CN107045349A - A kind of indoor visual guidance AGV mission planning method - Google Patents
A kind of indoor visual guidance AGV mission planning method Download PDFInfo
- Publication number
- CN107045349A CN107045349A CN201710264281.5A CN201710264281A CN107045349A CN 107045349 A CN107045349 A CN 107045349A CN 201710264281 A CN201710264281 A CN 201710264281A CN 107045349 A CN107045349 A CN 107045349A
- Authority
- CN
- China
- Prior art keywords
- task
- agv
- point
- numbering
- points
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000000007 visual effect Effects 0.000 title claims abstract description 11
- 239000000969 carrier Substances 0.000 claims abstract description 4
- 239000011159 matrix material Substances 0.000 claims description 20
- 239000002243 precursor Substances 0.000 claims description 10
- 238000003491 array Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000000205 computational method Methods 0.000 claims description 2
- 230000008521 reorganization Effects 0.000 claims description 2
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 3
- 238000004891 communication Methods 0.000 description 9
- 230000007613 environmental effect Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 206010057315 Daydreaming Diseases 0.000 description 1
- 229910002056 binary alloy Inorganic materials 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000005314 correlation function Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011496 digital image analysis Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000003892 spreading Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Abstract
The invention discloses a kind of indoor visual guidance AGV mission planning method, 1, according to the actual environment of plant, set up label and environment data base；2nd, the coordinate of the AVG tasks point of each fixation is stored in the database in the first step；3rd, AGV task points are selected in mobile terminal, and is that unit is modeled to factory by the AGV tasks point of selection；4th, optimal execution sequence is calculated using Floyd algorithms；5th, mobile terminal sends the optimal execution sequence in the final path run to master station server, master station server according to the execution sequence counting of carriers；6th, master console sends in final path to AGV dollies, and AGV dollies realize the mission planning of AGV dollies according to the path.The present invention realizes that AGV changes operation task in real time in the process of running, while using the mission planning mode in units of task point, greatly reduces local environment change and runs the influence produced to whole system.
Description
Technical field
The invention belongs to path planning field, more particularly to a kind of indoor visual guidance AGV mission planning method.
Background technology
Traditional warehouse transport relies primarily on artificial handling goods and transported, and travelling speed is slow, it is impossible to continuous for a long time
Work, artificial improper operation even can cause security incident；Secondly, rise steadily, pass recently as domestic manpower price
The manpower means of transportation of system causes production cost to climb up and up.AGV (Automated GuidedVehicle) is one kind by manual
Or it is automatic that goods or workpiece is loaded on the vehicle, automatically walk is to appointed place, then the mobile fortune that goods or workpiece are unloaded down
Defeated instrument.AGV intelligence degrees are high, will not be tired, do not fear danger, will not be dispirited absent-minded, precisely accurate, can not only greatly save
Business manpower cost；Also employee post out of danger can be made, the work of more hommization is engaged in, to improving production efficiency, drop originally
Upgrading, the production management level effect of enterprise are notable.
The AGV major advantages of guide mode based on machine vision are that path sets simple, flexible, cost low；Path
Safeguard convenient with transformation；Vision guided navigation is not influenceed by electromagnetic field, is worked more reliable and more stable；Many points can very easily be recognized
Branch road；Various road signs can very easily be recognized, in that context it may be convenient to obtain the multi-motion deviation of vehicle, be easy to design optimal control
Device processed；Intelligent level is high, flexible with optimal guiding, the AGV that machine vision is oriented to by be following AGV development direction.
But the planning of tradition AGV tasks and design comparison are stiff, the path of similar streamline is once it is determined that it is difficult to carry out
Change, or change operation task will be faced with the problem of redesigning surrounding environment and hardware, be unfavorable for the production of factory, no
Meet the requirement of intelligent plant.Current mobile terminal mobile phone A ndroid systems are with its good stability of a system, superpower data
Disposal ability, can almost replace traditional PC, it is possible to more convenient, be operated in real time completely,
It is applied to AGV by mobile terminal and carries out mission planning to have great significance.
