CN115857515B - AGV robot route planning method, system and storage medium - Google Patents
AGV robot route planning method, system and storage medium Download PDFInfo
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Abstract
The invention discloses an AGV robot route planning method, a system and a storage medium, wherein the method comprises the following steps: s1, constructing a cross-building and cross-floor route map of an AGV robot; the route map comprises a primary map and a secondary map, and the primary map and the secondary map are connected through nodes; s2, determining a primary planning route in a route map according to a starting point of an operation task of the AGV, and carrying out actual route planning of a primary map and batch route planning of a secondary map according to configuration parameters of the node where the AGV is located in an actual operation process. According to the invention, the three-dimensional space map is layered and dimension-reduced, so that the planarization of the space relationship is realized, and the AGV running route planning efficiency, the AGV scheduling flexibility and the AGV running environment later maintenance efficiency under the complex scene of continuous building-crossing and floor-crossing are greatly improved when the AGV running route is planned.
Description
Technical Field
The invention belongs to the technical field of automatic control, and particularly relates to a continuous cross-building and cross-floor AGV robot route planning method, system and storage medium.
Background
The development of AGV robots in China has been carried out for nearly 50 years, and along with the development of AGV guidance technology, AGV guidance has been developed from initial guide rail guidance and electromagnetic beacon guidance to positioning and navigation modes mainly based on laser radar positioning guidance, inertial navigation and vision assistance.
However, since the Slam map used by the AGV is a continuous plan, when the AGV needs to run across floors and building, starting points are on different maps, and the truncation of the maps results in the need to traverse the connection points between the maps for route splicing during route planning. When the building structure is complex, the AGV needs to continuously transit among different buildings, and the map construction and route planning of the whole AGV operation scene need to be calculated in a large amount, so that the efficiency is low.
In order to realize continuous cross-building and cross-floor route planning of an AGV, in the traditional route planning method, a transfer floor map needs to be found out when the transfer is required for multi-building and multi-floor AGV route planning. The method has the following defects:
(1) When the number of continuous transfer floors is large, the continuous inquiry and calculation can be performed during calculation, so that the calculated amount is large and the calculation speed is low.
(2) If the robot needs to re-plan the route midway, errors or blockage easily occur due to slow route planning.
Another conventional map construction and route planning method is to take an elevator as a special route, calculate routes between all points in advance when the map and the route are updated, and match corresponding routes according to the positions of start points when the robot performs tasks. The disadvantages of this approach are:
(1) When the multiple robots are used for cooperative scheduling, the elevator scheduling cannot be independently carried out, so that the resource cooperative scheduling cannot be formed among the multiple elevators, and the cooperative scheduling among the robots, the robots and the elevator room cannot be flexibly realized when the multiple robots queue the elevators.
(2) And the map and the route are required to be calculated globally in advance each time, so that the calculation is time-consuming, the construction is difficult, and the project implementation is not facilitated.
(3) When an abnormality occurs in the robot during operation and the current AGV robot is not on the site, the route cannot be planned directly with the current robot coordinate point as the starting point (since the current coordinate point is not among the calculated route nodes).
Disclosure of Invention
Aiming at the defects in the prior art, the AGV robot route planning method, the AGV robot route planning system and the storage medium provided by the invention solve the problems that the AGV map is discontinuous, the running route planning efficiency is low and the route cannot be flexibly adjusted in the running process when the traditional AGV robot is continuous across floors.
In order to achieve the aim of the invention, the invention adopts the following technical scheme: an AGV robot route planning method comprises the following steps:
s1, constructing a continuous building-crossing and floor-crossing route map of an AGV robot;
the route map comprises a primary map and a secondary map, and the primary map and the secondary map are connected through nodes;
s2, determining a primary planning route in a route map according to a starting point of an operation task of the AGV, and carrying out actual route planning of a primary map and batch route planning of a secondary map according to configuration parameters of the node where the AGV is located in an actual operation process.
