CN103412566A - Method and system enabling AGV to atomically search for destination station at multiple turnouts - Google Patents
Method and system enabling AGV to atomically search for destination station at multiple turnouts Download PDFInfo
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- CN103412566A CN103412566A CN2013103686403A CN201310368640A CN103412566A CN 103412566 A CN103412566 A CN 103412566A CN 2013103686403 A CN2013103686403 A CN 2013103686403A CN 201310368640 A CN201310368640 A CN 201310368640A CN 103412566 A CN103412566 A CN 103412566A
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Abstract
The invention relates to a method and system enabling an AGV to atomically search for the destination station at multiple turnouts. The method is applied to a vehicle-mounted controller of the AGV, and comprises the following steps of obtaining the current station and the destination station, working out multiple driving routes from the current station to the destination station according to the pre-built map information, and selecting the driving route meeting the pre-built precedence standards to guide the AGV to run. The method and system enabling the AGV to atomically search for the destination station at the multiple turnouts enables the AGV to have the capacity for automatically searching for the destination station, and enables the AGV to be more flexible and intelligent. No matter which station the AGV is, after any destination station of the AGV is selected, the AGV can automatically search for and judge the destination station, and find the route to the destination station, the route of the AGV does not need to be set by people in advance, and the intelligence of the AGV is largely improved.
Description
Technical field
The present invention relates to the guidance technology of AGV dolly.
Background technology
Automatic guided vehicle (Automated G uided Vehicle, AGV) refers to homing guidance devices such as being equipped with electromagnetism or optics, can along the guide path of regulation, travel and have the transport vehicle of safeguard protection and various transfer functions.In the AGV control system, the action of AGV dolly is to realize controlling by Vehicle Controller, and vehicle-mounted control arrives website according to certain course.
In current AGV control system, path locus is all fixed, can only be along the route running set, can not be as required select target website at any time.Although some AGV control system are considered all route situations of using, then to select as required, dirigibility is very poor, namely enables to realize, and the workload of operation is also large, very inconvenient.
Summary of the invention
The object of the invention is to propose a kind of method of AGV multiple tracks trouble automatic seeking purpose website, it can solve route selection very flexible and the inconvenient problem with use of prior art.
In order to achieve the above object, the technical solution adopted in the present invention is as follows:
The method of AGV multiple tracks trouble automatic seeking purpose website, it is applied in the Vehicle Controller of AGV dolly, and it comprises the following steps:
A, the current website of acquisition and targeted sites;
B, calculate from current website and travel to many driving paths of targeted sites by the cartographic information of setting up in advance; Wherein, described cartographic information comprises routing information between adjacent sites and the travel direction information between adjacent sites;
C, the driving path of selecting to meet the priority condition of setting up are in advance guided the AGV trolley travelling; Wherein, described priority condition for website to the right, travel or left website travel.
The invention allows for a kind of system be used to the AGV multiple tracks trouble automatic seeking purpose website of realizing said method, it is applied in the Vehicle Controller of AGV dolly, and it comprises with lower module:
Acquisition module, be used to obtaining current website and targeted sites;
Computing module, calculate from current website and travel to many driving paths of targeted sites for the cartographic information by setting up in advance; Wherein, described cartographic information comprises routing information between adjacent sites and the travel direction information between adjacent sites;
Judge module, be used to selecting to meet the driving path guiding AGV trolley travelling of the priority condition of setting up in advance; Wherein, described priority condition for website to the right, travel or left website travel.
The present invention has following beneficial effect:
Allow the AGV dolly possess the ability of automatic searching targeted sites, can make the AGV dolly more flexible and intelligent, no matter the AGV dolly is current at what site location, after selecting the targeted sites of AGV dolly arbitrarily, the AGV dolly can oneself be searched for, judgement, find the path that arrives targeted sites, and do not need the path of in advance artificial setting AGV dolly, greatly improved the intelligent level of AGV dolly.And, without all paths that the AGV dolly that will consider in advance will travel, all store in the Vehicle Controller of AGV dolly, thus the data processing performance of the Vehicle Controller of raising AGV dolly.
The accompanying drawing explanation
Fig. 1 is the process flow diagram of method of the AGV multiple tracks trouble automatic seeking purpose website of preferred embodiment of the present invention;
Fig. 2 is the application example of method of the AGV multiple tracks trouble automatic seeking purpose website of preferred embodiment of the present invention.
Embodiment
Below, by reference to the accompanying drawings and embodiment, the present invention is described further.
