CN109489671A - A kind of paths planning method of AGV robot, device and system - Google Patents
A kind of paths planning method of AGV robot, device and system Download PDFInfo
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- CN109489671A CN109489671A CN201811623486.9A CN201811623486A CN109489671A CN 109489671 A CN109489671 A CN 109489671A CN 201811623486 A CN201811623486 A CN 201811623486A CN 109489671 A CN109489671 A CN 109489671A
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- 241001269238 Data Species 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000003860 storage Methods 0.000 description 7
- 238000004590 computer program Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
Abstract
The invention discloses a kind of paths planning method of AGV robot, device and system, method includes: to obtain the status information of AGV robot, and judge whether the state of AGV robot meets preset current condition；If meeting preset current condition, determine the first anchor point and the second anchor point as origin reference location point from operating environment map；If being unsatisfactory for preset current condition, determine the first anchor point as origin reference location point from operating environment map；The determining origin reference location point is input in path planning algorithm, the planning path exported.Thus, different origin reference location points is selected according to the different conditions of each AGV robot, is carried out path planning using the origin reference location point of selection, is met the passage demand of the AGV robot under different conditions, the flexibility of path planning is enhanced, the raising of AGV robot efficiency is conducive to.
Description
Technical field
The present invention relates to automated guided vehicle AGV (Automated Guided Vehicle) technical fields, specifically relate to
And paths planning method, the device and system of AGV robot.
Background technique
In current digitlization workshop, automatic material flow workshop, AGV trolley or AGV robot are that one kind can be
In given path and scene information layout, the automatic transportation equipment of specified transport task, a good path planning side are completed
Case can not only improve automated production efficiency, while also ensure the utilization rate of production equipment.The path planning of the prior art
Technical solution considers from driving direction mostly, and the shortest path of AGV is generated using path planning algorithm, these technical solutions are multiple
Miscellaneous degree is high and does not consider the status information of AGV robot itself, for example, two AGV robots state is different but the path of planning
It is identical, it is difficult to meet its passage demand.
Summary of the invention
The present invention provides a kind of paths planning methods of AGV robot, device and system, in path planning level, root
Different origin reference location points is selected to carry out path planning according to the different conditions of AGV robot, so as to meet different conditions
The passage demand of AGV robot, and computation complexity is reduced to a certain extent.
According to the one aspect of the application, a kind of paths planning method of AGV robot is provided, comprising:
The status information of AGV robot is obtained, and judges whether the state of AGV robot meets preset current condition；
If meeting preset current condition, determine that the first anchor point and the second anchor point are made from operating environment map
For benchmark anchor point；Wherein, the first anchor point and the second anchor point are two kinds of anchor points that the operating environment map includes, and
The identifier of the instruction traffic information of first anchor point, the second anchor point is different；
If being unsatisfactory for preset current condition, determine the first anchor point as origin reference location from operating environment map
Point；
The determining origin reference location point is input in path planning algorithm, the planning path exported.
Optionally, first anchor point is the access points that channel is arranged on corresponding position, and second anchor point is
The goods yard point of shelf is placed on corresponding position；
It is described that determine the first anchor point and the second anchor point as origin reference location point from operating environment map include: from work
Determine the access points and goods yard point as origin reference location point in industry environmental map；
It include: to be determined from operating environment map from the first anchor point is determined in operating environment map as origin reference location point
The access points are as origin reference location point.
Optionally, the status information for obtaining AGV robot, and it is default to judge whether the state of AGV robot meets
Passage condition include:
The instruction for obtaining AGV robot is mounted with the first state information of cargo and the second state letter of unloaded cargo
First state information is allowed to be compared in the current condition of goods yard point by breath with preset unloaded cargo, and determination is unsatisfactory for
Preset current condition；
Second status information is allowed to be compared in the current condition of goods yard point with preset unloaded cargo, is determined full
The preset current condition of foot.
Optionally, the status information for obtaining AGV robot, and it is default to judge whether the state of AGV robot meets
Passage condition include:
The height condition information for obtaining AGV robot allows height condition information and the preset pallet height that is not higher than
Current condition is compared,
When the height value of height condition information instruction is higher than pallet height, determination is unsatisfactory for preset current condition；
When the height value of height condition information instruction is not higher than pallet height, determination meets preset current condition.