Further, in the step S1, the primary map is a plane map of the 3-dimensional space map of the area where the AGV robot task is located after dimension reduction, and the secondary map is a slam map of each floor of the area where the AGV robot task is located;
the nodes for connecting the primary map and the secondary map comprise elevator nodes, floor map nodes and map connecting nodes with the representing distance of 0; each floor map node corresponds to a slam map of the floor;
in the primary map, the elevator nodes, the floor map nodes and the map connecting nodes represent the connection and traffic relations among the nodes through connecting lines.
Further, the configuration parameters of the elevator nodes are used for determining the time spent by the running task of the AGV robot on the elevator nodes in actual route planning;
the configuration parameters of the floor map nodes are used for determining the trafficability of the current route of the AGV robot in the nodes during actual route planning, and further determining the planning route with the shortest current time or the shortest distance;
and the configuration parameters of the map connection node are used for determining the connection relation and the running direction of the AGV robot between the node and other nodes during actual route planning.
Further, the configuration parameters of the elevator node comprise a node type, an elevator ID, an elevator name, an elevator type, an accessible floor, a layer height, a departure floor, an arrival floor, an openable elevator door, an in-out direction, an operation direction and an elevator operation speed;
the configuration parameters of the floor map node comprise a node type, a map ID, a map name, a front node type, a front node ID, a rear node type, a rear node ID, a passing state of a route in the node, a passing direction of the front and rear nodes, a length coefficient of the route between the front and rear nodes and a time coefficient of the route between the front and rear nodes;
the configuration parameters of the map connection node comprise node type, node ID, node name, front node ID, rear node ID and front and rear node passing direction.
Further, in the step S2, the method for determining the preliminary planned route includes:
according to the starting point and the stopping point of the running task of the AGV robot, all reachable routes from the starting point to the stopping point are determined on a primary map and used as primary planning routes;
and in the reachable route, each passing point of the AGV robot when executing the running task is characterized by an elevator node, a floor map node and/or a map connection node.
Further, in the step S2, when the actual route planning of the first-level map is performed, in the actual running process, when the path point where the AGV robot is located needs to adjust the next actual route, the actual route planning is performed again according to the configuration parameters of the next path point in the current planned route of the AGV robot;
when the batch route planning of the secondary map is carried out, determining the next route point corresponding to the current route point in the primary planning route according to the configuration parameter information of the route point of the current AGV robot, and taking the next route point as the current batch route planning of the AGV robot on the secondary map.
An AGV robot travel route planning system of an AGV robot travel route planning method, comprising:
the route map construction module is used for constructing a route map of an area where the AGV robot task is located, and comprises a primary map and a secondary map, wherein the primary map and the secondary map are connected through nodes;
the node parameter configuration module is used for configuring parameters of each node in the route map and determining data references of passing points during route planning;
and the route planning module is used for carrying out preliminary route planning of the AGV robot and actual planning route adjustment in the running process according to the constructed route map and parameters of nodes in the route map.
Further, the primary map is a plane map of the 3-dimensional space map of the area where the AGV robot task is located after dimension reduction, and the secondary map is a slam map of each floor of the area where the AGV robot task is located;
the nodes for connecting the primary map and the secondary map comprise elevator nodes, floor map nodes and map connecting nodes with the representing distance of 0; each floor map node corresponds to a slam map of the floor;
in the primary map, the elevator nodes, the floor map nodes and the map connecting nodes represent the connection and traffic relations among the nodes through connecting lines.
Further, the node parameter configuration module comprises an elevator node parameter configuration unit, a floor map node parameter configuration unit and a floor map node parameter configuration unit;
the elevator node parameter configuration unit determines the time spent by the operation task on each elevator node according to the configuration parameters; the floor map node parameter configuration unit determines a planning route with shortest time or shortest distance according to configuration parameters; and the map connection node parameter configuration unit determines the connection relation and the running direction between the nodes according to the configuration parameters.
