CN110275492A - A kind of method and apparatus that automated guided vehicle driving path is determined based on tunnel - Google Patents
A kind of method and apparatus that automated guided vehicle driving path is determined based on tunnel Download PDFInfo
- Publication number
- CN110275492A CN110275492A CN201811024771.9A CN201811024771A CN110275492A CN 110275492 A CN110275492 A CN 110275492A CN 201811024771 A CN201811024771 A CN 201811024771A CN 110275492 A CN110275492 A CN 110275492A
- Authority
- CN
- China
- Prior art keywords
- tunnel
- automated guided
- guided vehicle
- walked
- current
- 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.)
- Granted
Links
Classifications
-
- 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]
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
-
- 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]
-
- 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 method and apparatus for determining automated guided vehicle driving path based on tunnel, are related to field of computer technology.One specific embodiment of this method comprises determining that the current roadway direction in the tunnel to be walked of automated guided vehicle；Judge whether the current roadway direction is consistent with the driving direction of the automated guided vehicle；If consistent, the automated guided vehicle is included in the walking in queue of the tunnel to be walked；Otherwise, it is described wait walk in tunnel to determine that the sorting point of the automated guided vehicle is not located at, and the tunnel to be walked is determined as to block tunnel, and the entrance based on the obstruction tunnel and current tunnel, plans the driving path of the automated guided vehicle.This method can be avoided the generation of the case where track route congestion in outside tunnel and tunnel, the walking cost and time cost of AGV be reduced, to improve the production efficiency in warehouse.
Description
Technical field
The present invention relates to field of computer technology, more particularly to one kind to determine that automated guided vehicle travels road based on tunnel
The method and apparatus of diameter.
Background technique
Automated guided vehicle AGV is applied in warehouse logistics automatic field, and storehouse is reached by way of intelligently travelling
It stores up storage space and sorts point, then commodity to be sorted are put into the turnover box on AGV by manually sorting or sorting automatically again.It
Afterwards, turnover box is run to next storage position picking point by AGV, completes voluntarily for turnover box to be sent to turnover until all sorting
Case loading dock.To realize above-mentioned carrying requirement, AGV need to be walked in often in tunnel, and can stop certain time length in tunnel, etc.
People to be sorted can just leave after sorting.And in actually carrying, AGV can only could be into the enough situations in space
Row turns to, so can not generally be turned to when AGV is in tunnel, can only continue to move ahead according to direction when entering tunnel.
Based on the above situation, the prior art determines the strategy of driving path in the driving path for determining AGV are as follows: only
When the sorting point of AGV is in some tunnel, which just can enter the tunnel, remaining situation requires to walk outside tunnel.For
The point of the sorting in tunnel is reached convenient for AGV and sorts the sorting work of personnel, and tunnel is generally compared concentration and is located in more
The position of the heart, the tunnel 32-1-2-3-4-5-6-7-8-9 as shown in Figure 2, the lane 33-16-17-18-19-20-21-22-23-12
Road and the tunnel 34-24-25-26-27-28-29-30-31-14.In the prior art, if the sorting point of AGV is not located at tunnel
In, then it needs to detour in the periphery in tunnel, greatly reduces running efficiency, increase operating cost.Also, for entering tunnel
AGV do not monitor specifically, enter driving direction may it is inconsistent, so often having congestion phenomenon, affect life
Produce efficiency.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of method for determining automated guided vehicle driving path based on tunnel
And device, it can be avoided outside tunnel with generation the case where the track route congestion in tunnel, reduce walking cost and the time of AGV
Cost, to improve the production efficiency in warehouse.
To achieve the above object, according to an aspect of an embodiment of the present invention, it provides a kind of determining automatic based on tunnel
The method for guiding transport vehicle driving path.
The method for determining automated guided vehicle driving path based on tunnel of the embodiment of the present invention comprises determining that draws automatically
Lead the current roadway direction in the tunnel to be walked of transport vehicle；
Judge whether the current roadway direction is consistent with the driving direction of the automated guided vehicle；
If consistent, the automated guided vehicle is included in the walking in queue of the tunnel to be walked；Otherwise, really
The sorting point of the fixed automated guided vehicle is determined as described in not being located at wait walk in tunnel, and by the tunnel to be walked
Block tunnel, and the entrance based on the obstruction tunnel and current tunnel, plans the traveling road of the automated guided vehicle
Diameter.
Optionally, judge the whether consistent step of driving direction of the current roadway direction Yu the automated guided vehicle
Suddenly the current regulations entrance in the tunnel to be walked is comprised determining that；Tunnel to be walked where judging the automated guided vehicle
Initial position whether be the tunnel to be walked current regulations entrance；If it is, the current roadway direction with it is described
The driving direction of automated guided vehicle is consistent；Otherwise inconsistent.
Optionally, further includes: count the quantity for walking automated guided vehicle in queue in each tunnel；Team is walked in judgement
Whether the quantity of automated guided vehicle is zero in column；If it is zero, the tunnel side for walking the corresponding tunnel of queue is discharged
To.
Optionally, before the current roadway direction in the tunnel to be walked for determining automated guided vehicle, further includes: be based on
Preset path rule determines the initial driving path of automated guided vehicle；The path rule be travel distance it is most short or
Person's running time is minimum；It determines in the initial driving path comprising in the case where wait walk tunnel, according to initial driving path,
Determine the initial position in automated guided vehicle place tunnel to be walked.
Optionally, the driving direction for judging the current roadway direction and the automated guided vehicle it is whether consistent it
Afterwards, and before the automated guided vehicle to be included in the walking in queue of the tunnel to be walked, further includes: described
The sorting point of automated guided vehicle be not located at it is described wait walk tunnel in the case where, determine that walk other in queue guides automatically
The sorting point of transport vehicle；In the sorting point for judging other automated guided vehicles, if exist and be located at the lane to be walked
The sorting point in road if it is present the tunnel to be walked is determined as to block tunnel, and based on the obstruction tunnel and is worked as
The entrance in preceding tunnel plans the driving path of the automated guided vehicle again；Otherwise, by the automated guided vehicle meter
Enter walking in queue for the tunnel to be walked.