Optionally, the determining origin reference location point is input in path planning algorithm, the planning path exported
Include:
According to the attribute of the origin reference location point, the origin reference location point is screened, by the origin reference location selected point
It is input in path planning algorithm, the planning path exported.
Optionally, according to the attribute of the origin reference location point, carrying out screening to the origin reference location point includes:
The current attribute value of the locking attribute of the origin reference location point is obtained from operating environment map；
It is false origin reference location point as the origin reference location point selected that the current attribute value of attribute, which will be locked,.
Optionally, this method further include:
When according to the route planned to current path node, next path node of current path node is judged
Whether occupied by other AGV robots,
If occupied, waited on current path node；If unoccupied, next path node is driven to simultaneously
The occupied information of next path node is revised as occupying and returns to modified occupancy attribute to dispatching desk.
Optionally, this method further include: judging whether next path node is occupied by other AGV robots includes:
The category of the occupancy attribute of the corresponding anchor point of next path node is obtained from the working environment map of dispatching desk
Property value；
If the attribute value for occupying attribute is vacation, determine that next path node is not occupied by other AGV robots；
If the attribute value for occupying attribute is very, to determine that next path node is occupied by other AGV robots.
According to further aspect of the application, a kind of path planning apparatus of AGV robot is provided, comprising: memory
And processor, by internal bus communication connection between the memory and the processor, the memory is stored with can
The program instruction executed by the processor, described program instruction can be realized one side of the application when being executed by the processor
Method described in face.
According to the another aspect of the application, a kind of path planning system of AGV robot, comprising: dispatching desk, and it is described
At least one AGV robot of dispatching desk platform interaction,
Include the path planning apparatus of AGV robot described in further aspect of the application in dispatching desk, will plan road
Diameter is sent to the AGV robot；
The status information of AGV robot is sent to dispatching desk by the AGV robot；And according to the planning received
Path is travelled.
Using the paths planning method of the AGV robot of the embodiment of the present invention, device and system, AGV robot is obtained
Status information, and judge whether the state of AGV robot meets preset current condition, from operating environment map if meeting
Middle the first anchor point of determination and the second anchor point are as origin reference location point；The is determined from operating environment map if being unsatisfactory for
Then origin reference location point is input in path planning algorithm as origin reference location point, obtains planning path by one anchor point.To
In path planning level, different origin reference location points is selected according to the different conditions of each AGV robot, it is fixed using the benchmark of selection
Site carries out path planning, meets the passage demand of the AGV robot under different conditions, and reduce calculating to a certain extent
Complexity enhances the flexibility of path planning, is conducive to the raising of AGV robot efficiency.
Detailed description of the invention
Fig. 1 is the flow chart of the paths planning method of the AGV robot of one embodiment of the invention；
Fig. 2 is the flow diagram of the paths planning method of the AGV robot of another embodiment of the present invention；
Fig. 3 is the flow chart of the AGV robot obstacle-avoiding of one embodiment of the invention；
Fig. 4 is the structural block diagram of the path planning apparatus of the AGV robot of one embodiment of the invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.Obviously, described embodiments are some of the embodiments of the present invention, without
It is whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not before making creative work
Every other embodiment obtained is put, shall fall within the protection scope of the present invention.
Design concept of the invention is: for paths planning method in the prior art mostly from driving direction benefit
With the shortest path of path planning algorithm planning robot, the state of robot is not differentiated between, complexity is calculated, is not able to satisfy certain fields
The technical issues of passage demand of Jing Xia robot, proposes that a kind of path planning scheme of AGV robot, the program are advised in path
The level of drawing determines that different attribute is (such as instruction goods yard point, logical according to the different conditions of robot from the attribute of anchor point
The attribute of road point) anchor point be input in path planning algorithm and handled as origin reference location point, thus in path planning
When consider the different conditions of each AGV robot, meet the passage demand of the AGV robot under different conditions, enhance spirit
Activity has saved resource, and has reduced computation complexity.
