CN109917785A - A kind of AGV goes out inbound planning system and method - Google Patents
A kind of AGV goes out inbound planning system and method Download PDFInfo
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- CN109917785A CN109917785A CN201910046757.7A CN201910046757A CN109917785A CN 109917785 A CN109917785 A CN 109917785A CN 201910046757 A CN201910046757 A CN 201910046757A CN 109917785 A CN109917785 A CN 109917785A
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- path
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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 present invention relates to intelligent carriage Path Planning Technique fields, specifically a kind of AGV goes out inbound planning system and method, planning system includes path planning module, website mark module, entrance setup module, several path-lines, several path points, planing method includes: by several path points labeled as website, and the mobile target point of specified AGV, AGV arrive at target point after executing outbound/inbound operation；Compared to the prior art, clear thinking is easy to operate by the present invention, and convenient for configuration, working efficiency can be improved, save project implementation workload.
Description
Technical field
The present invention relates to intelligent carriage Path Planning Technique field, specifically a kind of AGV go out inbound planning system and
Method.
Background technique
Website refers to that the path point stopped in AGV work, AGV task refer to that AGV goes to certain website to complete operation.Generally
For, scheduling system (upper-level control system of AGV) issues 1 new task: first planning AGV current point to the global road of website
Then diameter orders AGV to complete to operate along the route planned to website.In AGV practical application, it is often necessary to AGV
It, can be by specified inbound path when going to certain site works；Or AGV from certain website when, can be by specified
Outbound path.Such as following application scenarios:
When the cargo for being loaded with RFID information is moved in or move out warehouse by 1.AGV, need to identify RFID information to designated position,
For tracing goods information.
After 2.AGV receives different operational orders in website, first outbound movement of entering the station again is needed.
3., according to site zone difference, auxiliary major trunk roads shunt in large warehoused logistical applications.
Currently, needing to write customization program according to application demand when existing engineering site is implemented and reaching going out for AGV website
Enter path management, wastes engineering manpower, inefficiency.
Therefore, there are also to be developed for the prior art.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide one kind to go out inbound planning system and side
Method.Aim to solve the problem that problem of the prior art.
In order to achieve the above object, this invention takes following technical schemes:
The present invention provides a kind of AGV and goes out inbound planning system, comprising:
Path planning module sends walk signal for planning the walking path between two path points, and to AGV, makes
AGV is moved along the walking path；
Further include:
Several path-lines, at least one end of every path-line are provided with path point, the path-line and the path
Point composition scene map；
Website mark module, for the specific path point to be labeled as website；
Entrance setup module, for station entrance corresponding with each website and exit to be arranged.
It further, further include path point judgement unit in the path planning module, the path point judgement unit is used
Whether website has been marked as in the differentiation path point.
The present invention also provides a kind of AGV to go out inbound planing method, further includes the following steps including above-mentioned planning system:
1) several path points are chosen, and are marked as the website, it is the station entrance of each website, outbound
Mouthful；
2) target point that a certain path point is mobile as AGV is specified；
3) before going to website described in target, the AGV obtains the station entrance information of the targeted sites, and along station entrance into
It stands；And/or before leaving targeted sites, the AGV obtains the exit information of the targeted sites, and outbound along exit；
4) AGV is moved at the target point.
Further, the station entrance of each website of setting described in step 1) are as follows: specified to close on the website
The a certain path point is as station entrance, and the specified another path point for closing on the website is as exit.
Further, the station entrance of each website is set described in step 1) to meet the described of the first preset condition
Path point, the exit of each website are the path point for meeting the second preset condition.
Further, first preset condition is greater than the first pre-determined distance and apart from the corresponding website apart from most
Closely, second preset condition is greater than the second pre-determined distance and nearest apart from the corresponding website distance.
Further, the exit can be overlapped setting with a certain website, and the station entrance can be with a certain station
Point is overlapped setting.
Further, AGV described in step 6) is moved at the target point are as follows: AGV receives the path planning module
The walking path of transmission, and the target point is moved to along the walking path.
Compared with prior art, the present invention clear thinking, easy to operate, convenient for configuration, working efficiency can be improved, save item
Mesh implementation amount.