As shown in Figure 1, a kind of method (also can be described as AGV multiple tracks trouble and automatically determine the driving path method) of AGV multiple tracks trouble automatic seeking purpose website, it is applied in the Vehicle Controller of AGV dolly, and it comprises the following steps:
A, the current website of acquisition and targeted sites;
B, calculate from current website and travel to many driving paths of targeted sites by the cartographic information of setting up in advance; Wherein, described cartographic information comprises routing information between adjacent sites and the travel direction information between adjacent sites;
C, the driving path of selecting to meet the priority condition of setting up are in advance guided the AGV trolley travelling; Wherein, described priority condition for website to the right, travel or left website travel.
The present embodiment has also proposed a kind of system (also can be described as AGV multiple tracks trouble and automatically determine the driving path device) be used to the AGV multiple tracks trouble automatic seeking purpose website of realizing said method, and it is applied in the Vehicle Controller of AGV dolly, and it comprises with lower module:
Acquisition module, be used to obtaining current website and targeted sites;
Computing module, calculate from current website and travel to many driving paths of targeted sites for the cartographic information by setting up in advance; Wherein, described cartographic information comprises routing information between adjacent sites and the travel direction information between adjacent sites;
Judge module, be used to selecting to meet the driving path guiding AGV trolley travelling of the priority condition of setting up in advance; Wherein, described priority condition for website to the right, travel or left website travel.
As shown in Figure 2, be the application example of the present embodiment.
If Fig. 2 is the path profile of AGV dolly, the AGV dolly can only be along the path shown in figure and the direction walking.
First in the Vehicle Controller of AGV dolly, set up following cartographic information:
| Website | Just front website | The front right website |
| A | B | 0 |
| B | H | C |
| C | E | D |
| D | F | 0 |
| E | F | 0 |
| F | A | G |
| G | B | 0 |
| H | J | I |
| I | K | 0 |
| J | K | 0 |
| K | F | 0 |
The AGV dolly, in the process of walking, can only select front to have the direction of website to advance, if a direction is masked as 0, illustrates without this website, and the AGV dolly is not considered when doing selection.
Give an example 1: current website is the A website, and targeted sites is the F website.
If the AGV dolly is arranged in the A website of path in graphs at present, need to go to the F website.In the Vehicle Controller of AGV dolly, can calculate by the mode of tabling look-up all paths of AGV dolly from the A website to the F website, by the following path of tabling look-up to obtain:
The just front website of path 1:A → B() → C(front right website) → D(front right website) → just front website of F();
The just front website of path 2:A → B() → C(front right website) → just front website of E() → just front website of F();
The just front website of path 3:A → B() → just front website of H() → I(front right website) → just front website of K() → just front website of F();
The just front website of path 4:A → B() → just front website of H() → just front website of J() → just front website of K() → just front website of F().
The path comparison met the demands is many, this just needs judgement to select which paths relatively good, according to characteristics in figure, if the front right website is default direction (being priority condition), namely to the higher priority that has of the route of front right, through contrast, the priority level of circuit is arranged as follows: path 1 > path 2 > path 3 > path 4.
The AGV dolly can calculate and record the routing information that priority level is the highest, and the AGV dolly namely advances along this paths after starting.Due to the AGV dolly, be the high performance chips of selecting, as long as selected current website and targeted sites, can the imperceptible short time complete path planning work people almost.
Give an example 2: current website is the I website, and targeted sites is the J website.
If the AGV dolly is arranged in the I website of path in graphs at present, need to go to the J website.In the Vehicle Controller of AGV dolly, can calculate all paths of AGV dolly from the I website to the J website by the mode of tabling look-up, by the following path of tabling look-up to obtain:
Path 1:I → K(just before website) → F(just before website) → A(just before website) → B(just before website) → H(just before website) → (just before website) J
The just front website of path 2:I → K() → just front website of F() → G(front right website) → just front website of B() → just front website of H() → just front website of J()
The path met the demands has 2, and in like manner, setting website to the right is default direction, and namely to the higher priority of having of right front route, through contrast, the priority level in the path met the demands is arranged as follows: route 2 > route 1.
The AGV dolly can record the routing information that priority level is the highest, and namely the AGV dolly namely 2 advances along path after starting.
By above 2 example explanations, no matter the AGV dolly is in which position in circuit, can find and optimize on request path and advance, thereby make the AGV dolly in the situation that the multiple tracks trouble finds targeted sites, and this path does not need the people to consider for going, the operator only needs the select target website, and the AGV dolly just can hunt out this path automatically.
The present embodiment is given the intelligence that the AGV dolly is higher, makes the AGV dolly that adaptability and practicality more flexibly be arranged.The applicable AGV dolly of the present embodiment has a plurality of and is uncertain start site and a plurality of uncertain targeted sites, and this is that traditional AGV dolly can't be realized.
For a person skilled in the art, can make other various corresponding changes and distortion according to technical scheme described above and design, and these all changes and the distortion all should belong to the protection domain of the claims in the present invention within.
Claims (2)
1.AGV the method for multiple tracks trouble automatic seeking purpose website, it is applied to, in the Vehicle Controller of AGV dolly, it is characterized in that, comprises the following steps:
Obtain current website and targeted sites;
By the cartographic information of setting up in advance, calculate from current website and travel to many driving paths of targeted sites; Wherein, described cartographic information comprises routing information between adjacent sites and the travel direction information between adjacent sites;
Select to meet the driving path guiding AGV trolley travelling of the priority condition of setting up in advance; Wherein, described priority condition for website to the right, travel or left website travel.
2.AGV the system of multiple tracks trouble automatic seeking purpose website, it is applied to, in the Vehicle Controller of AGV dolly, it is characterized in that, comprises with lower module:
Acquisition module, be used to obtaining current website and targeted sites;
Computing module, calculate from current website and travel to many driving paths of targeted sites for the cartographic information by setting up in advance; Wherein, described cartographic information comprises routing information between adjacent sites and the travel direction information between adjacent sites;
Judge module, be used to selecting to meet the driving path guiding AGV trolley travelling of the priority condition of setting up in advance; Wherein, described priority condition for website to the right, travel or left website travel.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104635735A (en) * | 2014-12-03 | 2015-05-20 | 上海好创机电工程有限公司 | Novel AGV visual navigation control method |
| CN105302139A (en) * | 2015-11-02 | 2016-02-03 | 天津阿备默机器人科技有限公司 | AGV map setting method based on walking logic |
| CN106292651A (en) * | 2015-05-14 | 2017-01-04 | 苏州宝时得电动工具有限公司 | Automatic working system, automatic work equipment and the method identifying homeposition thereof |
| CN107544497A (en) * | 2017-09-07 | 2018-01-05 | 南京昱晟机器人科技有限公司 | A kind of autonomous operation machinery remote runs node control method |
| CN109407672A (en) * | 2018-12-11 | 2019-03-01 | 新乡市中誉鼎力软件科技股份有限公司 | Intelligent dumper control method and intelligent haul vehicle control |
| CN110398954A (en) * | 2018-04-24 | 2019-11-01 | 北京京东尚科信息技术有限公司 | A kind of path planning, storage method and its device |
| CN111076723A (en) * | 2019-11-27 | 2020-04-28 | 何秀华 | Rail transit route planning method and planning device |
| CN111930122A (en) * | 2020-08-11 | 2020-11-13 | 国家图书馆 | Book and periodical conveying trolley control method and device for library |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635735A (en) * | 2014-12-03 | 2015-05-20 | 上海好创机电工程有限公司 | Novel AGV visual navigation control method |
| CN106292651A (en) * | 2015-05-14 | 2017-01-04 | 苏州宝时得电动工具有限公司 | Automatic working system, automatic work equipment and the method identifying homeposition thereof |
| CN106292651B (en) * | 2015-05-14 | 2020-01-14 | 苏州宝时得电动工具有限公司 | Automatic working system, automatic working equipment and method for identifying starting position |
| CN105302139A (en) * | 2015-11-02 | 2016-02-03 | 天津阿备默机器人科技有限公司 | AGV map setting method based on walking logic |
| CN105302139B (en) * | 2015-11-02 | 2018-11-30 | 天津阿备默机器人科技有限公司 | AGV map setting method based on walking logic |
| CN107544497A (en) * | 2017-09-07 | 2018-01-05 | 南京昱晟机器人科技有限公司 | A kind of autonomous operation machinery remote runs node control method |
| CN110398954A (en) * | 2018-04-24 | 2019-11-01 | 北京京东尚科信息技术有限公司 | A kind of path planning, storage method and its device |
| CN109407672A (en) * | 2018-12-11 | 2019-03-01 | 新乡市中誉鼎力软件科技股份有限公司 | Intelligent dumper control method and intelligent haul vehicle control |
| CN111076723A (en) * | 2019-11-27 | 2020-04-28 | 何秀华 | Rail transit route planning method and planning device |
| CN111930122A (en) * | 2020-08-11 | 2020-11-13 | 国家图书馆 | Book and periodical conveying trolley control method and device for library |
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Application publication date: 20131127 |
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