Fig. 1 is the flow chart of the paths planning method of the AGV robot of one embodiment of the invention, referring to Fig. 1, this implementation
The paths planning method of the AGV robot of example includes the following steps:
Step S101 obtains the status information of AGV robot, and it is preset to judge whether the state of AGV robot meets
Current condition；
Step S102 determines the first anchor point and the if meeting preset current condition from operating environment map
Two anchor points are as origin reference location point；
Wherein, two kinds of anchor points that the first anchor point and the second anchor point include for the operating environment map, and first
The identifier of the instruction traffic information of anchor point, the second anchor point is different；
Step S103 determines that the first anchor point is made from operating environment map if being unsatisfactory for preset current condition
For benchmark anchor point；
The determining origin reference location point is input in path planning algorithm, the planning road exported by step S104
Diameter.
As shown in Figure 1 it is found that the paths planning method of the AGV robot of the embodiment of the present invention, obtains the state of robot
Information is judged whether to meet default current condition using status information, different origin reference locations is determined according to different judging results
Point is used for subsequent path planning, determines available anchor point from the input element of path planning, ensure that the path cooked up
Accuracy and reliability.In addition, the current demand of the personalization of the AGV robot under meeting different conditions, solves two
The state of a AGV robot is different, the identical problem in the path cooked up, and improves the efficiency of robot work, saves money
Source simultaneously reduces complexity.
In practical application, the working environment of AGV robot, itself information it is all certain and can know, should root
Preset current condition is set according to operating environment, specific requirements.In one embodiment, using the passage condition set as unloaded
Cargo allows the realization of the paths planning method for the current condition of goods yard point to the AGV robot of the embodiment of the present invention to walk
Suddenly it is illustrated.
Here when the passage condition set is in view of passing through shelf after robot loading, the cargo of carrying may be by shelf
Extension such as turns over, falls at the accidents, so the robot for presetting unloaded cargo allows current in goods yard point, loads the machine of cargo
People does not allow current in goods yard point.Based on this, by two kinds of anchor points in operating environment map in the present embodiment, that is, first is fixed
Site and the second anchor point are respectively set as that the access points in channel are arranged on corresponding position, and goods is placed on corresponding position
The goods yard point of frame.When specific implementation, each anchor point has an identifier in the operating environment map of building, which has
Two kinds of values, for example, true and false indicate that the anchor point is goods yard point when for true (or being 1), when for false (or being 0), table
Show that the anchor point is access points, it is subsequent whether to be input in path planning algorithm according to the differentiation of the unique identifier of point.
Referring to fig. 2, process starts, and sets path planning demand, executes step S201.
Step S201, if it needs to pass through under shelf, needs to be implemented step S202, do not need to execute step S203,
Here it is a judgement to current demand, specific deterministic process is such as: obtains the instruction dress of AGV robot
Be loaded with the first state information of cargo and the second status information of unloaded cargo, by first state information and it is preset without
Loading object allows to be compared in the current condition of goods yard point, and determination is unsatisfactory for preset current condition；By the second status information
Allow to be compared in the current condition of goods yard point with preset unloaded cargo, determination meets preset current condition.
In other embodiments of the invention, current condition is not limited to what aforementioned unloaded cargo allowed to pass through in goods yard point
Condition, may be set to be allows current condition not higher than pallet height, and judgement here will be changed to accordingly: obtaining AGV
Height condition information is allowed current condition to compare by the height condition information of robot with preset not higher than pallet height
Compared with when the height value of height condition information instruction is higher than pallet height, determination is unsatisfactory for preset current condition；When height shape
When the height value of state information instruction is not higher than pallet height, determination meets preset current condition.
Step S202, all point datas；
If the judging result in step S201 is to need to pass through under shelf, it is all fixed in operating environment map to obtain
The data in site.Here all point datas are the data of all available anchor points in the map of building, connect example, anchor point
Including goods yard point and access points, then all point datas here then refer to whole goods yard point and access points, that is to say, that make
The corresponding position robot of goods yard point also P Passable in industry environment (robot is passed through from bottom shelf in this case).