To achieve the above object, other side according to an embodiment of the present invention provides a kind of determining certainly based on tunnel
The device of dynamic guidance transport vehicle driving path.
The embodiment of the present invention determines that the device of automated guided vehicle driving path includes: current tunnel side based on tunnel
To determining module, the current roadway direction in the tunnel to be walked for determining automated guided vehicle；
Judgment module, for judge the current roadway direction and the automated guided vehicle driving direction whether one
It causes；
Logging modle, for the automated guided vehicle to be included in the walking in queue of the tunnel to be walked；
Path planning module, for determining that the sorting point of the automated guided vehicle is not located at the tunnel to be walked
In, and the tunnel to be walked is determined as to block tunnel, and the entrance based on the obstruction tunnel and current tunnel, rule
Draw the driving path of the automated guided vehicle.
Optionally, the judgment module is also used to, and determines the current regulations entrance in the tunnel to be walked；Judgement is described certainly
The initial position in tunnel to be walked where dynamic guidance transport vehicle whether be the tunnel to be walked current regulations entrance；If
It is that then the current roadway direction is consistent with the driving direction of the automated guided vehicle；Otherwise inconsistent.
Optionally, further include roadway direction monitoring module, guide fortune in queue automatically for counting walking for each tunnel
The quantity of defeated vehicle；Judgement walks whether the quantity of automated guided vehicle in queue is zero；If it is zero, discharges this and walk team
Arrange the roadway direction in corresponding tunnel.
It optionally, further include the module of determining tunnel initial position, for being based on preset path rule, determination is drawn automatically
Lead the initial driving path of transport vehicle；The path rule is that travel distance is most short or running time is minimum；It determines described first
Comprising according to initial driving path, determining the automated guided vehicle institute in the case where wait walk tunnel in beginning driving path
Initial position in tunnel to be walked.
Optionally, further include sorting point judgment module, be not located at institute for the sorting point in the automated guided vehicle
In the case where stating wait walk tunnel, the sorting point for walking other automated guided vehicles in queue is determined；Judgement it is described other from
In the sorting point of dynamic guidance transport vehicle, if there is the sorting point for being located at the tunnel to be walked, if it is present will it is described to
It walks tunnel to be determined as blocking tunnel, and the entrance based on the obstruction tunnel and current tunnel, plan again described automatic
Guide the driving path of transport vehicle；Otherwise, the automated guided vehicle is included in the walking in queue of the tunnel to be walked.
To achieve the above object, another aspect according to an embodiment of the present invention, provides a kind of electronic equipment.
The electronic equipment of the embodiment of the present invention includes: one or more processors；Storage device, for storing one or more
A program, when one or more of programs are executed by one or more of processors, so that one or more of processing
The method that automated guided vehicle driving path is determined based on tunnel of device realization any of the above-described.
To achieve the above object, another aspect according to an embodiment of the present invention provides a kind of computer-readable medium,
Be stored thereon with computer program, which is characterized in that when described program is executed by processor realize any of the above-described based on lane
The method that road determines automated guided vehicle driving path.
One embodiment in foregoing invention has the following advantages that or the utility model has the advantages that by judging current roadway direction and oneself
The consistency of the driving direction of dynamic guidance transport vehicle, realizes that highly effective and safe walks the traveling strategy in tunnel.Also, tunnel will be walked
All automated guided vehicles be recorded in it and walk in queue, queue can be walked based on this and is realized to the roadway direction in tunnel
Control.And then AGV can be enable to sail in most short, the optimal enterprising every trade of route, reduce AGV walking cost and the time at
This, to improve the production efficiency in warehouse.Also, in effective solution tunnel and tunnel outside excessively traffic congestion the case where send out
It is raw.The control in direction is walked in middle tunnel through the embodiment of the present invention, can be collided in tunnel to avoid the vehicle of different directions.When
When tunnel cannot be introduced into, the control of AGV equipment directly requests other track routes in access adit, the fastest can reach traveling
Final purpose point.
Further effect possessed by above-mentioned non-usual optional way adds hereinafter in conjunction with specific embodiment
With explanation.
Detailed description of the invention
Attached drawing for a better understanding of the present invention, does not constitute an undue limitation on the present invention.Wherein:
Fig. 1 is the main of the method according to an embodiment of the present invention that automated guided vehicle driving path is determined based on tunnel
The schematic diagram of process；
Fig. 2 is the schematic diagram of the situational map of automated guided vehicle；
Fig. 3 is the main of the device according to an embodiment of the present invention that automated guided vehicle driving path is determined based on tunnel
The schematic diagram of module；
Fig. 4 is that the embodiment of the present invention can be applied to exemplary system architecture figure therein；
Fig. 5 is adapted for the structural representation of the computer system for the terminal device or server of realizing the embodiment of the present invention
Figure.
Specific embodiment
Below in conjunction with attached drawing, an exemplary embodiment of the present invention will be described, including the various of the embodiment of the present invention
Details should think them only exemplary to help understanding.Therefore, those of ordinary skill in the art should recognize
It arrives, it can be with various changes and modifications are made to the embodiments described herein, without departing from scope and spirit of the present invention.Together
Sample, for clarity and conciseness, descriptions of well-known functions and structures are omitted from the following description.
Fig. 1 is the main of the method according to an embodiment of the present invention that automated guided vehicle driving path is determined based on tunnel
The schematic diagram of process, as shown in Figure 1, the method for determining automated guided vehicle driving path based on tunnel of the embodiment of the present invention
It specifically includes that
Step S101: the current roadway direction in the tunnel to be walked of automated guided vehicle is determined.Roadway direction refer to from
Direction of the regulation entrance in tunnel to regulation outlet.In embodiments of the present invention, the roadway direction in each tunnel is not solid always
It is fixed constant, it can be updated based on the case where automated guided vehicle AGV by being walked in the tunnel.