Detailed description of the invention
Fig. 1 is the AGV walking flow diagram disclosed in the embodiment of the present invention 1 containing outbound movement；
Fig. 2 is the AGV walking flow diagram of the movement containing inbound disclosed in the embodiment of the present invention 1.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described, it should be understood that preferred embodiment described herein is only used
In the description and interpretation present invention, it is not intended to limit the present invention.
Embodiment 1
The present invention provides a kind of AGV and goes out inbound planning system, comprising:
Path planning module sends walk signal for planning the walking path between two path points, and to AGV, makes
AGV is moved along the walking path；
Further include:
Several path-lines, at least one end of every path-line are provided with path point, the path-line and the path
Point composition scene map；
Website mark module, for the specific path point to be labeled as website；
Entrance setup module, for station entrance corresponding with each website and exit to be arranged.
It further, further include path point judgement unit in the path planning module, the path point judgement unit is used
Whether website has been marked as in the differentiation path point.
The present invention also provides a kind of AGV to go out inbound planing method, further includes the following steps including above-mentioned planning system:
1) several path points are chosen, and are marked as the website, it is the station entrance of each website, outbound
Mouthful；
2) target point that a certain path point is mobile as AGV is specified；
3) before going to website described in target, the AGV obtains the station entrance information of the targeted sites, and along station entrance into
It stands；And/or before leaving targeted sites, the AGV obtains the exit information of the targeted sites, and outbound along exit；
4) AGV is moved at the target point.
Further, the station entrance of each website of setting described in step 1) are as follows: specified to close on the website
The a certain path point is as station entrance, and the specified another path point for closing on the website is as exit.
Further, the station entrance of each website is set described in step 1) to meet the described of the first preset condition
Path point, the exit of each website are the path point for meeting the second preset condition.
Further, first preset condition is greater than the first pre-determined distance and apart from the corresponding website apart from most
Closely, second preset condition is greater than the second pre-determined distance and nearest apart from the corresponding website distance.
Further, the exit can be overlapped setting with a certain website, and the station entrance can be with a certain station
Point is overlapped setting.
Further, AGV described in step 6) is moved at the target point are as follows: AGV receives the path planning module
The walking path of transmission, and the target point is moved to along the walking path.
As shown in Figure 1, it is known that AGV currently completes task, the exit path C for needing artificially to specify from user in A website
Point is outbound, and the mobile target of AGV is B path point, plan using planing method provided by the invention as follows: obtaining exit
Information, judges whether exit C path point is overlapped with A website；If being overlapped, plan A website to B path by path planning module
The walking path of point, and AGV is driven to be moved to B path point from A website, otherwise plan A website to the path C by path planning module
The walking path of point, then plans the walking path of C path point to B path point, and trolley is driven successively to pass through A website, the path C
Point, B path point.
As shown in Figure 2, it is known that AGV needs that E website is gone to pitch goods, be arranged by the center of circle of E website with 4 currently in D path point
Rice is the circle of radius, chooses outside the circle and the F path point nearest apart from the circle is as station entrance, advised by path planning module
The walking path of D path point to F path point is drawn, then plans the walking path of F path point to E website, and trolley is driven successively to go
Through D path point, F path point, E website.
When applying in production line scene, AGV needs the product on assembly line being put into warehouse, needs before storage
Label stickup is carried out by store entrance, AGV leaves warehouse through store exit after completing product warehousing, then will at this time
Target point is set to inventory, and station entrance is set to warehouse entrance, and exit is set to store exit, then AGV takes near assembly line
Goods reaches after warehouse entrance and completes commodity in-stockroom operation in warehouse, then leaves through store exit.
Claims (8)
1. a kind of AGV goes out inbound planning system, comprising:
Path planning module sends walk signal for planning the walking path between two path points, and to AGV, makes the edge AGV
The walking path it is mobile；
It is characterized by further comprising:
Several path-lines, at least one end of every path-line are provided with path point, the path-line and the path point group
At scene map；
Website mark module, for the specific path point to be labeled as website；
Entrance setup module, for station entrance corresponding with each website and exit to be arranged.