Step S204, lock attribute；
It is that origin reference location point (i.e. all point datas of determination in step S202) is being input to path rule in this step
Before in cost-effective method, according to the attribute of origin reference location point, the origin reference location point is screened, by the origin reference location selected point
It is input in path planning algorithm, the planning path exported.
A kind of implementation of screening is for example, the locking attribute for obtaining the origin reference location point from operating environment map is worked as
Preceding attribute value, will lock the current attribute value of attribute is false origin reference location point as the origin reference location point selected.
This step is the lock attribute of all point datas determined in judgment step S202.It should be noted that this hair
In bright embodiment, after initializing analytic map data, lock attribute is added for each anchor point, lock attribute is for False
It can be input into path planning algorithm, lock attribute is that True is then lock state, is not input in path planning algorithm.
Step S206, path planning algorithm；
Here, the origin reference location point that lock attribute is False is input in path planning algorithm, operating path planning is calculated
Method is handled, and the planning path of output can be obtained.
Step S203, the point data without goods yard mark；
It is different from all point datas are obtained in abovementioned steps S202, it is current under shelf according to not needing in this step
Judging result, obtain without goods yard mark point data, that is, only those access points in the anchor point of map, by goods yard point
It excludes, to both reduce the complexity of calculating, saves resource and also ensure the path of planning with more practicability and flexibly
Property, meet actual demand.
Two class of goods yard point and access points is divided by the anchor point in operating environment map in this present embodiment, so here
Without goods yard mark point data, that is, refer to access points data, to meet point corresponding position machine in goods yard in operating environment
People does not allow current demand.
Step S205, lock attribute,
This step is the lock attribute of the point determined in judgment step S203.Deterministic process and phase in abovementioned steps S204
Seemingly, it may refer to the related description in abovementioned steps S204, details are not described herein again.
Step S207, path planning algorithm；
This step is that the point that the lock attribute determined in step S205 is False is input in path planning algorithm,
And operating path planning algorithm, output planning path can be obtained.
So far, different according to the state of robot in the present embodiment, different map point datas is obtained, and based on acquisition
Point data carries out path planning, meets the passage demand of the robot of different conditions, has saved resource, reduces complexity simultaneously
And pass through setting lock attribute, abnormal anchor point locking is not involved in path planning, once it is different to solve the generation of some anchor point
The point, which does not allow to pass through, when often leads to robot planning path or waiting time-out again.
In one embodiment of the invention, it is also proposed that the means collided between more AGV robots are solved and evade,
Realization principle is: attribute such as road_car attribute is occupied for each anchor point setting on operating environment map, as an AGV
When driving since a point beginning on the path of planning, i.e., it is by the road_car attribute changes of the point in map datum
Very (True), other AGV cannot pass through from this point, otherwise be false (False), other AGV robots can pass through, so in operation
It prevents AGV robot from colliding in the level of the anchor point of environmental map, AGV robot is made orderly to advance.
Specifically, judging the next of current path node when according to the route planned to current path node
Whether a path node is occupied by other AGV robots, if occupied, waits on current path node；If not by
It occupies, drive to next path node and the occupied information of next path node is revised as after occupying return modification
Occupancy attribute to dispatching desk.Judge a kind of implementation example whether next path node is occupied by other AGV robots
It is in this way: the attribute of the occupancy attribute of the corresponding anchor point of next path node is obtained from the working environment map of dispatching desk
Value；If the attribute value for occupying attribute is vacation, determine that next path node is not occupied by other AGV robots；If occupied
The attribute value of attribute is very, to determine that next path node is occupied by other AGV robots.
, from point, step S301 is executed, into the state of getting redy to start off according to the path of planning referring to Fig. 3, AGV；Into
Enter to get redy to start off state when execute step S302.