Before step S101, it can be based on preset path rule, determine the initial driving path of automated guided vehicle,
Wherein, path rule is that travel distance is most short or running time is minimum.It determines in initial driving path comprising tunnel to be walked
In the case where, according to initial driving path, determine that the initial position in automated guided vehicle place tunnel to be walked (reaches the lane
First location point in road).From in the prior art sort point not be located at tunnel in when cannot be by the tunnel the case where it is different,
The embodiment of the present invention can or running time least path rule most short according to travel distance determine initial driving path, base
After the initial driving path reaches the initial position in tunnel to be walked, judges whether that the tunnel can be occupied, that is, judge
Whether the current roadway direction in the tunnel and the driving direction of automated guided vehicle are consistent.If the tunnel can be occupied,
Continue according to the initial traveling route, otherwise, the current location (initial position positioned at tunnel to be walked) based on AGV with
And to block the tunnel to be walked in tunnel, driving path is planned again.
Step S102: judge whether the driving direction of current roadway direction and automated guided vehicle is consistent.If consistent,
Then carry out step S103；Otherwise step S104 is carried out.In a period of time, the roadway direction in tunnel remains unchanged, by this
If the driving direction of all AGV in tunnel is consistent, then the tunnel will not then send congestion, collision accident.Specifically, really
The current regulations entrance in fixed tunnel to be walked；Judge tunnel to be walked where automated guided vehicle initial position whether be to
Walk the current regulations entrance in tunnel；If it is, current roadway direction is consistent with the driving direction of automated guided vehicle；It is no
It is then inconsistent.
From the foregoing, it will be observed that in embodiments of the present invention, tunnel can be locked by the locking of locking or outlet to entrance
Direction.Roadway direction is recorded using entrance, can be adapted for the warehouse of any environment, without practical consideration vehicle to run
True directions.
Step S103: automated guided vehicle is included in the walking in queue of tunnel to be walked.This is walked in queue and records
Be positive traveling in the tunnel or wait the AGV for entering the tunnel, leave the AGV in the tunnel, i.e. AGV leaves from outlet,
Then the AGV is deleted from walking in queue.
After whether the driving direction for judging current roadway direction and automated guided vehicle is consistent, and will be automatic
Guidance transport vehicle is included in front of the walking in queue of tunnel to be walked, is not located in the sorting point of automated guided vehicle wait walk
In the case where tunnel, the sorting point for walking other automated guided vehicles in queue is determined.Judge other automated guided vehicles
Sorting point in, if there is the sorting point positioned at tunnel to be walked.If it is present tunnel to be walked is determined as to block lane
Road, and the entrance based on obstruction tunnel and current tunnel, plan the driving path of automated guided vehicle again；Otherwise, will
Automated guided vehicle is included in the walking in queue of tunnel to be walked.Due to sorting point if the tunnel, then AGV can be parked in this
Its in tunnel it is corresponding sort point position carry out picking, it is contemplated that the picking time it is indefinite, the comparison that may be waited is long, institute
To allow AGV to detour.Pass through the process, it is contemplated that the priority that task is walked in task and tunnel is stopped in the tunnel,
While guaranteeing storehouse production, it is ensured that the efficiency of storehouse production.
Step S104: determine that the sorting point of automated guided vehicle is not located at wait walk in tunnel, and will lane be walked
Road is determined as blocking tunnel, and the entrance based on obstruction tunnel and current tunnel, plans the traveling road of automated guided vehicle
Diameter.
In embodiments of the present invention, can be periodically or when each AGV enter some tunnel or is driven out to some tunnel, system
Count the quantity for walking automated guided vehicle in queue in each tunnel.The quantity of automated guided vehicle in queue is walked in judgement
It whether is zero；If it is zero, the roadway direction for walking the corresponding tunnel of queue is discharged.Discharge the roadway direction in the tunnel
Afterwards, the roadway direction in tunnel is then determined as by the roadway direction that tunnel is not fixed subsequent after having AGV to reach the tunnel
The regulation entrance in the tunnel is locked as the location point of AGV arrival by the driving direction of the AGV.
According to embodiments of the present invention, by judge current roadway direction and automated guided vehicle driving direction it is consistent
Property, realize that highly effective and safe walks the traveling strategy in tunnel.Also, all automated guided vehicles for walking tunnel are recorded in it
It walks in queue, control of the queue realization to the roadway direction in tunnel can be walked based on this.And then AGV can be enable most
The enterprising every trade of short, optimal route is sailed, and the walking cost and time cost of AGV is reduced, to improve the production efficiency in warehouse.And
And in effective solution tunnel and tunnel outside excessively traffic congestion the case where occur.Middle tunnel is walked through the embodiment of the present invention
The control in direction can collide in tunnel to avoid the vehicle of different directions.When tunnel cannot be introduced into, the control of AGV equipment is straight
It connects and requests other track routes in access adit, the fastest can reach the final purpose point of traveling.By using entrance
Roadway direction is recorded, can be adapted for the warehouse of any environment, without the practical true directions for considering vehicle to run.Also, lane
The carry out priority processing that task is walked in stop task and tunnel is carried in road, it can be while guaranteeing storehouse production, also
It ensure that the efficiency of storehouse production.
Fig. 2 is the schematic diagram of the situational map of automated guided vehicle.
As shown in Fig. 2, the picking task received is that (2 entrance of tunnel is picking point 17 if the anchor point of AGV is 78
33, outlet is 12) to obtain with picking point 31 (3 entrance 14 of tunnel, outlet 34) according to the path planning of existing technical solution AGV
Arrive to sort point 17 paths be 78,123,134,132,131,130,129,128,127,126,50,108,51,33,16,
17, can not from sort point 17 not tunnel in walk.In the prior art, it is specified that point place lane can only be sorted when AGV will enter
The reason of tunnel can just be entered when road is that tunnel is generally uniline tunnel, and AGV, which arbitrarily walks tunnel, can make its occupied tunnel
Can not normally sort or other AGV to this tunnel carry commodity when be obstructed, easily cause congestion, small workshop to meet and discuss, even
The paralysis of traffic is carried in entire storage.On the other hand, when a small range is implemented and carrying amount is less, problem is not highlighted, but
Be, when the anchor point when map is bigger, AGV receives task is closer to center tunnel, trolley need the route cost walked and
The time cost of cost is bigger.And when the quantity of AGV is excessive, easily cause the track route temperature outside tunnel excessively high, holds
The case where easily causing vehicle to concentrate, generating congestion.
