CN111290402A - AGV path planning method and system - Google Patents
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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Abstract
The invention belongs to the field of AGV path planning, and provides an AGV path planning method and system. The AGV path planning method comprises the following steps: constructing a two-dimensional model of a warehouse scene; receiving a current goods access task, and calling AGV models with the quantity matched with the goods access task from a component model library to a corresponding departure point platform; associating the AGV model with the simulation program through the AGV configuration file, and starting to execute the goods access task simulation program from the corresponding starting point platform; the AGV configuration file comprises an AGV starting point platform position, a preset end point position, an AGV driving speed, a driving route taken by the AGV and driving process pause time; and after the simulation is finished, screening out the driving route which takes the shortest time for completing the goods storing and taking task and has no AGV collision, and taking the driving route as the optimal driving route parameter matched with the current goods storing and taking task.
Description
Technical Field
The invention belongs to the field of AGV path drawing, and particularly relates to an AGV path planning method and system.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The warehouse generally includes a plurality of shelves and a plurality of traveling lines. When goods are stored and taken in a daily warehouse, at least one AGV vehicle is adopted to execute goods storing and taking tasks, and when only one AGV vehicle is adopted, an optimal driving path needs to be planned in order to improve the goods storing and taking efficiency; when at least two AGV vehicles exist, in order to improve the goods storing and taking efficiency, the shortest time for storing and taking tasks is needed, and the AGV vehicles cannot collide in the process of executing the tasks.
The inventor finds that (1) most of the current AGV path planning aiming at the warehouse environment is artificially planned according to the experience of operators, so that the AGV path planning speed is low on one hand, and the AGV path planning accuracy is poor on the other hand, and the state of the optimal goods access efficiency cannot be achieved; (2) at present, the commonly used optimization algorithms are based on a large amount of data to calculate and obtain the optimal path, but the driving process and the goods access task process of the AGV cannot be visually displayed to planners.
Disclosure of Invention
In order to solve the problems, the invention provides an AGV path planning method and system, which can accurately and quickly acquire the optimal driving route parameters matched with the current goods access task and simulate and visually display the whole process of executing the goods access task for a planner AGV.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an AGV path planning method.
An AGV path planning method includes:
constructing a two-dimensional model of a warehouse scene;
receiving a current goods access task, and calling AGV models with the quantity matched with the goods access task from a component model library to a corresponding departure point platform;
associating the AGV model with the simulation program through the AGV configuration file, and starting to execute the goods access task simulation program from the corresponding starting point platform; the AGV configuration file comprises an AGV starting point platform position, a preset end point position, an AGV driving speed, a driving route taken by the AGV and driving process pause time;
and after the simulation is finished, screening out the driving route which takes the shortest time for completing the goods storing and taking task and has no AGV collision, and taking the driving route as the optimal driving route parameter matched with the current goods storing and taking task.
A second aspect of the present invention provides an AGV path planning system.
An AGV path planning system comprising:
the warehouse scene model building module is used for building a warehouse scene two-dimensional model;
the AGV model calling module is used for receiving the current goods access tasks and calling AGV models with the quantity matched with the goods access tasks from the component model library to the corresponding departure point platform;
the simulation program execution module is used for associating the AGV model with the simulation program through the AGV configuration file and executing the goods access task simulation program from the corresponding starting point platform; the AGV configuration file comprises an AGV starting point platform position, a preset end point position, an AGV driving speed, a driving route taken by the AGV and driving process pause time;
and the driving parameter screening module is used for screening out a driving route which takes the shortest time for completing the goods access task and has no AGV collision after the simulation is finished, and taking the driving route as the optimal driving route parameter matched with the current goods access task.
A third aspect of the invention provides a computer-readable storage medium.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the AGV path planning method as described above.
A fourth aspect of the invention provides a computer-readable storage medium.
A computer readable storage medium comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the AGV path planning method as described above when executing the program.
The invention has the beneficial effects that:
according to the method, a warehouse scene is simulated by constructing a two-dimensional model of the warehouse scene, the actual scene is better fitted, and AGV models with the quantity matched with goods access tasks are called from a component model library to corresponding departure point platforms; the method comprises the steps of associating an AGV model with a simulation program through an AGV configuration file, starting to execute a goods access task simulation program from a corresponding departure point platform, screening out a driving route which takes the shortest time for completing the goods access task and has no AGV collision according to a simulation result of the simulation program, and using the driving route as an optimal driving route parameter matched with the current goods access task, so that the purposes of accurately and quickly acquiring the optimal driving route parameter matched with the current goods access task and simulating and visually displaying the whole process of executing the goods access task for a planner AGV are achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a flowchart of an AGV path planning method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an AGV path planning system according to an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example one
Fig. 1 is a flowchart of an AGV path planning method according to this embodiment. The following describes a specific implementation process of the AGV path planning method according to this embodiment in detail with reference to fig. 1.
As shown in fig. 1, the AGV path planning method of this embodiment includes:
step 1: and constructing a two-dimensional model of the warehouse scene.
In specific implementation, the process of constructing the two-dimensional model of the warehouse scene is as follows:
acquiring three-dimensional data of a warehouse scene, and analyzing the relative positions and sizes of all warehouse scene components;
and calling a two-dimensional component model matched with the three-dimensional data of the warehouse scene from the component model library, and constructing a two-dimensional model of the warehouse scene.
Wherein the warehouse scene components include shelves, departure point platforms, and driving routes. The driving route comprises a straight line, a circular arc and a Bezier curve.
For example: the warehouse scene three-dimensional data comprises the length, width and height of a warehouse body, the layout in the warehouse and the size of an object in a corresponding position, such as a shelf, a platform or a driving route and the like.
Step 2: and receiving the current goods access task, and calling AGV models with the quantity matched with the goods access task from the component model library to the corresponding departure point platform.
In specific implementation, a goods label is also associated with a goods shelf in the warehouse scene two-dimensional model, and the goods label stores the goods type, the goods specification size and the goods number. For the goods taking task, the quantity of the goods is gradually reduced along with the process of executing the goods taking task, wherein the quantity reduced each time corresponds to the quantity of the AGV taking the goods at one time; for the load stocking task, the quantity of loads increases as the process of performing the load stocking task progresses, with each increased quantity corresponding to the quantity of AGV stock at one time.
The AGV model self-contained positioning system comprises a component model library, wherein pre-designed component models are stored in the component model library, the AGV model self-contained positioning function is achieved, each component model is provided with a number and a name, size parameters of each component model can be modified, a drawing tool informs a computer to check validity (value range and data type) verification of new data when the parameters are modified, prompt correction is conducted on illegal data, and the illegal data are rejected.
And step 3: associating the AGV model with the simulation program through the AGV configuration file, and starting to execute the goods access task simulation program from the corresponding starting point platform; the AGV configuration file comprises an AGV starting point platform position, a preset end point position, an AGV driving speed, a driving route taken by the AGV and driving process pause time.
In a specific implementation, the simulation program is designed in advance and is used for simulating the process of running of the AGV model in the process of completing the cargo access task.
And 4, step 4: and after the simulation is finished, screening out the driving route which takes the shortest time for completing the goods storing and taking task and has no AGV collision, and taking the driving route as the optimal driving route parameter matched with the current goods storing and taking task.
In the embodiment, a warehouse scene is simulated by constructing a two-dimensional model of the warehouse scene, and the warehouse scene is more fit with an actual scene, so that AGV models with the number matched with that of goods storing and taking tasks are called from a component model library to corresponding departure point platforms; the method comprises the steps of associating an AGV model with a simulation program through an AGV configuration file, starting to execute a goods access task simulation program from a corresponding departure point platform, screening out a driving route which takes the shortest time for completing the goods access task and has no AGV collision according to a simulation result of the simulation program, and using the driving route as an optimal driving route parameter matched with the current goods access task, so that the purposes of accurately and quickly acquiring the optimal driving route parameter matched with the current goods access task and simulating and visually displaying the whole process of executing the goods access task for a planner AGV are achieved.
Example two
Fig. 2 is a schematic structural diagram of an AGV path planning system according to this embodiment. An AGV path planning system framework according to the present embodiment will be described in detail with reference to fig. 2.
As shown in fig. 2, the AGV path planning system of this embodiment includes:
(1) and the warehouse scene model building module is used for building a warehouse scene two-dimensional model.
In a specific implementation, the warehouse scenario model building module includes:
the warehouse scene data analysis module is used for acquiring three-dimensional data of a warehouse scene and analyzing the relative positions and sizes of all warehouse scene components;
and the component model calling module is used for calling a two-dimensional component model matched with the three-dimensional data of the warehouse scene from the component model library and constructing a two-dimensional model of the warehouse scene.
Wherein the warehouse scene components include shelves, departure point platforms, and driving routes. The driving route comprises a straight line, a circular arc and a Bezier curve.
For example: the warehouse scene three-dimensional data comprises the length, width and height of a warehouse body, the layout in the warehouse and the size of an object in a corresponding position, such as a shelf, a platform or a driving route and the like.
(2) And the AGV model calling module is used for receiving the current goods access tasks and calling the AGV models with the quantity matched with the goods access tasks from the component model library to the corresponding departure point platform.
In specific implementation, a goods label is also associated with a goods shelf in the warehouse scene two-dimensional model, and the goods label stores the goods type, the goods specification size and the goods number. For the goods taking task, the quantity of the goods is gradually reduced along with the process of executing the goods taking task, wherein the quantity reduced each time corresponds to the quantity of the AGV taking the goods at one time; for the load stocking task, the quantity of loads increases as the process of performing the load stocking task progresses, with each increased quantity corresponding to the quantity of AGV stock at one time.
The AGV model self-contained positioning system comprises a component model library, wherein pre-designed component models are stored in the component model library, the AGV model self-contained positioning function is achieved, each component model is provided with a number and a name, size parameters of each component model can be modified, a drawing tool informs a computer to check validity (value range and data type) verification of new data when the parameters are modified, prompt correction is conducted on illegal data, and the illegal data are rejected.
(3) The simulation program execution module is used for associating the AGV model with the simulation program through the AGV configuration file and executing the goods access task simulation program from the corresponding starting point platform; the AGV configuration file comprises an AGV starting point platform position, a preset end point position, an AGV driving speed, a driving route taken by the AGV and driving process pause time.
In a specific implementation, the simulation program is designed in advance and is used for simulating the process of running of the AGV model in the process of completing the cargo access task.
(4) And the driving parameter screening module is used for screening out a driving route which takes the shortest time for completing the goods access task and has no AGV collision after the simulation is finished, and taking the driving route as the optimal driving route parameter matched with the current goods access task.
In the embodiment, a warehouse scene is simulated by constructing a two-dimensional model of the warehouse scene, and the warehouse scene is more fit with an actual scene, so that AGV models with the number matched with that of goods storing and taking tasks are called from a component model library to corresponding departure point platforms; the method comprises the steps of associating an AGV model with a simulation program through an AGV configuration file, starting to execute a goods access task simulation program from a corresponding departure point platform, screening out a driving route which takes the shortest time for completing the goods access task and has no AGV collision according to a simulation result of the simulation program, and using the driving route as an optimal driving route parameter matched with the current goods access task, so that the purposes of accurately and quickly acquiring the optimal driving route parameter matched with the current goods access task and simulating and visually displaying the whole process of executing the goods access task for a planner AGV are achieved.
EXAMPLE III
The present embodiment provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps in the AGV path planning method according to the first embodiment.
In the embodiment, a warehouse scene is simulated by constructing a two-dimensional model of the warehouse scene, and the warehouse scene is more fit with an actual scene, so that AGV models with the number matched with that of goods storing and taking tasks are called from a component model library to corresponding departure point platforms; the method comprises the steps of associating an AGV model with a simulation program through an AGV configuration file, starting to execute a goods access task simulation program from a corresponding departure point platform, screening out a driving route which takes the shortest time for completing the goods access task and has no AGV collision according to a simulation result of the simulation program, and using the driving route as an optimal driving route parameter matched with the current goods access task, so that the purposes of accurately and quickly acquiring the optimal driving route parameter matched with the current goods access task and simulating and visually displaying the whole process of executing the goods access task for a planner AGV are achieved.
Example four
The present embodiment provides a computer-readable storage medium, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the AGV path planning method according to the first embodiment.
In the embodiment, a warehouse scene is simulated by constructing a two-dimensional model of the warehouse scene, and the warehouse scene is more fit with an actual scene, so that AGV models with the number matched with that of goods storing and taking tasks are called from a component model library to corresponding departure point platforms; the method comprises the steps of associating an AGV model with a simulation program through an AGV configuration file, starting to execute a goods access task simulation program from a corresponding departure point platform, screening out a driving route which takes the shortest time for completing the goods access task and has no AGV collision according to a simulation result of the simulation program, and using the driving route as an optimal driving route parameter matched with the current goods access task, so that the purposes of accurately and quickly acquiring the optimal driving route parameter matched with the current goods access task and simulating and visually displaying the whole process of executing the goods access task for a planner AGV are achieved.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An AGV path planning method is characterized by comprising the following steps:
constructing a two-dimensional model of a warehouse scene;
receiving a current goods access task, and calling AGV models with the quantity matched with the goods access task from a component model library to a corresponding departure point platform;
associating the AGV model with the simulation program through the AGV configuration file, and starting to execute the goods access task simulation program from the corresponding starting point platform; the AGV configuration file comprises an AGV starting point platform position, a preset end point position, an AGV driving speed, a driving route taken by the AGV and driving process pause time;
and after the simulation is finished, screening out the driving route which takes the shortest time for completing the goods storing and taking task and has no AGV collision, and taking the driving route as the optimal driving route parameter matched with the current goods storing and taking task.
2. The AGV path planning method according to claim 1, wherein the process of constructing the two-dimensional model of the warehouse scenario is:
acquiring three-dimensional data of a warehouse scene, and analyzing the relative positions and sizes of all warehouse scene components;
and calling a two-dimensional component model matched with the three-dimensional data of the warehouse scene from the component model library, and constructing a two-dimensional model of the warehouse scene.
3. The AGV path planning method of claim 2, wherein said warehouse scene components include shelves, origin platforms and driving routes.
4. The AGV path planning method according to claim 3, wherein a goods tag is further associated with a shelf in the two-dimensional model of the warehouse scenario, and a goods type, a goods specification size, and a goods quantity are stored in the goods tag; the quantity of the goods is associated with a goods access task execution process.
5. An AGV path planning system, comprising:
the warehouse scene model building module is used for building a warehouse scene two-dimensional model;
the AGV model calling module is used for receiving the current goods access tasks and calling AGV models with the quantity matched with the goods access tasks from the component model library to the corresponding departure point platform;
the simulation program execution module is used for associating the AGV model with the simulation program through the AGV configuration file and executing the goods access task simulation program from the corresponding starting point platform; the AGV configuration file comprises an AGV starting point platform position, a preset end point position, an AGV driving speed, a driving route taken by the AGV and driving process pause time;
and the driving parameter screening module is used for screening out a driving route which takes the shortest time for completing the goods access task and has no AGV collision after the simulation is finished, and taking the driving route as the optimal driving route parameter matched with the current goods access task.
6. The AGV path planning system of claim 5, wherein said warehouse scene model building module comprises:
the warehouse scene data analysis module is used for acquiring three-dimensional data of a warehouse scene and analyzing the relative positions and sizes of all warehouse scene components;
and the component model calling module is used for calling a two-dimensional component model matched with the three-dimensional data of the warehouse scene from the component model library and constructing a two-dimensional model of the warehouse scene.
7. The AGV path planning system of claim 6, wherein said warehouse scene components include shelves, origin platforms and driving routes.
8. The AGV path planning system of claim 7, wherein the shelves in the two-dimensional model of the warehouse scene are further associated with goods tags, and the goods tags store the goods type, the goods specification size, and the goods quantity; the quantity of the goods is associated with a goods access task execution process.
9. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the steps of the AGV path planning method according to any one of claims 1-4.
10. A computer-readable storage medium comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps in the AGV path planning method according to any one of claims 1-4.
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| CN111897343B (en) * | 2020-08-06 | 2021-05-28 | 上海联适导航技术股份有限公司 | Automatic operation control method and device for unmanned agricultural machine |
| CN112286193A (en) * | 2020-10-28 | 2021-01-29 | 山东洛杰斯特物流科技有限公司 | Method and system for planning station butt-joint route in AGV path planning |
| CN112286193B (en) * | 2020-10-28 | 2022-06-03 | 山东洛杰斯特物流科技有限公司 | Method and system for planning station butt-joint route in AGV path planning |
| CN113447936A (en) * | 2020-12-07 | 2021-09-28 | 兰剑智能科技股份有限公司 | AGV intelligent forklift and method and device for detecting platform state of ground pile inventory area |
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