The content of the invention
Goal of the invention：Mission planning mode for tradition AGV present in prior art is single, the maintenance in path and changes
Become relatively difficult, and cost is higher, lack flexibility, it is impossible to adapt to the requirement of factory's real-time transform operation task according to demand
Problem, the present invention provides a kind of flexibility of raising AGV operations, realizes that dolly can change operation task in real time according to production,
Improve the flexible and intelligent indoor visual guidance AGV of AGV transportation systems mission planning method.
Technical scheme：In order to solve the above technical problems, the present invention provides a kind of indoor visual guidance AGV mission planning side
Method, is comprised the following steps that：
The first step：According to the actual environment of plant, a coordinate points are selected every three meters, a label is chosen and represents the coordinate
Point builds two-dimensional plane coordinate, sets up label and environment data base；
Second step：By the database in the coordinate deposit first step of the AVG tasks point of each fixation；
3rd step：AGV task points are selected in mobile terminal, and are that unit is built to factory by the AGV tasks point of selection
Mould；
4th step：Optimal execution sequence is calculated using Floyd algorithms；
5th step：Mobile terminal sends the optimal execution sequence to master station server, and master station server is according to this
The final path of execution sequence counting of carriers operation；
6th step：Master console sends in final path to AGV dollies, and AGV dollies realize AGV dollies according to the path
Mission planning.
Further, label is attached at the top of factory in the first step, is easy to the camera on dolly to be scanned.
Further, the specific step being modeled in the 3rd step and by the AGV tasks point of selection for unit to factory
Suddenly it is：It is the network diagramming that unit is constituted that whole factory is built into a coordinate points where the AGV tasks point chosen, and in task
Weights are assigned between point, a network diagramming for including weights is obtained.
The computational methods of wherein weights size are as follows：
In formula：qijRepresent the weights between the task point that numbering is i, j
lijRepresent the actual range between the task point that numbering is i, j
M represents at least to need the number of times of conversion direction from a task point to another task point dolly.
Further, comprising the following steps that for optimal execution sequence is calculated using Floyd algorithms in the 4th step：
4.1：Initialize adjacency matrix D and precursor matrix P；
4.2：One of them in selected task point, as terminal, calculates other any two task points process
Weights size required for the path of the intermediate transit point, if the weights size than in adjacency matrix both weights it is small, update
Adjacency matrix and precursor matrix, otherwise keep constant；
4.3：Judge whether to have traveled through all task points, step 4.4 is entered if having traveled through, if not traveled through
Return to step 4.2；
4.4：Being stored according to numbering size in an array for all task points that user is selected forms task array,
According to array indexing, two adjacent data, i.e., the numbering of two task points are selected；
4.5：Using in the two task points smaller numbering as starting point, another inquires about precursor matrix as terminal,
Obtain the optimal execution sequence between this 2 points；
4.6：If comprising numbering numbering more than the terminal in obtained optimal execution sequence, and this numbering is included in institute
Select for a post in business point, then update task array, the numbering is deleted from task array；
4.7：Judge whether to have traveled through all task arrays, the optimal execution sequence of task is obtained if having traveled through and is tied
Beam, return to step 4.4 if not traveled through.
Compared with prior art, the advantage of the invention is that：
The present invention realizes in factory that all run entities can be with by the way that the environment of plant is virtualized into digitized two-dimensional plane
Self-position is described by coordinate.Communication system is set up simultaneously, by master station server, Android phone, AGV dollies, workshop
Workbench is unified in same LAN, and mission planning is carried out by Android, and using master station as unified control center and
Routing information forwarding unit, realizes the planning of AGV dollies real-time task.Android essential in life is applied to AGV
The mission planning of dolly, the characteristics of showing convenient and swift has catered to the requirement in intelligent chemical plant again.