For above-mentioned example, according to the technical solution of foregoing invention embodiment, if tunnel 33-16-17-18-19- at this time
20-21-22-23-12 compares congestion, can walk the tunnel 32-1-2-3-4-5-6-7-8-9, is at this time the driving path of its determination
It is 78,123,134,132,133,121,9,8,7,6,5,4,3,2,1,32,108,51,33,16,17.
In the examples described above, if the initial driving path of AGV be determined as 78,123,134,132,133,121,9,8,7,
6,5,4,3,2,1,32,108,51,33,16,17, when AGV reach the tunnel that it to be walked initial position i.e. location point 9 it
Afterwards, then AGV device control module calls traffic administration to occupy roadway direction, and judges whether roadway direction occupancy succeeds.Wherein,
The control of AGV equipment is for controlling the software module for carrying AGV.It issues simultaneously and carries AGV equipment travel commands.Traffic administration is used for
Manage the jam situation of current region all track routes and track route.And AGV can not walk tunnel in access adit and (account for
Failed with tunnel) the reason of include: AGV in tunnel there are other directions；In tunnel exist with carry stop task and
And anchor point is the vehicle in current tunnel.Walk tunnel and be and reach final carrying point of destination in order to the fastest, institute to avoid
The vehicle of the carrying task of anchor point with current tunnel can be only achieved optimal (not true in the vehicle of anchor point, residence time
It is fixed).
When roadway direction occupies successfully, which is included in tunnel by traffic control system, and increases
Tunnel is added to walk vehicle number.Also, when AGV drives to tunnel outlet, carries the control of AGV equipment and traffic administration release tunnel is called to wear
Driving number and roadway direction.And whether the AGV that traffic administration judgement currently exports is that last (walks queue in tunnel
In only this AGV).If traffic administration discharges roadway direction, when judging not as last when being judged as last
When, then wait other carry AGV reach tunnel outlet, that is, continue the current roadway direction for keeping the tunnel.And tunnel side
To occupancy mode be that AGV is used to walk the entrance in tunnel as roadway direction.Only allowing entering from current record later
The vehicle that mouth point enters enters tunnel.
When tunnel occupies failure, AGV device control module re-requests path planning, and (starting point is roadway entry point, eventually
Point is former terminal, and increases obstruction tunnel as removing route).And path planning returns to new route and gives AGV equipment control
System processed.The control of AGV EM equipment module terminates AGV equipment current driving task, and issues the traveling task of new route.Wherein,
It is more for AGV quantity, traffic direction is different, to avoid collision, congestion, phenomena such as meeting and discussing, and provide the AGV in tunnel
Feature in stays, the present invention are optimized, specifically: AGV is notified that traffic control system when entering roadway entry
The driving direction walked in current tunnel and carry AGV is recorded, after traffic pipeline records direction to the tunnel, other walk carrying
AGV can only enter tunnel according to the setting direction in current tunnel, so that can walk the same time in identical tunnel multiple
The carrying AGV of same direction traveling.
If walking tunnel vehicle in the presence of in the same direction in tunnel, the vehicle of the carrying task of the anchor point with current tunnel
The tunnel can be entered.Guaranteeing that the vehicle of the carrying task of the anchor point with current tunnel enters tunnel is to guarantee storehouse production
Precondition.
According to embodiments of the present invention, AGV can be enable in most short, optimal route by way of walking tunnel
Upper execution carrying task reduces and carries the walking cost of AGV, reduces time cost, to improve the production efficiency in warehouse.And
And in effective solution tunnel and tunnel outside excessively traffic congestion the case where occur.Middle tunnel is walked through the embodiment of the present invention
The control in direction can collide in tunnel to avoid the vehicle of different directions.Roadway direction is recorded by using entrance, it can be with
Suitable for the warehouse of any environment, without the practical true directions for considering vehicle to run.When tunnel cannot be introduced into, AGV equipment
Control directly requests other track routes in access adit, the fastest can reach the final purpose point of traveling.Also, tunnel
It is interior to carry the carry out priority processing that task is walked in stop task and tunnel, it can also be protected while guaranteeing storehouse production
The efficiency of storehouse production is demonstrate,proved.
Fig. 3 is the main mould for determining the device of automated guided vehicle driving path based on tunnel according to embodiments of the present invention
The schematic diagram of block, as shown in figure 3, the device for determining automated guided vehicle driving path based on tunnel of the embodiment of the present invention
300 include current roadway direction determining module 301, judgment module 302 and logging modle 303, path planning module 304.
Current roadway direction determining module 301 is used for, and determines the current tunnel in the tunnel to be walked of automated guided vehicle
Direction.
Judgment module 302 is used for, and judges whether the driving direction of current roadway direction and automated guided vehicle is consistent.Sentence
Disconnected module is also used to, and determines the current regulations entrance in tunnel to be walked；Judge automated guided vehicle place tunnel to be walked
Initial position whether be tunnel to be walked current regulations entrance；If it is, current roadway direction and automated guided vehicle
Driving direction it is consistent；Otherwise inconsistent.
Logging modle 303 is used for, and automated guided vehicle is included in the walking in queue of tunnel to be walked.In judgment module
Determine that current roadway direction is consistent with the driving direction of automated guided vehicle, then logging modle is by the automated guided vehicle
It is included in walking in queue for the tunnel to be walked.
Path planning module 304 is used for, and determines that the sorting point of automated guided vehicle is not located at wait walk in tunnel, and
Tunnel to be walked is determined as to block tunnel, and the entrance based on obstruction tunnel and current tunnel, plans automatic guidance transport
The driving path of vehicle.Determine that the driving direction of current roadway direction and automated guided vehicle is inconsistent in judgment module, then road
It is described wait walk in tunnel that diameter planning module determines that the sorting point of the automated guided vehicle is not located at, and by described wait wear
Row tunnel is determined as blocking tunnel, and the entrance based on the obstruction tunnel and current tunnel, plans the automatic guidance fortune
The driving path of defeated vehicle.
