guided Vehicle (AGV) refers to a transport vehicle that is equipped with automatic guidance devices such as electromagnetic or optical, can drive along the planned guidance path, and has safety protection and various transfer functions. AGV systems are widely used in industry, military, transportation, electronics and other fields. [0003] Before the AGV runs, it is necessary to plan the driving route of the AGV according to the topological map. Among them, the topological map is an abstract map that maintains the correct relative positional relationship between points and lines but does not necessarily maintain the correct shape, area, distance, and direction of the graph; path planning refers to the AGV in an environment with obstacles, according to certain standards, Find a collision-free p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0217G05D1/0225G05D1/0223G05D2201/0216
Inventor 马飞林育阳陈思锐李沐阳
Owner XIAN JIAOTONG LIVERPOOL UNIV
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