Meanwhile, use and mission planning is carried out in units of task point, the specific path between any two task point is by leading
Control platform server is determined according to corresponding environmental model, and separate, is not considered in mission planning between task point
Running environment.Environmental change between certain two task point, it is only necessary between master station server changes the two task points
Environmental model, the operation between mission planning and other task points is not influenceed.It is greatly reduced local environment change
Influence to whole system.This programme solves traditional AGV trolley travellings mission planning underaction, AGV method of operation list
One, there is critically important meaning to the intellectuality of AGV dollies.
Brief description of the drawings
Fig. 1 is overview flow chart of the invention；
Fig. 2 is to calculate the flow chart of optimal execution sequence in Fig. 1；
Fig. 3 is system framework figure of the invention；
Fig. 4 is the environment digitized label schematic diagram in specific embodiment.
Embodiment
With reference to the accompanying drawings and detailed description, the present invention is furture elucidated.
The invention provides a kind of scheme of AGV dollies mission planning.Will be whole by specific environment digitized label
Factory is virtualized into a two dimensional surface for including coordinate information, and all AGV dollies run in factory can regard this as
The point that two dimensional surface internal coordinate is continually changing, the real-time coordinates position of AGV dollies is by recognizing the environment number of patch on the ceiling
Word label is determined.Set up simultaneously in communication system using WIFI as medium, communication system comprising master station server,
Android phone, AGV dollies and workbench.Wherein workbench distribution is the potential task address of AGV dollies in the factory.It is main
Control platform is responsible for the scheduling and planning of whole system, and the optimal execution of task choosing and task that Android phone is responsible for AGV dollies is suitable
The calculating of sequence.
AGV recognizes specific label to position using vehicle-mounted camera in the present invention, and dolly and all working platform is unified
In same coordinate system.The mini PC of controller, the WIFI systems of each workbench and the Android phone system of each dolly
One is connected on master station server.
Spreading all in the present invention, in factory has some workbench, and each workbench is exactly an AGV task point, and AGV's appoints
Business planning is in units of task point, and the carrying out practically path between each two task point is by master station server according to environmental model
Unified planning, and it is separate.If in the process of running, the running environment between two of which task point changes, only
The environmental model changed in master station between the two task points is needed, the operation between other task points is not influenceed, while
The mission planning of the overall situation is not influenceed.
The realization of mission planning is to change mission requirements information, i.e. dolly by Android phone client in the present invention
The information for the workbench to be reached, cell-phone customer terminal calculates the optimal execution sequence gone out on missions by Floyd algorithms, optimal to hold
Row order has performed all task run shortest paths as principle using dolly.The optimal execution sequence is sent by Socket and led
Platform server is controlled, master station server plans that the operating path formation dolly between each two task point is completed according to task order
The global path of all tasks.And the path is sent to AGV controller, AGV receives the routing information that server is transmitted
Run afterwards according to new path.
In the present invention, the virtualization of the environment of plant is realized using a kind of specially designed environment digitized label.Each mark
Label include specific position coordinates and posture feature, and multiple labels are attached on the ceiling of factory, realize the reality of factory
Environmental transformation is into virtual digitized two-dimensional plane, and all run entity such as AGV dollies, workbench etc., can see in factory
Into the coordinate points in two dimensional surface.
Environment digitized label is as shown in Figure 4.Label theme colors are red, are divided into two regions, dash area is side
Frame region, inside is data area, includes the matrix area of one 4 × 4, and totally 16 squares represent the binary system of one 16
Number, wherein red represent number 0, white represents number 1.In 16 position (S is determined comprising 4 directions1S4S13S16), 10 digits
According to position (S3S5S6S7S8S10S11S12S14S15) and 2 bit checks position (S2S9)。
In the present invention, workbench is AGV task point, and master station server, server are connected to Socket clients
The list of the simultaneously corresponding actual position coordinate of each workbench of real-time update is maintained, realizes when chauffeur is needed, presses work
Make the switch at platform, indicator lamp is bright, represent work at present platform just in chauffeur, when dolly is reached, indicator lamp goes out.