The embodiment of the present invention determines that the device of automated guided vehicle driving path further includes roadway direction based on tunnel
Monitoring module, for counting the quantity for walking automated guided vehicle in queue in each tunnel；Judgement is walked automatic in queue
Whether the quantity for guiding transport vehicle is zero.If it is zero, the roadway direction for walking the corresponding tunnel of queue is discharged.
The embodiment of the present invention determines that the device of automated guided vehicle driving path further includes determining tunnel based on tunnel
The module of initial position determines the current tunnel in the tunnel to be walked of automated guided vehicle in current roadway direction determining module
Before direction, for being based on preset path rule, the initial driving path of automated guided vehicle is determined.Path rule is row
Sail that distance is most short or running time is minimum.In the case where including tunnel to be walked in the initial driving path of determination, according to first
Beginning driving path determines the initial position in automated guided vehicle place tunnel to be walked.
The embodiment of the present invention determines that the device of automated guided vehicle driving path further includes sorting point to sentence based on tunnel
Disconnected module, the driving direction for judge current roadway direction and automated guided vehicle whether unanimously after, and will be automatic
Guidance transport vehicle is included in front of the walking in queue of tunnel to be walked, for the sorting point in automated guided vehicle be not located to
In the case where walking tunnel, the sorting point for walking other automated guided vehicles in queue is determined.And judge that other draw automatically
It leads in the sorting point of transport vehicle, if there is the sorting point positioned at tunnel to be walked.If it is present tunnel to be walked is determined
To block tunnel, and the entrance based on obstruction tunnel and current tunnel, the driving path of automated guided vehicle is planned again.
Otherwise, automated guided vehicle is included in the walking in queue of tunnel to be walked.
According to embodiments of the present invention, AGV can be enable in most short, optimal route by way of walking tunnel
Upper execution carrying task reduces and carries the walking cost of AGV, reduces time cost, to improve the production efficiency in warehouse.And
And in effective solution tunnel and tunnel outside excessively traffic congestion the case where occur.Middle tunnel is walked through the embodiment of the present invention
The control in direction can collide in tunnel to avoid the vehicle of different directions.Roadway direction is recorded by using entrance, it can be with
Suitable for the warehouse of any environment, without the practical true directions for considering vehicle to run.When tunnel cannot be introduced into, AGV equipment
Control directly requests other track routes in access adit, the fastest can reach the final purpose point of traveling.Also, tunnel
It is interior to carry the carry out priority processing that task is walked in stop task and tunnel, it can also be protected while guaranteeing storehouse production
The efficiency of storehouse production is demonstrate,proved.
Fig. 4 shows the side that automated guided vehicle driving path is determined based on tunnel that can apply the embodiment of the present invention
Method or the exemplary system architecture 400 that the device of automated guided vehicle driving path is determined based on tunnel.
As shown in figure 4, system architecture 400 may include terminal device 401,402,403, network 404 and server 405.
Network 404 between terminal device 401,402,403 and server 405 to provide the medium of communication link.Network 404 can be with
Including various connection types, such as wired, wireless communication link or fiber optic cables etc..
User can be used terminal device 401,402,403 and be interacted by network 404 with server 405, to receive or send out
Send message etc..Various telecommunication customer end applications, such as the application of shopping class, net can be installed on terminal device 401,402,403
(merely illustrative) such as the application of page browsing device, searching class application, instant messaging tools, mailbox client, social platform softwares.
Terminal device 401,402,403 can be the various electronic equipments with display screen and supported web page browsing, packet
Include but be not limited to smart phone, tablet computer, pocket computer on knee and desktop computer etc..
Server 405 can be to provide the server of various services, such as utilize terminal device 401,402,403 to user
The shopping class website browsed provides the back-stage management server (merely illustrative) supported.Back-stage management server can be to reception
To the data such as information query request carry out the processing such as analyzing, and processing result is fed back into terminal device.
It should be noted that determining automated guided vehicle driving path based on tunnel provided by the embodiment of the present invention
Method is generally executed by server 405, correspondingly, determines that the device of automated guided vehicle driving path is generally set based on tunnel
It is placed in server 405.
It should be understood that the number of terminal device, network and server in Fig. 4 is only schematical.According to realization need
It wants, can have any number of terminal device, network and server.
Below with reference to Fig. 5, it illustrates the computer systems 500 for the terminal device for being suitable for being used to realize the embodiment of the present invention
Structural schematic diagram.Terminal device shown in Fig. 5 is only an example, function to the embodiment of the present invention and should not use model
Shroud carrys out any restrictions.
As shown in figure 5, computer system 500 includes central processing unit (CPU) 501, it can be read-only according to being stored in
Program in memory (ROM) 502 or be loaded into the program in random access storage device (RAM) 503 from storage section 508 and
Execute various movements appropriate and processing.In RAM 503, also it is stored with system 500 and operates required various programs and data.
CPU 501, ROM 502 and RAM 503 are connected with each other by bus 504.Input/output (I/O) interface 505 is also connected to always
Line 504.
I/O interface 505 is connected to lower component: the importation 506 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 507 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 508 including hard disk etc.；
And the communications portion 509 of the network interface card including LAN card, modem etc..Communications portion 509 via such as because
The network of spy's net executes communication process.Driver 510 is also connected to I/O interface 505 as needed.Detachable media 511, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 510, in order to read from thereon
Computer program be mounted into storage section 508 as needed.
Particularly, disclosed embodiment, the process described above with reference to flow chart may be implemented as counting according to the present invention
Calculation machine software program.For example, embodiment disclosed by the invention includes a kind of computer program product comprising be carried on computer
Computer program on readable medium, the computer program include the program code for method shown in execution flow chart.?
In such embodiment, which can be downloaded and installed from network by communications portion 509, and/or from can
Medium 511 is dismantled to be mounted.When the computer program is executed by central processing unit (CPU) 501, system of the invention is executed
The above-mentioned function of middle restriction.