A computer storage medium is provided, wherein a computer program is stored in the computer storage medium, and when the computer program is executed, the AGV robot route planning method is realized.
The beneficial effects of the invention are as follows:
1. the invention provides a path planning method compatible with continuous building-crossing, building-crossing complex scenes and a single Slam map, which can independently dispatch any type of nodes in a system, improve the flexibility and compatibility of the system and improve the utilization rate of resources;
2. the method improves the route planning rate, reduces the concurrent pressure, realizes the traffic relationship among different Slam maps by using a route planning algorithm of a planar map, and realizes the route planning in the Slam map by step operation.
3. The map relation in the three-dimensional space map can be displayed through planar visualization, and visual route planning and project operation and maintenance are realized with low cost.
Drawings
FIG. 1 is a flow chart of a method for planning a route of an AGV robot provided by the invention.
Fig. 2 is a schematic diagram of a stereoscopic space scene provided by the invention.
Fig. 3 is a schematic diagram of dimension reduction of a three-dimensional space map provided by the invention.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.
Example 1:
the embodiment of the invention provides an AGV robot route planning method, as shown in FIG. 1, comprising the following steps:
s1, constructing a continuous building-crossing and floor-crossing route map of an AGV robot;
the route map comprises a primary map and a secondary map, and the primary map and the secondary map are connected through nodes;
s2, determining a primary planning route in a route map according to a starting point of an operation task of the AGV, and carrying out actual route planning of a primary map and batch route planning of a secondary map according to configuration parameters of the node where the AGV is located in an actual operation process.
In the embodiment of the invention, to realize the operation of the AGV robot in a complex scene of building and floor, a three-dimensional space model of a task area needs to be modeled, as shown in fig. 2, a simple and common space model relates to 4 buildings and 8 elevators, and if the operation task of the AGV robot is from 1 building to 4 building to 1 building, at least 4 elevators are needed in the middle, and the transfer from 2 buildings to 3 buildings is needed, but in an actual use scene, due to the limitation of building plane layout limitation, in-layer route planning and the like, the selection of elevators in a plurality of available elevators may be related. In actual projects, the environment in which the AGV robot is actually operating may be more complex than in example fig. 2, with more transfer floors and elevators, etc.
Based on the above, the embodiment of the invention firstly constructs a map of a route of a building and a floor, and carries out route planning based on the map; in step S1 of the embodiment of the invention, the primary map is a plane map of a 3-dimensional space map of an area where an AGV robot task is located after dimension reduction, and the secondary map is a slam map of each floor of the area where the AGV robot task is located;
the nodes for connecting the primary map and the secondary map comprise elevator nodes, floor map nodes and map connecting nodes with the distance of 0; each floor map node corresponds to a slam map of the floor;
in the first-level map, the elevator nodes, the floor map nodes and the map connection nodes represent the connection and traffic relations among the nodes through connecting lines.
Specifically, when a route map is constructed, all slam maps, connection points between maps, elevator and other cross-map connection positions related in a space are regarded as one node, and the points are formed into a plane map according to an actual connection relation, as shown in fig. 3, the route map is formed by dimension reduction of a three-dimensional space relation in fig. 2 into a plane graph, wherein a round node is a slam map, a square node is an elevator, a diamond node is a map connection point with a distance of 0, and each connection line represents connection and passing relation between the nodes.