Workbench realizes wireless communication connection to master station server using ESP8266WIFI modules, and ESP8266 modules are
The WIFI module of a super low-power consumption, it is only necessary to which 3.3V direct current supplys provide for stable WIFI functions, chip provides volume in addition
Outer I/O port is used to expand other functions.
In the present invention, two I/O ports of module are mainly applied, wherein GPIO04 connects 3.3V by a pull-up resistor
Power supply, for the closure or the state of disconnection of detection switch, GPIO05 is used for the light on and off for controlling LED, when the high electricity of GPIO05 outputs
Usually, triode Q1 paths, light emitting diode formation path is so as to luminous.
Master station service is connected to automatically by corresponding IP address and port numbers by electricity on programming realization ESP8266
Device, and oneself workbench numbering sent to server simultaneously realize and be connected in whole system network, when workbench herein
When needing dolly, switch is pressed, ESP8266 detects the information that switch is pressed, the information of chauffeur is sent into master station, together
When, GPIO05 puts high level, and LED is bright, after dolly is reached and completes assigned tasks, press again switch notify information desk this
Place's workbench task has been completed, and dolly can drive towards next destination, while indication LED lamp extinguishes, shows that task is herein
Complete.
In whole factory's plane, workbench is by the task point as AGV, coordinate of each task point comprising itself and specific
Task, i.e.,：By workbench by factory modeling into a two dimensional surface for including some task points.
The major function of the radio communication of AGV dollies is in real time by the posture information of oneself and the mistake of itself in the present invention
Information transmission is to master station server and receives the operating path information that the transmission of master station server comes, and dolly is passed according to master station
The routing information come carries out the renewal of operating path.
In the present invention, the wireless communication section of dolly realizes that mini PC passes through wireless by the mini PC in vehicle-mounted control center
Network interface card is connected to master station server.Vehicle-mounted mini PC loads LINUX system, is started based on LINUX system programming realization dolly
When be connected to master station, send the numbering of oneself, and circular wait master station sends initial launch routing information, receives initial
Run by path during routing information, and oneself pose and status information are sent to master station server within each cycle.
If receiving the signal of master station path change in operation way, then run according to the path after change.
In the present invention, another responsible vehicle-mounted mini PC correlation function is to obtain the figure for including label by camera
As (such as Fig. 4), the present invention obtains the image containing label, with digital image analysis treatment technology, will identify that the image come
Being digitized into a string of binary digit strings is used to distinguish different labels, then determines corresponding physical location by different labels,
And the position of label and the anglec of rotation, which can be calculated, in image obtains image center location (AGV positions) relative to label
True bearing, you can to know the pose and deflection angle information at the now corresponding real coordinate position of dolly, Liang Zhexiang
With reference to position and direction of the AGV in actual environment can be calculated, the positioning of dolly in the environment is realized.
Master station server is control control centre and the retransmission center of whole system in the present invention, based on windows systems
System, the request of AGV dollies, workbench and mobile phone terminal APP is handled using multithreading respectively, and its major function has following several parts：
1st, with the communication of AGV dollies
The AGV dollies numbering of all on-line operations is shown with tabular form, and monitors whether have new dolly connection in real time
Enter server, if there is new AGV dollies connection, the numbering of the dolly newly connected is added in dolly list.Newly opened to each
Dynamic dolly sends the status information beamed back among initial path information, and real-time reception trolley travelling and shown to relevant position.
When needing change trolley travelling path, new routing information is sent to dolly.
2nd, with the communication of workbench
Safeguard and real-time update workbench numbered list, all working platform in actual motion environment has a correspondence volume
Number, workbench it is upper be electrically connected to server when, the numbering of oneself is sent to server.Each workbench numbering correspondence one
World coordinates, that is, relative position of the workbench in actual motion environment.Master station server monitors each work in real time
The solicited message of platform, dolly can be determined when the workbench for listening to some numbering needs dolly according to this corresponding coordinate of numbering
The path of so far position is run, and selects a dolly and changes path operation so far workbench.