It should be noted that computer-readable medium shown in the present invention can be computer-readable signal media or meter
Calculation machine readable storage medium storing program for executing either the two any combination.Computer readable storage medium for example can be --- but not
Be limited to --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor system, device or device, or any above combination.Meter
The more specific example of calculation machine readable storage medium storing program for executing can include but is not limited to: have the electrical connection, just of one or more conducting wires
Taking formula computer disk, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type may be programmed read-only storage
Device (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device,
Or above-mentioned any appropriate combination.In the present invention, computer readable storage medium can be it is any include or storage journey
The tangible medium of sequence, the program can be commanded execution system, device or device use or in connection.And at this
In invention, computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.Include on computer-readable medium
Program code can transmit with any suitable medium, including but not limited to: wireless, electric wire, optical cable, RF etc. are above-mentioned
Any appropriate combination.
Flow chart and block diagram in attached drawing are illustrated according to the system of various embodiments of the invention, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of above-mentioned module, program segment or code include one or more
Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box
The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical
On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants
It is noted that the combination of each box in block diagram or flow chart and the box in block diagram or flow chart, can use and execute rule
The dedicated hardware based systems of fixed functions or operations is realized, or can use the group of specialized hardware and computer instruction
It closes to realize.
Being described in module involved in the embodiment of the present invention can be realized by way of software, can also be by hard
The mode of part is realized.Described module also can be set in the processor, for example, can be described as: a kind of processor packet
It includes and obtains current roadway direction determining module, judgment module and logging modle, path planning module.Wherein, the name of these modules
Claim not constituting the restriction to the module itself under certain conditions, for example, current roadway direction determining module can also be retouched
It states as " module for determining the current roadway direction in the tunnel to be walked of automated guided vehicle ".
As on the other hand, the present invention also provides a kind of computer-readable medium, which be can be
Included in equipment described in above-described embodiment；It is also possible to individualism, and without in the supplying equipment.Above-mentioned calculating
Machine readable medium carries one or more program, when said one or multiple programs are executed by the equipment, makes
Obtain the current roadway direction that the equipment comprises determining that the tunnel to be walked of automated guided vehicle；Judge current roadway direction with
Whether the driving direction of automated guided vehicle is consistent；If consistent, automated guided vehicle is included in tunnel to be walked
It walks in queue；Otherwise, it determines the sorting point of automated guided vehicle is not located at wait walk in tunnel, and will tunnel be walked
It is determined as blocking tunnel, and the entrance based on obstruction tunnel and current tunnel, plans the driving path of automated guided vehicle.
According to embodiments of the present invention, by judge current roadway direction and automated guided vehicle driving direction it is consistent
Property, realize that highly effective and safe walks the traveling strategy in tunnel.Also, all automated guided vehicles for walking tunnel are recorded in it
It walks in queue, control of the queue realization to the roadway direction in tunnel can be walked based on this.And then AGV can be enable most
The enterprising every trade of short, optimal route is sailed, and the walking cost and time cost of AGV is reduced, to improve the production efficiency in warehouse.And
And in effective solution tunnel and tunnel outside excessively traffic congestion the case where occur.Middle tunnel is walked through the embodiment of the present invention
The control in direction can collide in tunnel to avoid the vehicle of different directions.When tunnel cannot be introduced into, the control of AGV equipment is straight
It connects and requests other track routes in access adit, the fastest can reach the final purpose point of traveling.
Above-mentioned specific embodiment, does not constitute a limitation on the scope of protection of the present invention.Those skilled in the art should be bright
It is white, design requirement and other factors are depended on, various modifications, combination, sub-portfolio and substitution can occur.It is any
Made modifications, equivalent substitutions and improvements etc. within the spirit and principles in the present invention, should be included in the scope of the present invention
Within.
Claims (12)
1. a kind of method for determining automated guided vehicle driving path based on tunnel characterized by comprising
Determine the current roadway direction in the tunnel to be walked of automated guided vehicle；
Judge whether the current roadway direction is consistent with the driving direction of the automated guided vehicle；
If consistent, the automated guided vehicle is included in the walking in queue of the tunnel to be walked；Otherwise, it determines institute
The sorting point for stating automated guided vehicle is not located at described to be determined as blocking wait walk in tunnel, and by the tunnel to be walked
Tunnel, and the entrance based on the obstruction tunnel and current tunnel, plan the driving path of the automated guided vehicle.
2. the method according to claim 1, wherein judging that the current roadway direction and the automatic guidance are transported
The whether consistent step of the driving direction of defeated vehicle includes:
Determine the current regulations entrance in the tunnel to be walked；
Whether the initial position for judging automated guided vehicle place tunnel to be walked is the current of the tunnel to be walked
Provide entrance；
If it is, the current roadway direction is consistent with the driving direction of the automated guided vehicle；Otherwise inconsistent.
3. the method according to claim 1, wherein further include:
Count the quantity for walking automated guided vehicle in queue in each tunnel；
Judgement walks whether the quantity of automated guided vehicle in queue is zero；
If it is zero, the roadway direction for walking the corresponding tunnel of queue is discharged.
4. the method according to claim 1, wherein working as in the tunnel to be walked for determining automated guided vehicle
Before preceding roadway direction, further includes:
Based on preset path rule, the initial driving path of automated guided vehicle is determined；The path rule is traveling road
Journey is most short or running time is minimum；
Determine in the initial driving path comprising in the case where wait walk tunnel, according to initial driving path, determine it is described from
The initial position in dynamic guidance transport vehicle place tunnel to be walked.
5. the method according to claim 1, wherein judging the current roadway direction and the automatic guidance
After whether the driving direction of transport vehicle is consistent, and the automated guided vehicle is being included in wearing for the tunnel to be walked
Before in row queue, further includes:
In the case where the sorting of automated guided vehicle point is not located at the tunnel to be walked, its in queue is walked in determination
The sorting point of his automated guided vehicle；
In the sorting point for judging other automated guided vehicles, if there is the sorting point for being located at the tunnel to be walked,
If it is present the tunnel to be walked is determined as to block tunnel, and it is based on the obstruction tunnel and current tunnel
Entrance, plan the driving path of the automated guided vehicle again；Otherwise, the automated guided vehicle is included in described
Tunnel to be walked is walked in queue.