Step S302, front point road_car attribute are very, then to return to step S301, if false, executing step
S303；
That is the road_car attribute value of judgement front point, front point here is, for example, the road that AGV robot is currently located
Next path node of diameter node may influence other AGV robots to avoid the occupancy situation for judging path node too early
Traffic efficiency.If the occupancy attribute value of next path node is true True, indicate occupied, then return step S301,
It is continued waiting for into the state of getting redy to start off, here in order to avoid prolonged wait excessively influences task execution, waiting can be set
Time threshold, overtime then planning path again.If the occupancy attribute value of next path node is false False, indicate not by
Occupancy can pass through, and then follow the steps S303.
Step S303 is started running after being True by the road_car attribute changes of AGV starting point.
It then sets out when the attribute value for judging next path node is false False and reaches next path node, and
It is True by the road_car attribute changes of starting point (i.e. next path node), to show that the AGV robot will occupy out
Hair point.
From the foregoing, it will be observed that the AGV robot obstacle-avoiding mode of the embodiment of the present invention, occupies attribute by being arranged for anchor point, and
The value for occupying attribute point to the anchor point occupied information modification on the path of planning according to each AGV robot, realizes same
The effect that anchor point is occupied for different AGV robot timesharing avoids in the case where allowing the path of different robots to intersect
The collision of AGV robot, meets application demand.
A technical concept is belonged to the paths planning method of aforementioned AGV robot, the embodiment of the invention also provides
The path planning apparatus of AGV robot, Fig. 4 are the structures of the path planning apparatus of the AGV robot of one embodiment of the invention
Block diagram, referring to fig. 4, the path planning apparatus 400 of the AGV robot include memory 401 and processor 402,401 He of memory
By 403 communication connection of internal bus between processor 402, memory 401 is stored with the program that can be executed by processor 402
Instruction, program instruction can be realized the paths planning method of above-mentioned AGV robot when being executed by processor 402.
In addition, the logical order in above-mentioned memory 401 can be realized by way of SFU software functional unit and conduct
Independent product when selling or using, can store in a computer readable storage medium.
The embodiment of the invention also provides a kind of path planning systems of AGV robot, comprising: dispatching desk, with the tune
At least one AGV robot of Du Taitai interaction includes the path planning apparatus of AGV robot shown in Fig. 4 in dispatching desk, will
Planning path is sent to the AGV robot；The status information of AGV robot is sent to dispatching desk by the AGV robot；
And it is travelled according to the planning path received.
Here dispatching desk is, for example, the dispatch server in cloud, by dispatch server to each AGV in operating environment
The execution etc. of robot assigned tasks, planning path and control task improves AGV machine task efficiency.
Based on this understanding, technical solution of the present invention substantially in other words the part that contributes to existing technology or
The part of person's technical solution can be embodied in the form of software products, which is stored in a storage
In medium, including some instructions are used so that a computer equipment (can be personal computer, server or network are set
It is standby etc.) execute all or part of the steps of each embodiment the method for the application.And storage medium above-mentioned includes: USB flash disk, moves
Dynamic hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
AccessMemory), the various media that can store program code such as magnetic or disk.
Another embodiment of the present invention provides a kind of computer readable storage medium, computer-readable recording medium storages
Computer instruction, computer instruction make the computer execute above-mentioned method.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The dress for the function of being specified in one box or multiple boxes of one process or multiple processes and/or block diagrams of present flow chart
It sets.
It should be noted that the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
In specification of the invention, numerous specific details are set forth.Although it is understood that the embodiment of the present invention can
To practice without these specific details.In some instances, well known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this specification.Similarly, it should be understood that disclose in order to simplify the present invention and helps to understand respectively
One or more of a inventive aspect, in the above description of the exemplary embodiment of the present invention, each spy of the invention
Sign is grouped together into a single embodiment, figure, or description thereof sometimes.However, should not be by the method solution of the disclosure
It is interpreted into and reflects an intention that i.e. the claimed invention requires more than feature expressly recited in each claim
More features.More precisely, just as the following claims reflect, inventive aspect is single less than disclosed above
All features of embodiment.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in the specific embodiment party
Formula, wherein each, the claims themselves are regarded as separate embodiments of the invention.
The above description is merely a specific embodiment, under above-mentioned introduction of the invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of the above embodiments.It will be understood by those skilled in the art that above-mentioned tool
Body description only preferably explains that the purpose of the present invention, protection scope of the present invention are subject to the protection scope in claims.
Claims (10)
1. a kind of paths planning method of AGV robot characterized by comprising
The status information of AGV robot is obtained, and judges whether the state of AGV robot meets preset current condition；
If meeting preset current condition, determine the first anchor point and the second anchor point as base from operating environment map
Certainly site；Wherein, two kinds of anchor points that the first anchor point and the second anchor point include for the operating environment map, and first
The identifier of the instruction traffic information of anchor point, the second anchor point is different；
If being unsatisfactory for preset current condition, determine the first anchor point as origin reference location point from operating environment map；
The determining origin reference location point is input in path planning algorithm, the planning path exported.
2. the method according to claim 1, wherein first anchor point is that channel is arranged on corresponding position
Access points, second anchor point be on corresponding position place shelf goods yard point；
It is described that determine the first anchor point and the second anchor point as origin reference location point from operating environment map include: from operation ring
Determine the access points and goods yard point as origin reference location point in the figure of condition；
From in operating environment map determine the first anchor point as origin reference location point include: from operating environment map determination described in
Access points are as origin reference location point.
3. according to the method described in claim 2, it is characterized in that, the status information for obtaining AGV robot, and judges
Whether the state of AGV robot meets preset current condition
The instruction for obtaining AGV robot is mounted with the first state information of cargo and the second status information of unloaded cargo,
First state information is allowed to be compared in the current condition of goods yard point with preset unloaded cargo, determination is unsatisfactory for
Preset current condition；
Second status information is allowed to be compared in the current condition of goods yard point with preset unloaded cargo, determines and meets in advance
If passage condition.
4. according to the method described in claim 2, it is characterized in that, the status information for obtaining AGV robot, and judges
Whether the state of AGV robot meets preset current condition
The height condition information of AGV robot is obtained,
Current condition is allowed to be compared not higher than pallet height with preset height condition information,
When the height value of height condition information instruction is higher than pallet height, determination is unsatisfactory for preset current condition；
When the height value of height condition information instruction is not higher than pallet height, determination meets preset current condition.
5. the method according to claim 1, wherein the determining origin reference location point is input to path planning
In algorithm, the planning path exported includes:
According to the attribute of the origin reference location point, the origin reference location point is screened, the origin reference location selected point is inputted
Into path planning algorithm, the planning path that is exported.
6. according to the method described in claim 5, it is characterized in that, according to the attribute of the origin reference location point, to the benchmark
Anchor point carries out screening
The current attribute value of the locking attribute of the origin reference location point is obtained from operating environment map；
It is false origin reference location point as the origin reference location point selected that the current attribute value of attribute, which will be locked,.
7. the method according to claim 1, wherein this method further include:
When according to the route planned to current path node, judge current path node next path node whether
It is occupied by other AGV robots,
If occupied, waited on current path node；If unoccupied, next path node is driven to and by institute
The occupied information for stating next path node, which is revised as occupying, returns to modified occupancy attribute to dispatching desk.
8. the method according to the description of claim 7 is characterized in that this method further include: whether judge next path node
Include: by other AGV robots occupancy
The attribute value of the occupancy attribute of the corresponding anchor point of next path node is obtained from the working environment map of dispatching desk；
If the attribute value for occupying attribute is vacation, determine that next path node is not occupied by other AGV robots；
If the attribute value for occupying attribute is very, to determine that next path node is occupied by other AGV robots.
9. a kind of path planning apparatus of AGV robot characterized by comprising memory and processor, the memory and
By internal bus communication connection between the processor, the memory is stored with the program that can be executed by the processor
Instruction, described program instruction can be realized the described in any item methods of claim 1-8 when being executed by the processor.
10. a kind of path planning system of AGV robot, comprising: dispatching desk, at least one interacted with the dispatching desk platform
AGV robot,
Include the path planning apparatus of AGV robot as claimed in claim 9 in dispatching desk, planning path is sent to described
AGV robot；
The status information of AGV robot is sent to dispatching desk by the AGV robot；And according to the planning path received
It is travelled.
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