3rd, with the communication of Android client
The connection request of Android client is received, and sets up managing listings.Once connection is set up i.e. to cell-phone customer terminal
All status informations of dolly are sent, current operating path, position itself and status information comprising dolly and whether have
Mistake, and real-time update.When the task that master station server receives a certain dolly that cell-phone customer terminal is sent changes information
When, the actual motion path of dolly is formulated according to tasks carrying order and combination relevant environment model, routing information is forwarded to
Corresponding dolly, realizes mission planning.
In the present invention, Android phone end APP is the promoter of dolly mission planning.Its major function is to pass through
Socket is connected to master station server, the running status of all dollies of information monitoring sent by server, works as needs
During the operation task of a certain dolly of adjustment, user selects dolly to need completing for task by needing, and client passes through Floyd
Algorithm calculates the optimal execution sequence gone out on missions, and the execution sequence is sent to master station server.Specific implementation step is such as
Under：
1st, master station server is logged on to
The interface of master station is logged on to, by inputting the IP address and port numbers of master station server, is built using socket
One long connection is stood, in order to receive the dolly information of master station transmission and send amended routing information to master station.
2nd, the running status of all dollies is monitored
Log on to after master station server, the running state information of each dolly can be updated to mobile phone visitor by master station in real time
In the end of family.Cell-phone customer terminal actively can also ask to refresh the running status of dolly to server, can monitor in real time herein
The running status of each dolly, including the operating path of each dolly, dolly current location, the information whether broken down.
3rd, AGV more new tasks
When certain dolly needs modification operation task, the corresponding list of this dolly is clicked on, you can to enter dolly task
Selection interface, workbench (task point) numbering for needing to pass through in this interface modification dolly, after the completion of selection, backstage passes through
Floyd algorithms calculate optimal execution sequence, then send the information to master station server by Socket.
Based on above each several part software and hardware facilities, mission planning method flow such as Fig. 1 of the invention implements step such as
Under：
Step one：According to the actual environment of plant, factory is regarded as a two-dimensional plane coordinate, every three meters of selections, one seat
Punctuate, chooses a label and represents the coordinate points, set up the database of label and actual environment；
Step 2：The AGV dollies of all run entities in factory, including all working platform and on-line operation are invented
A coordinate points in two dimensional surface, workbench is the task point that AGV is run.
Step 3：AGV operation task point is selected using cell-phone customer terminal.
Step 4：On cell-phone customer terminal, factory is modeled in units of task point.Entirely factory it will regard one as
Certain weights, weights size are assigned between an individual network diagramming being made up of some task points, task point according to actual environment
Calculate as follows：
In formula：qijRepresent the weights between the task point that numbering is i, j
lijRepresent the actual range between the task point that numbering is i, j
M represents at least to need the number of times of conversion direction from a task point to another task point dolly
One according to obtaining include weights network diagramming, calculated using Floyd algorithms by the most short of selected task point
Path, circular is：
A. adjacency matrix D and precursor matrix P is initialized；
B. one of them in task point is selected, as intermediate transit point；
C. other any two task points are calculated by the weights size required for the path of the intermediate transit point, if the weights are big
It is small than in adjacency matrix both weights it is small, then update adjacency matrix and precursor matrix, otherwise keep constant；
D. repeat step b, c, until having traveled through all task points, preserves the precursor matrix after the completion of final updating；
E. being stored according to numbering size in an array for all task points user selected forms task array, presses
According to array indexing, two adjacent data, i.e., the numbering of two task points are selected；
F. using in the two task points smaller numbering as starting point, another inquires about precursor matrix, obtained as terminal
Optimal execution sequence between this 2 points；
If comprising numbering numbering more than the terminal in the optimal execution sequence g. obtained, and this numbering is included in selected
In task point, then task array is updated, reorganization number is deleted from task array.
H. repeat step e, f, g is until having traveled through all task arrays, it is possible to obtains one and complete includes user institute
The shortest path of all task points of choosing.The shortest path is exactly the optimal execution sequence of task selected by user.
Step 5：Cell-phone customer terminal sends the optimal execution sequence to master station server, master station server according to
The final path of execution sequence counting of carriers operation.Specifically calculation is：
First according to tasks carrying order, two task points are chosen successively, and to the operation ring between the two task points
Border is modeled in units of coordinate points, i.e., choose and also assigned between a coordinate points, coordinate points using formula (1) every a certain distance
Certain weights are given, a network diagramming for including weights is similarly formed；
Then, using shortest path between dijkstra's algorithm two task points of calculating, that is, AGV dollies are at the two
Optimal driving path between task point；
Finally, the optimal path between all task points is connected, form AGV dollies has selected for a post business comprising all
Final path, and the path is sent to AGV dollies.
Step 6：AGV dollies realize the mission planning of AGV dollies according to the route.
Embodiments of the invention is the foregoing is only, is not intended to limit the invention.All principles in the present invention
Within, the equivalent substitution made should be included in the scope of the protection.The content category that the present invention is not elaborated
In prior art known to this professional domain technical staff.
Claims (5)
1. a kind of indoor visual guidance AGV mission planning method, it is characterised in that comprise the following steps that：
The first step：According to the actual environment of plant, a coordinate points are selected every three meters, a label is chosen and represents the coordinate points structure
Two-dimensional plane coordinate is built, label and environment data base is set up；
Second step：By the database in the coordinate deposit first step of the AVG tasks point of each fixation；
3rd step：AGV task points are selected in mobile terminal, and are that unit is modeled to factory by the AGV tasks point of selection；
4th step：Optimal execution sequence is calculated using Floyd algorithms；
5th step：Mobile terminal sends the optimal execution sequence to master station server, and master station server is according to the execution
The final path of order counting of carriers operation；
6th step：Master console sends in final path to AGV dollies, and AGV dollies realize appointing for AGV dollies according to the path
Business planning.
2. a kind of indoor visual guidance AGV according to claim 1 mission planning method, it is characterised in that described
Label is attached at the top of factory in one step, is easy to the camera on dolly to be scanned.
3. a kind of indoor visual guidance AGV according to claim 1 mission planning method, it is characterised in that described
It is concretely comprising the following steps that unit is modeled to factory in three steps and by the AGV tasks point of selection：Whole factory is built one
Coordinate points are the network diagramming that unit is constituted where the AGV tasks point chosen, and assign weights between task point, obtain one
Network diagramming comprising weights.
4. a kind of indoor visual guidance AGV according to claim 3 mission planning method, it is characterised in that the power
The computational methods for being worth size are as follows：
In formula：qijRepresent the weights between the task point that numbering is i, j
lijRepresent the actual range between the task point that numbering is i, j
M represents at least to need the number of times of conversion direction from a task point to another task point dolly.
5. a kind of indoor visual guidance AGV according to claim 1 mission planning method, it is characterised in that described
Comprising the following steps that for optimal execution sequence is calculated using Floyd algorithms in four steps：
4.1：Initialize adjacency matrix D and precursor matrix P；
4.2：One of them in selected task point, as terminal, calculates other any two task points by this
Weights size required for the path of turning point, if the weights size than in adjacency matrix both weights it is small, update adjoining
Matrix and precursor matrix, otherwise keep constant；
4.3：Judge whether to have traveled through all task points, step 4.4 is entered if having traveled through, is returned if not traveled through
Step 4.2；
4.4：Being stored according to numbering size in an array for all task points that user is selected forms task array, according to
Array indexing, selects two adjacent data, i.e., the numbering of two task points；
4.5：Using in the two task points smaller numbering as starting point, another inquires about precursor matrix, obtained as terminal
Optimal execution sequence between this 2 points；
4.6：If comprising numbering numbering more than the terminal in obtained optimal execution sequence, and this numbering is included in and selected for a post
In business point, then task array is updated, reorganization number is deleted from task array；
4.7：Judge whether to have traveled through all task arrays, the optimal execution sequence of task is obtained if having traveled through and is terminated, such as
Fruit has not traveled through then return to step 4.4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710264281.5A CN107045349A (en) | 2017-04-21 | 2017-04-21 | A kind of indoor visual guidance AGV mission planning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710264281.5A CN107045349A (en) | 2017-04-21 | 2017-04-21 | A kind of indoor visual guidance AGV mission planning method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107045349A true CN107045349A (en) | 2017-08-15 |
Family
ID=59545276
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710264281.5A Pending CN107045349A (en) | 2017-04-21 | 2017-04-21 | A kind of indoor visual guidance AGV mission planning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107045349A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108133335A (en) * | 2018-01-30 | 2018-06-08 | 共享智能铸造产业创新中心有限公司 | A kind of logistics multitask control system and its control method based on AGV equipment |
| CN109141449A (en) * | 2018-07-02 | 2019-01-04 | 中国计量大学 | Automated guided vehicle most becate shape method for path navigation and guide transport lorry |
| CN111079967A (en) * | 2018-10-22 | 2020-04-28 | 杭州海康机器人技术有限公司 | Device control method, device, server, storage medium, and device control system |
| CN112100739A (en) * | 2020-08-26 | 2020-12-18 | 福建摩尔软件有限公司 | Simulation management method, device, system, equipment and medium for AGV of factory |
| CN112987706A (en) * | 2019-11-29 | 2021-06-18 | 江苏华章物流科技股份有限公司 | AGV trolley self-cooperation method and system |
| CN115375249A (en) * | 2022-10-26 | 2022-11-22 | 埃克斯工业有限公司 | Material handling scheduling method, device and equipment and readable storage medium |
| CN115542924A (en) * | 2022-11-28 | 2022-12-30 | 中汽智联技术有限公司 | Path planning method, device and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001209430A (en) * | 1999-11-19 | 2001-08-03 | Tsubakimoto Chain Co | Planning method and equipment for track vehicle |
| CN105467997A (en) * | 2015-12-21 | 2016-04-06 | 浙江工业大学 | Storage robot path program method based on linear temporal logic theory |
| CN105717921A (en) * | 2014-12-01 | 2016-06-29 | 浙江尤恩叉车股份有限公司 | Automated guided vehicle (AGV) system |
| CN106094834A (en) * | 2016-07-19 | 2016-11-09 | 芜湖哈特机器人产业技术研究院有限公司 | Based on the method for planning path for mobile robot under known environment |
| CN106525047A (en) * | 2016-10-28 | 2017-03-22 | 重庆交通大学 | Unmanned aerial vehicle path planning method based on floyd algorithm |
-
2017
- 2017-04-21 CN CN201710264281.5A patent/CN107045349A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001209430A (en) * | 1999-11-19 | 2001-08-03 | Tsubakimoto Chain Co | Planning method and equipment for track vehicle |
| CN105717921A (en) * | 2014-12-01 | 2016-06-29 | 浙江尤恩叉车股份有限公司 | Automated guided vehicle (AGV) system |
| CN105467997A (en) * | 2015-12-21 | 2016-04-06 | 浙江工业大学 | Storage robot path program method based on linear temporal logic theory |
| CN106094834A (en) * | 2016-07-19 | 2016-11-09 | 芜湖哈特机器人产业技术研究院有限公司 | Based on the method for planning path for mobile robot under known environment |
| CN106525047A (en) * | 2016-10-28 | 2017-03-22 | 重庆交通大学 | Unmanned aerial vehicle path planning method based on floyd algorithm |
Non-Patent Citations (1)
| Title |
|---|
| 刘承换: "基于以太网的视觉导引AGV路径控制方法", 《工业控制计算机》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108133335A (en) * | 2018-01-30 | 2018-06-08 | 共享智能铸造产业创新中心有限公司 | A kind of logistics multitask control system and its control method based on AGV equipment |
| CN109141449A (en) * | 2018-07-02 | 2019-01-04 | 中国计量大学 | Automated guided vehicle most becate shape method for path navigation and guide transport lorry |
| CN111079967A (en) * | 2018-10-22 | 2020-04-28 | 杭州海康机器人技术有限公司 | Device control method, device, server, storage medium, and device control system |
| CN111079967B (en) * | 2018-10-22 | 2023-10-13 | 杭州海康机器人股份有限公司 | Equipment control method, device, server, storage medium and equipment control system |
| CN112987706A (en) * | 2019-11-29 | 2021-06-18 | 江苏华章物流科技股份有限公司 | AGV trolley self-cooperation method and system |
| CN112987706B (en) * | 2019-11-29 | 2022-07-12 | 江苏华章物流科技股份有限公司 | AGV trolley self-cooperation method and system |
| CN112100739A (en) * | 2020-08-26 | 2020-12-18 | 福建摩尔软件有限公司 | Simulation management method, device, system, equipment and medium for AGV of factory |
| CN115375249A (en) * | 2022-10-26 | 2022-11-22 | 埃克斯工业有限公司 | Material handling scheduling method, device and equipment and readable storage medium |
| CN115542924A (en) * | 2022-11-28 | 2022-12-30 | 中汽智联技术有限公司 | Path planning method, device and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107045349A (en) | A kind of indoor visual guidance AGV mission planning method | |
| Feng et al. | Operations management of smart logistics: A literature review and future research | |
| Fragapane et al. | Planning and control of autonomous mobile robots for intralogistics: Literature review and research agenda | |
| CN103389699B (en) | Based on the supervisory control of robot of distributed intelligence Monitoring and Controlling node and the operation method of autonomous system | |
| CN107036618A (en) | A kind of AGV paths planning methods based on shortest path depth optimization algorithm | |
| US11164149B1 (en) | Method and system for warehouse inventory management using drones | |
| CN106452903A (en) | Cloud-aided intelligent warehouse management robot system and method | |
| CN206411514U (en) | A kind of intelligent storage mobile-robot system positioned based on Quick Response Code | |
| CN110807236A (en) | Warehouse logistics simulation system based on multiple robots | |
| CN110174891A (en) | A kind of AGV cluster control system and method based on WIFI wireless communication | |
| CN105045274B (en) | A kind of intelligent shaft tower connected graph construction method for unmanned plane inspection trajectory planning | |
| CN105467997A (en) | Storage robot path program method based on linear temporal logic theory | |
| CN106647738A (en) | Method and system for determining docking path of automated guided vehicle, and automated guided vehicle | |
| CN103268119A (en) | Automatic guided vehicle navigation control system and navigation control method thereof | |
| Liu et al. | Path planning and intelligent scheduling of multi-AGV systems in workshop | |
| CN106789221A (en) | Automobile storage site management system and its management method based on UWB positioning | |
| CN109671135A (en) | Method for drawing map, self-propelling device and storage medium | |
| CN108614564A (en) | A kind of Intelligent cluster storage robot system based on pheromones navigation | |
| CN102708512A (en) | Intelligent bridge maintenance management system based on Internet of Things and 3D (three-dimensional) GIS (geographic information system) | |
| CN109144044A (en) | The robot autonomous navigation of one kind and kinetic control system and method | |
| CN108897316A (en) | A kind of cluster storage robot system control method based on pheromones navigation | |
| CN111913483A (en) | Dispatching system and method for four-way shuttle | |
| CN207281586U (en) | A kind of Mobile Robotics Navigation control system | |
| CN202976181U (en) | Bridge management system based on Internet of Things and 3D GIS | |
| Liu et al. | A Floyd-Dijkstra hybrid application for mobile robot path planning in life science automation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170815 |