6. a kind of device for determining automated guided vehicle driving path based on tunnel characterized by comprising
Current roadway direction determining module, the current roadway direction in the tunnel to be walked for determining automated guided vehicle；
Judgment module, for judging whether the current roadway direction is consistent with the driving direction of the automated guided vehicle；
Logging modle, for the automated guided vehicle to be included in the walking in queue of the tunnel to be walked；
Path planning module, for determining that it is described wait walk in tunnel that the sorting point of the automated guided vehicle is not located at, and
And be determined as the tunnel to be walked to block tunnel, and the entrance based on the obstruction tunnel and current tunnel, plan institute
State the driving path of automated guided vehicle.
7. device according to claim 6, which is characterized in that the judgment module is also used to, and determines the lane to be walked
The current regulations entrance in road；Whether the initial position for judging automated guided vehicle place tunnel to be walked is described wait wear
The current regulations entrance in row tunnel；
If it is, the current roadway direction is consistent with the driving direction of the automated guided vehicle；Otherwise inconsistent.
8. device according to claim 6, which is characterized in that it further include roadway direction monitoring module, it is each for counting
The quantity for walking automated guided vehicle in queue in tunnel；Judgement walk automated guided vehicle in queue quantity whether be
Zero；If it is zero, the roadway direction for walking the corresponding tunnel of queue is discharged.
9. device according to claim 6, which is characterized in that further include the module of determining tunnel initial position, be used for base
In preset path rule, the initial driving path of automated guided vehicle is determined；The path rule is that travel distance is most short
Or running time is minimum；It determines in the initial driving path comprising in the case where wait walk tunnel, according to initial traveling road
Diameter determines the initial position in automated guided vehicle place tunnel to be walked.
10. device according to claim 6, which is characterized in that further include sorting point judgment module, for described automatic
The sorting point of guidance transport vehicle be not located at it is described wait walk tunnel in the case where, determine and walk the guidance transport automatically of other in queue
The sorting point of vehicle；In the sorting point for judging other automated guided vehicles, if exist and be located at the tunnel to be walked
Point is sorted, if it is present the tunnel to be walked is determined as to block tunnel, and is based on the obstruction tunnel and current lane
The entrance in road plans the driving path of the automated guided vehicle again；Otherwise, the automated guided vehicle is included in institute
State walking in queue for tunnel to be walked.
11. a kind of electronic equipment characterized by comprising
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now such as method as claimed in any one of claims 1 to 5.
12. a kind of computer-readable medium, is stored thereon with computer program, which is characterized in that described program is held by processor
Such as method as claimed in any one of claims 1 to 5 is realized when row.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811024771.9A CN110275492B (en) | 2018-09-04 | 2018-09-04 | Method and device for determining automatic guide transport vehicle driving path based on roadway |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811024771.9A CN110275492B (en) | 2018-09-04 | 2018-09-04 | Method and device for determining automatic guide transport vehicle driving path based on roadway |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110275492A true CN110275492A (en) | 2019-09-24 |
| CN110275492B CN110275492B (en) | 2021-03-02 |
Family
ID=67958016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811024771.9A Active CN110275492B (en) | 2018-09-04 | 2018-09-04 | Method and device for determining automatic guide transport vehicle driving path based on roadway |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110275492B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110262471A (en) * | 2018-05-10 | 2019-09-20 | 北京京东尚科信息技术有限公司 | Robot dispatching method and device, robot and robot dispatch system |
| CN112749866A (en) * | 2019-10-31 | 2021-05-04 | 阿里巴巴集团控股有限公司 | Method, device and computer system for scheduling transport vehicle in physical restaurant |
| CN113627703A (en) * | 2020-05-08 | 2021-11-09 | 北京京东乾石科技有限公司 | Scheduling method and apparatus for mobile device, computer system, and storage medium |
| CN113985880A (en) * | 2021-10-29 | 2022-01-28 | 深圳优地科技有限公司 | Multi-robot path planning method, multi-robot system and robot |
| CN114089736A (en) * | 2021-02-08 | 2022-02-25 | 北京京东乾石科技有限公司 | Information acquisition method and device, electronic equipment and computer readable medium |
| CN116070872A (en) * | 2023-02-23 | 2023-05-05 | 机科发展科技股份有限公司 | AGV scheduling method based on narrow channel, electronic equipment and storage medium |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004252631A (en) * | 2003-02-19 | 2004-09-09 | Mitsubishi Heavy Ind Ltd | Agv operation control method, its apparatus, and physical distribution system using agv |
| CN102037422A (en) * | 2008-05-22 | 2011-04-27 | 村田机械株式会社 | Traveling vehicle system and method for controlling traveling by traveling vehicle system |
| JP2012232818A (en) * | 2011-04-28 | 2012-11-29 | Toyota Motor Corp | Conveying device and conveying method |
| CN105353759A (en) * | 2015-11-13 | 2016-02-24 | 上海诺力智能科技有限公司 | Sorting automatic Guided vehicle (AGV) and automatic guided sorting system |
| CN106652489A (en) * | 2015-11-03 | 2017-05-10 | 南京苏立机器人科技有限公司 | AGV traffic signal management system and AGV traffic signal management method |
| CN106774313A (en) * | 2016-12-06 | 2017-05-31 | 广州大学 | A kind of outdoor automatic obstacle-avoiding AGV air navigation aids based on multisensor |
| CN106845674A (en) * | 2016-12-15 | 2017-06-13 | 北京京东尚科信息技术有限公司 | Picking determining method of path and device |
| CN107766965A (en) * | 2017-09-14 | 2018-03-06 | 华南理工大学 | A kind of express delivery method for sorting based on automatic guide vehicle |
| CN107807640A (en) * | 2017-10-24 | 2018-03-16 | 杭州南江机器人股份有限公司 | Traffic management method, electronic equipment, storage medium and system based on AGV |