The configuration parameters of the elevator node in the embodiment of the invention are used for determining the time spent on the elevator node by the operation task of the AGV robot during actual route planning; specifically, for the elevator nodes, the elevators are divided into inclined plane elevators and straight elevators, the two elevators are different in control, cooperation with an AGV robot and related use modes, the straight elevators are divided into single door opening and opposite door opening, and the two elevators are also different in door opening and in-out directions possibly due to different services on different floors; therefore, the configuration parameters of the elevator node in the embodiment of the invention comprise the node type, the elevator ID, the elevator name, the elevator type, the reachable floor, the floor height, the departure floor, the reachable floor, the openable elevator door, the in-out direction, the running direction and the running speed of the elevator; the specific content corresponding to each parameter is shown in table 1;
table 1: configuration parameters of elevator nodes
| Parameter name | Description of the invention |
| Node type | In the first level map, the type name of the elevator node |
| Elevator ID | Elevator ID, globally unique |
| Elevator name | Elevator names, typically in real environment |
| Type of elevator | The elevators are classified and can be managed respectively according to different elevator types; common elevators applicable to AGV robots are Escalator for straight ladder and smooth ground |
| Can reach floors | Slam map node defining elevator connection |
| Layer height | Defining the floor height of each floor, and predicting the elevator section in the process of path planning by combining the floor height with the elevator running speed Time spent on the spot |
| Departure floor | Departure floor when robot executes task to use elevator |
| Arriving at the floor | Target floor when robot executes task to use elevator |
| Openable ladder door | The escalator generally has no elevator door; the vertical ladder may have front door and rear door, each layer of the ladder has different door opening directions, and each layer of ladder needs to be opened Layer openable door management |
| In and out direction | In actual construction, the robot can only enter the elevator or only the elevator according to the distribution scene and the different floors Can go out of the elevator, avoid coming out of the robot in the elevator in the same layer, and the robot outside the elevator needs to go in to cause blockage A plug. |
| Direction of travel | In actual construction, some elevators are required to be arranged to convey only the robot upward or only the robot upward according to the distribution scene And transporting the robot downwards to avoid congestion caused by the robots entering the elevator and exiting the elevator in the same layer. By means of electricity The direction of the ladder conveying robot is made into a loop, so that congestion can be avoided. |
Based on the parameter configuration in the table 1, when the actual path is planned, according to the serial number of the slam map node (namely the floor map node) connected with the elevator, the corresponding elevator parameters are obtained, whether the elevator can be used for the current task can be determined, and the time required by the AGV robot to run the task on the elevator node is calculated; meanwhile, the available time of the elevator is pre-judged by matching with the task queue of the elevator, so that when a plurality of elevators are available, the elevator which can be used most quickly is preferentially selected, and the total time spent by the AGV robot on the elevator nodes is calculated. In this embodiment, the total length of time required for the elevator node = the length of time required for the elevator node AGV to operate + the length of time required to wait for the elevator to be available.
The configuration parameters of the floor map node in the embodiment of the invention are used for determining the trafficability of the current route of the AGV robot in the node during the actual route planning, so as to determine the planning route with the shortest current time or the shortest distance; specifically, for the floor map nodes (i.e., slam map nodes), in each slam map node, there may be multiple different routes according to the route planning selection and the difference between the front and rear nodes connected with the slam map nodes; when the whole route planning is performed, whether the front node and the rear node can be communicated in the current slam map node or not is determined according to different route parameters, and the intra-node distance and the time are pre-determined; therefore, the configuration parameters of the map node of the floor in the embodiment of the invention comprise node type, map ID, map name, front node type, front node ID, rear node type, rear node ID, traffic state of the route in the node, traffic direction of the front and rear nodes, length coefficient of the route between the front and rear nodes and time coefficient of the route between the front and rear nodes; the specific content corresponding to each parameter is shown in table 2;
table 2: configuration parameters of floor map nodes
| Parameter name | Description of the invention |
| Node type | In the first-level map, the type parameter of the slam map node |
| Map ID | Id of slam map |
| Map name | slam map name, general building+floor information of map |
| Front node type | In the primary route planning, the type of one node on the current map node |
| Front node id | In the primary route planning, the ID of one node on the current map node |
| Rear node type | In primary route planning, the current locationType of node following the graph node |
| Back node id | In the primary route planning, the ID of the next node after the current map node |
| Routes within the node Traffic state | In the primary route planning, whether the nodes in the local map can be connected with the front and rear nodes (the map can be connected with the front and rear Several points, but the front and back nodes do not necessarily have routes to communicate within the local map |
| Front and rear node passing direction | In the primary route planning, the running directions in the route local map nodes of the front and rear nodes are connected. Within a node The routes being split, although connected, allowing traffic and planning directions to be different |
| Route length between front and rear nodes Coefficient of degree | According to the length coefficient, estimating the length of the planned route, and selecting the optimal route when a plurality of routes are available Route |
| Route between front and rear nodes Time coefficient | According to the length coefficient, the running time of the planned route is estimated, and when a plurality of routes are available, the route is selected Selecting an optimal route |
Based on the parameter configuration in table 2, it can be determined whether the current route is passable in the node, and a route combination that is the shortest or the shortest distance among the routes passing through the node is calculated.
The configuration parameters of the map connection node in the embodiment of the invention are used for determining the connection relation and the running direction of the AGV robot between the node and other nodes during actual route planning; the configuration parameters of the map connection node comprise node type, node ID, node name, front node ID, rear node ID and front and rear node passing direction; the specific content corresponding to each parameter is shown in table 3;
table 3: configuration parameters of map connection nodes
| Parameter name | Description of the invention |
| Node type | Type parameter of map connection node in level 1 map |
| Node ID | Node id |
| Node name | Node name |
| Front node id | In the route planning in the level 1 map, the node id before the node is directed according to the route. Map nodes are slam map nodes before and after the map connection nodes |
| Back node id | In the route planning in the level 1 map, the next node id of the node is oriented according to the route. Map nodes are slam map nodes before and after the map connection nodes |
| Front and rear node passing direction | According to the front and back of the connection nodeThe routes in the graph can pass in the same direction, and cannot pass in the opposite direction. |
In step S2 of the embodiment of the present invention, the method for determining the preliminary planned route includes:
according to the starting point and the stopping point of the running task of the AGV robot, all reachable routes from the starting point to the stopping point are determined on a primary map and used as primary planning routes; in the reachable route, each passing point of the AGV robot when executing the running task is characterized by an elevator node, a floor map node and/or a map connection node.
In step S2 of the embodiment of the present invention, when an actual route planning of a first-level map is performed, in an actual operation process, when a path point where an AGV robot is located needs to adjust a next actual route, the actual route planning is performed again according to a configuration parameter of the next path point in a current planned route of the AGV robot;
when the batch route planning of the secondary map is carried out, determining the next route point corresponding to the current route point in the primary planning route according to the configuration parameter information of the route point of the current AGV robot, and taking the next route point as the current batch route planning of the AGV robot on the secondary map.
Taking the route map shown in fig. 3 as an example, when the robot receives the operation task, a preliminary planning route between maps is planned in a plane view after dimension reduction according to the map information of the start and stop points of the AGV robot, if the start and stop points of the AGV robot are D1F3 and the stop points are D4F1, the preliminary planning route of the AGV can be planned as follows:
D1F3-T1/T2-D1F1/D1F2/D1F3-L3/L2/L1-D2F1/D2F2/D2F4-T3/T4-D2F1/D2F1-L4/L5-D3F1/D3F3-T5/T6-D3F2-L6-D4F2-T7/T8-D4F1; wherein X/Y represents that X nodes or Y nodes can be walked at the step of route planning, and the method can be used.
In the actual running process of the AGV robot, if the next actual route needs to be adjusted at a certain point in the middle, the AGV robot only needs to re-plan from the node on the next level map, and in the actual route planning process, the actual running route on the level 2 map can be planned in batches, for example: firstly, planning a running route of the robot in a D1F3 node to start execution, and planning an elevator T1 task when the running route is executed; after entering the elevator, the running route of the robot in the D1F2 node is planned. After the split, when a large number of robot order tasks exist, the batch planning can relieve the operation pressure.
After the inter-building and inter-floor primary map line planning is completed, the relevant attributes of each node of the primary map are refined according to actual scenes, so that the method is more flexible and higher in efficiency in actual line planning.
Example 2:
the present embodiment is a planning system based on the AGV robot route planning method in embodiment 1, including:
the route map construction module is used for constructing a route map of an area where the AGV robot task is located, and comprises a primary map and a secondary map, wherein the primary map and the secondary map are connected through nodes;
the node parameter configuration module is used for configuring parameters of each node in the route map and determining data references of passing points during route planning;
and the route planning module is used for carrying out preliminary route planning of the AGV robot and actual planning route adjustment in the running process according to the constructed route map and parameters of nodes in the route map.
The first-level map in the embodiment of the invention is a plane map after dimension reduction of a 3-dimensional space map of an area where an AGV robot task is located, and the second-level map is a slam map of each floor of the area where the AGV robot task is located;
the nodes for connecting the primary map and the secondary map comprise elevator nodes, floor map nodes and map connecting nodes with the distance of 0; each floor map node corresponds to a slam map of the floor;
in the first-level map, the elevator nodes, the floor map nodes and the map connection nodes represent the connection and traffic relations among the nodes through connecting lines.
The node parameter configuration module in the embodiment of the invention comprises an elevator node parameter configuration unit, a floor map node parameter configuration unit and a floor map node parameter configuration unit;
the elevator node parameter configuration unit determines the time spent by the operation task on each elevator node according to the configuration parameters; the floor map node parameter configuration unit determines a planning route with the shortest time or the shortest distance according to the configuration parameters; and the map connection node parameter configuration unit determines the connection relation and the running direction between the nodes according to the configuration parameters.
Specifically, the configuration parameters of the elevator node parameter configuration unit comprise node type, elevator ID, elevator name, elevator type, reachable floor, floor height, departure floor, arrival floor, openable elevator door, in-out direction, running direction and elevator running speed; the configuration parameters of the floor map node parameter configuration unit comprise node types, map IDs, map names, front node types, front node IDs, rear node types, rear node IDs, the passing state of routes in the nodes, the passing directions of the front and rear nodes, the length coefficients of routes between the front and rear nodes and the time coefficients of routes between the front and rear nodes; the configuration parameters of the map connection node parameter configuration unit comprise node types, node IDs, node names, front node IDs, rear node IDs and front and rear node passing directions.
Based on the system structure, when the route planning is carried out, after the one-level map route planning of the AGV robot is completed, the route between the coordinate points is planned according to the connection coordinate points of the front and rear nodes and the current map in each layer, and the whole route of the whole building and the building can be connected in series, so that the route planning of the whole task of the AGV robot is realized.
Example 3:
the embodiment of the invention provides a computer storage medium, wherein a computer program is stored in the computer storage medium, and when the computer program is executed, the AGV robot route planning method as in the embodiment 1 is realized. In an embodiment of the present invention, the computer readable storage medium includes, but is not limited to, a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be understood that the terms "center," "thickness," "upper," "lower," "horizontal," "top," "bottom," "inner," "outer," "radial," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be interpreted as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defined as "first," "second," "third," or the like, may explicitly or implicitly include one or more such feature.
Claims (6)
1. The AGV robot route planning method is characterized by comprising the following steps of:
s1, constructing a continuous building-crossing and floor-crossing route map of an AGV robot;
the route map comprises a primary map and a secondary map, and the primary map and the secondary map are connected through nodes;
s2, determining a primary planning route in a route map according to a starting point of an operation task of the AGV robot, and carrying out actual route planning of a primary map and batch route planning of a secondary map according to configuration parameters of a node where the AGV robot is located in an actual operation process;
in the step S1, the primary map is a plane map obtained by dimension reduction of a 3-dimensional space map of an area where the AGV robot task is located, and the secondary map is a slam map of each floor of the area where the AGV robot task is located;
the nodes for connecting the primary map and the secondary map comprise elevator nodes, floor map nodes and map connecting nodes with the representing distance of 0; each floor map node corresponds to a slam map of the floor;
in the primary map, the elevator nodes, the floor map nodes and the map connecting nodes represent the connection and passing relation among the nodes through connecting lines;
the configuration parameters of the elevator nodes are used for determining the time spent on the elevator nodes by the running task of the AGV robot during actual route planning;
the configuration parameters of the floor map nodes are used for determining the trafficability of the current route of the AGV robot in the nodes during actual route planning, and further determining the planning route with the shortest current time or the shortest distance;
the configuration parameters of the map connection node are used for determining the connection relation and the running direction of the AGV robot between the node and other nodes during actual route planning;
in the step S2, the method for determining the preliminary planned route includes:
according to the starting point and the stopping point of the running task of the AGV robot, all reachable routes from the starting point to the stopping point are determined on a primary map and used as primary planning routes;
in the reachable route, each passing point of the AGV robot when executing the running task is represented by an elevator node, a floor map node and/or a map connecting node;
in the step S2, when the actual route planning of the first-level map is performed, in the actual running process, when the path point where the AGV robot is located needs to adjust the next actual route, the actual route planning is performed again according to the configuration parameters of the next path point in the current planned route of the AGV robot;
when the batch route planning of the secondary map is carried out, determining the next route point corresponding to the current route point in the primary planning route according to the configuration parameter information of the route point of the current AGV robot, and taking the next route point as the current batch route planning of the AGV robot on the secondary map.
2. The AGV robot route planning method according to claim 1, wherein the configuration parameters of the elevator node include a node type, an elevator ID, an elevator name, an elevator type, an accessible floor, a floor height, a departure floor, an arrival floor, an openable elevator door, an in-out direction, a traveling direction, and an elevator traveling speed;
the configuration parameters of the floor map node comprise a node type, a map ID, a map name, a front node type, a front node ID, a rear node type, a rear node ID, a passing state of a route in the node, a passing direction of the front and rear nodes, a length coefficient of the route between the front and rear nodes and a time coefficient of the route between the front and rear nodes;
the configuration parameters of the map connection node comprise node type, node ID, node name, front node ID, rear node ID and front and rear node passing direction.
3. An AGV robot route planning system based on the AGV robot route planning method according to any one of claims 1 to 2, comprising:
the route map construction module is used for constructing a route map of an area where the AGV robot task is located, and comprises a primary map and a secondary map, wherein the primary map and the secondary map are connected through nodes;
the node parameter configuration module is used for configuring parameters of each node in the route map and determining data references of passing points during route planning;
and the route planning module is used for carrying out preliminary route planning of the AGV robot and actual planning route adjustment in the running process according to the constructed route map and parameters of nodes in the route map.
4. The system for planning a route of an AGV robot according to claim 3, wherein the primary map is a plane map obtained by dimension reduction of a 3-dimensional space map of an area where the task of the AGV robot is located, and the secondary map is a slam map of each floor of the area where the task of the AGV robot is located;
the nodes for connecting the primary map and the secondary map comprise elevator nodes, floor map nodes and map connecting nodes with the representing distance of 0; each floor map node corresponds to a slam map of the floor;
in the primary map, the elevator nodes, the floor map nodes and the map connecting nodes represent the connection and traffic relations among the nodes through connecting lines.
5. The AGV robot route planning system of claim 4, wherein the node parameter configuration module comprises an elevator node parameter configuration unit, a floor map node parameter configuration unit, and a floor map node parameter configuration unit;
the elevator node parameter configuration unit determines the time spent by the operation task on each elevator node according to the configuration parameters; the floor map node parameter configuration unit determines a planning route with shortest time or shortest distance according to configuration parameters; and the map connection node parameter configuration unit determines the connection relation and the running direction between the nodes according to the configuration parameters.
6. A computer storage medium, wherein a computer program is stored in the computer storage medium, and when the computer program is executed, the method for planning a route of an AGV robot according to any one of claims 1 to 2 is implemented.
Priority Applications (1)
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