2. a kind of AGV according to claim 1 goes out inbound planning system, which is characterized in that in the path planning module
It further include path point judgement unit, the path point judgement unit is for differentiating whether the path point has been marked as website.
3. a kind of AGV goes out inbound planing method, including planning system of any of claims 1 or 2, which is characterized in that further include
The following steps:
1) several path points are chosen, and are marked as the website, the station entrance of each website, exit；
2) target point that a certain path point is mobile as AGV is specified；
3) before going to website described in target, the AGV obtains the station entrance information of the targeted sites, and enters the station along station entrance；
And/or before leaving targeted sites, the AGV obtains the exit information of the targeted sites, and outbound along exit；
4) AGV is moved at the target point.
4. a kind of AGV according to claim 3 goes out inbound planing method, which is characterized in that setting described in step 1) is every
The station entrance of a website, exit are as follows: the specified a certain path point for closing on the website is specified as station entrance
Another path point of the website is closed on as exit.
5. a kind of AGV according to claim 3 goes out inbound planing method, which is characterized in that setting described in step 1) is every
The station entrance of a website is the path point for meeting the first preset condition, and the exit of each website is to meet the
The path point of two preset conditions.
6. a kind of AGV according to claim 5 goes out inbound planing method, which is characterized in that first preset condition is
Recently greater than the first pre-determined distance and apart from the corresponding website distance, second preset condition is greater than the second pre-determined distance
And recently apart from the corresponding website distance.
7. a kind of AGV according to claim 3 goes out inbound planing method, which is characterized in that the exit can with it is a certain
The website is overlapped setting, and the station entrance can be overlapped setting with a certain website.
8. a kind of AGV according to claim 3 goes out inbound planing method, which is characterized in that AGV described in step 6) is mobile
At to the target point are as follows: AGV receives the walking path that the path planning module is sent, and moves along the walking path
To the target point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910046757.7A CN109917785A (en) | 2019-01-18 | 2019-01-18 | A kind of AGV goes out inbound planning system and method |
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| CN201910046757.7A CN109917785A (en) | 2019-01-18 | 2019-01-18 | A kind of AGV goes out inbound planning system and method |
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| CN109917785A true CN109917785A (en) | 2019-06-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112764420A (en) * | 2020-12-25 | 2021-05-07 | 合肥焕智科技有限公司 | AGV station-based self-defined service path planning and configuration system |
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| CN104416570A (en) * | 2013-09-11 | 2015-03-18 | 鸿富锦精密工业（深圳）有限公司 | Robot control system, robot and control method |
| CN107179078A (en) * | 2017-05-24 | 2017-09-19 | 合肥工业大学(马鞍山)高新技术研究院 | A kind of AGV paths planning methods optimized based on time window |
| CN107621825A (en) * | 2017-09-22 | 2018-01-23 | 苏州华天视航智能装备技术有限公司 | A kind of AGV controlling equipments, scheduling system and paths planning method |
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2019
- 2019-01-18 CN CN201910046757.7A patent/CN109917785A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10320049A (en) * | 1997-05-20 | 1998-12-04 | Nittetsu Semiconductor Kk | Travel control method of self-traveling carriage dolly and carriage system |
| CN103309932A (en) * | 2012-03-15 | 2013-09-18 | 富士通株式会社 | Path searching method and path searching device |
| CN104416570A (en) * | 2013-09-11 | 2015-03-18 | 鸿富锦精密工业（深圳）有限公司 | Robot control system, robot and control method |
| CN107179078A (en) * | 2017-05-24 | 2017-09-19 | 合肥工业大学(马鞍山)高新技术研究院 | A kind of AGV paths planning methods optimized based on time window |
| CN107621825A (en) * | 2017-09-22 | 2018-01-23 | 苏州华天视航智能装备技术有限公司 | A kind of AGV controlling equipments, scheduling system and paths planning method |
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| CN112764420A (en) * | 2020-12-25 | 2021-05-07 | 合肥焕智科技有限公司 | AGV station-based self-defined service path planning and configuration system |
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Application publication date: 20190621 |