| CN108133608A (en) * | 2016-12-01 | 2018-06-08 | 江苏森蓝智能系统有限公司 | A kind of AGV path clustering modes using interaction mechanism |
| CN108304964A (en) * | 2018-01-08 | 2018-07-20 | 深圳市易成自动驾驶技术有限公司 | AGV shortest path planning methods, device and computer readable storage medium |
| JP2018128748A (en) * | 2017-02-06 | 2018-08-16 | ダイハツ工業株式会社 | Agv control system |
-
2018
- 2018-09-04 CN CN201811024771.9A patent/CN110275492B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004252631A (en) * | 2003-02-19 | 2004-09-09 | Mitsubishi Heavy Ind Ltd | Agv operation control method, its apparatus, and physical distribution system using agv |
| CN102037422A (en) * | 2008-05-22 | 2011-04-27 | 村田机械株式会社 | Traveling vehicle system and method for controlling traveling by traveling vehicle system |
| JP2012232818A (en) * | 2011-04-28 | 2012-11-29 | Toyota Motor Corp | Conveying device and conveying method |
| CN106652489A (en) * | 2015-11-03 | 2017-05-10 | 南京苏立机器人科技有限公司 | AGV traffic signal management system and AGV traffic signal management method |
| CN105353759A (en) * | 2015-11-13 | 2016-02-24 | 上海诺力智能科技有限公司 | Sorting automatic Guided vehicle (AGV) and automatic guided sorting system |
| CN108133608A (en) * | 2016-12-01 | 2018-06-08 | 江苏森蓝智能系统有限公司 | A kind of AGV path clustering modes using interaction mechanism |
| CN106774313A (en) * | 2016-12-06 | 2017-05-31 | 广州大学 | A kind of outdoor automatic obstacle-avoiding AGV air navigation aids based on multisensor |
| CN106845674A (en) * | 2016-12-15 | 2017-06-13 | 北京京东尚科信息技术有限公司 | Picking determining method of path and device |
| JP2018128748A (en) * | 2017-02-06 | 2018-08-16 | ダイハツ工業株式会社 | Agv control system |
| CN107766965A (en) * | 2017-09-14 | 2018-03-06 | 华南理工大学 | A kind of express delivery method for sorting based on automatic guide vehicle |
| CN107807640A (en) * | 2017-10-24 | 2018-03-16 | 杭州南江机器人股份有限公司 | Traffic management method, electronic equipment, storage medium and system based on AGV |
| CN108304964A (en) * | 2018-01-08 | 2018-07-20 | 深圳市易成自动驾驶技术有限公司 | AGV shortest path planning methods, device and computer readable storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 汤旻安: "改进PSO在AGV系统路径优化调度中的应用研究", 《计算机工程与应用》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110262471A (en) * | 2018-05-10 | 2019-09-20 | 北京京东尚科信息技术有限公司 | Robot dispatching method and device, robot and robot dispatch system |
| CN110262471B (en) * | 2018-05-10 | 2022-09-06 | 北京京东乾石科技有限公司 | Robot scheduling method and device, robot and robot scheduling system |
| CN112749866A (en) * | 2019-10-31 | 2021-05-04 | 阿里巴巴集团控股有限公司 | Method, device and computer system for scheduling transport vehicle in physical restaurant |
| CN113627703A (en) * | 2020-05-08 | 2021-11-09 | 北京京东乾石科技有限公司 | Scheduling method and apparatus for mobile device, computer system, and storage medium |
| CN114089736A (en) * | 2021-02-08 | 2022-02-25 | 北京京东乾石科技有限公司 | Information acquisition method and device, electronic equipment and computer readable medium |
| CN113985880A (en) * | 2021-10-29 | 2022-01-28 | 深圳优地科技有限公司 | Multi-robot path planning method, multi-robot system and robot |
| CN116070872A (en) * | 2023-02-23 | 2023-05-05 | 机科发展科技股份有限公司 | AGV scheduling method based on narrow channel, electronic equipment and storage medium |
| CN116070872B (en) * | 2023-02-23 | 2023-09-15 | 机科发展科技股份有限公司 | AGV scheduling method based on narrow channel, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110275492B (en) | 2021-03-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110275492A (en) | A kind of method and apparatus that automated guided vehicle driving path is determined based on tunnel | |
| CN107331200B (en) | CBD underground garage parking intelligent guiding system, method and device | |
| JP2013101577A (en) | Information processing apparatus, information processing system, control method for information processing apparatus and program | |
| CN110442121B (en) | Method and device for selecting transport vehicle route | |
| US20220374018A1 (en) | Method and apparatus for controlling automated guided vehicle | |
| CN111463860B (en) | Cooperative charging method and device and logistics equipment | |
| US20210312359A1 (en) | Method and device for scheduling automated guided vehicle | |
| WO2020164319A1 (en) | Goods pickup method and device | |
| KR102026913B1 (en) | Method and system for selecting a stop for traffic demand service | |
| JP2020160708A (en) | Information processing device, information processing method and information processing program | |
| JP2019159492A (en) | Rank traveling operation system and rank traveling operation method | |
| CN107564328A (en) | Parking stall for vehicle determines method and apparatus | |
| JPWO2015118701A1 (en) | Route operation result prediction time generation system, route operation result prediction time generation method, and route operation result prediction time generation program | |
| KR101889046B1 (en) | Method and system for processing an order for traffic demand service | |
| CN110370270B (en) | Method and device for preventing robot collision | |
| CN113627858A (en) | Method and device for determining cache location of warehouse | |
| JP6757654B2 (en) | Transportation service information providing device and transportation service information providing method | |
| CN110390448A (en) | Vehicle dispatching method, device and system | |
| KR101307242B1 (en) | Method and device for using item order in list as identifier | |
| CN115402890A (en) | Elevator dispatching method, device, electronic equipment and medium | |
| JP6576718B2 (en) | Server device and check-in system | |
| CN112180909B (en) | Method and device for determining lock point priority in vehicle operation | |
| CN113673730A (en) | Appointment control method and device, electronic equipment and storage medium | |
| CN110378635A (en) | A kind of schedule management method and device of transporting equipment | |
| CN110379150A (en) | A kind of method and apparatus for assessing road |
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 | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200605 Address after: Room A1905, 19th floor, No. 2 Building, 18 Kechuang 11th Street, Beijing Daxing District, Beijing Applicant after: Beijing Jingdong Qianshi Technology Co.,Ltd. Address before: 300 457 days Tianjin Binhai New Area, Tianjin Economic and Technological Development Zone, No. 10 Fourth Avenue, Phase 2, First Floor Applicant before: Tianjin Jingdong Shentuo Robot Technology Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |