Path planning method and device for automated guided vehicle cluster

Abstract

The invention relates to a path planning method for an automated guided vehicle cluster, the automated guided vehicle cluster comprises a plurality of automated guided vehicles, and the path planning method comprises the following steps of: creating an operation environment map of the automated guided vehicle cluster in a server; enabling the server to generate a planned path according to a path planning request of each automated guided vehicle and send the planned path to the corresponding automated guided vehicle, wherein the path planning request comprises a current position and a target position of the automated guided vehicle; and letting each automated guided vehicle perform real-time deviation correction on the actual path according to the planned path, and performing travelling from a current position to a target position. Compared with the prior art, global path planning is carried out by the server, and deviation correction is carried out by the automated guided vehicle according to the planned path, so that the automated guided vehicle has an edge calculation function, the load between the server and the AGV can be balanced, the communication delay between the server and the AGV is avoided, and the reliability of AGV cluster path planning is improved.

Description

technical field [0001] The present invention mainly relates to the field of the Internet of Things, in particular to a route planning method and device for an automatic guided vehicle cluster. 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. [0003] In the prior art, there are mainly two methods for path planning of automatic guided vehicles. [0004] One method is to separate the AGV from the server, and the AGV independently performs path planning and self-control. However, AGV independently performs path planning and self-control. For clusters including multiple AGVs, cluster management cannot be performed, resulting in the risk of path conflicts among multiple AGVs, and requires high hardware computing capabilities of AGVs. [0005] Another met...

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Problems solved by technology

However, AGV independently performs path planning and self-control. For clusters including multiple AGVs, cluster management cannot be performed, resulting in the risk of path conflicts between multiple AGVs, and requires high hardware computing capabilities for AGVs.

[0005] Another method is for the server to take over the path planning and control of the AGV. This method can reduce or eliminate the risk of path conflicts between multiple AGVs. However, a large amount of calculations by the server will cause the server to be overloaded, and the relationship between the server and the AGV There will be delays in data transmission between multiple AGVs, which will cause path conflicts between multiple AGVs

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