CN110162058A - AGV method and device for planning - Google Patents
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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
- G05D1/0212—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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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Abstract
This application involves a kind of AGV method and device for planning, belong to automatic control technology field, this method comprises: obtaining AGV can travel the topological structure of route, topological structure includes the travelable route between at least two nodes and different nodes；The initial condition data of each AGV is obtained, initial condition data includes initial position, movement velocity and the device identification of each AGV；The traveling task data of AGV is obtained, traveling task data includes the traveling starting point and traveling terminal of at least one traveling task；Based on the traveling most short principle of task completion time, AGV is planned according to topological structure, initial condition data and traveling task data；It can solve the problem that the travel route for generating AGV based on shortest path principle causes the execution efficiency of traveling task lower；Since the travel route of AGV can be generated based on the most short principle of traveling task completion time, it is thus possible to improve the execution efficiency of traveling task.
Description
Technical field
This application involves AGV method and device for planning, belong to automatic control technology field.
Background technique
Automated guided vehicle (Automated Guided Vehicle, AGV) refers to magnetically or optically to be waited certainly equipped with electricity
Dynamic guiding device, can travel along the guide path of planning, the transport vehicle with safeguard protection and various transfer functions.AGV
System is widely used in the fields such as industry, military affairs, communications and transportation, electronics.
It needs to be planned according to travel route of the topological map to AGV before AGV operation.Wherein, topological map is
A kind of holding point and line relative positional relationship it is correct and not necessarily keep diagram shape and area, distance, it is in the right direction abstractively
Figure；Path planning refers to that AGV in the environment with barrier, according to certain standard, finds one from start node to mesh
Mark the collisionless path of node.
Existing AGV planing method is the travel route that AGV is generated based on shortest path principle.However, in AGV system
In, the travel speed of each AGV, the time for executing traveling task may be different, even if at this point, the driving path of AGV most
Short, the running time that may also do not can guarantee AGV is most short, to reduce the execution efficiency of traveling task.
Summary of the invention
This application provides a kind of AGV method and device for planning, the row that AGV is generated based on shortest path principle can solve
Sail the problem that route causes the execution efficiency of traveling task lower.The application provides the following technical solutions:
In a first aspect, providing a kind of AGV planing method, which comprises
Obtaining AGV can travel the topological structure of route, and the topological structure includes at least two nodes and different nodes
Between travelable route；
The initial condition data of each AGV is obtained, the initial condition data includes the initial position of each AGV, movement
Speed and device identification；
The traveling task data of AGV is obtained, the traveling task data includes the traveling starting point of at least one traveling task
With traveling terminal；
Based on the traveling most short principle of task completion time, according to the topological structure, the initial condition data and described
Traveling task data plans AGV.
Optionally, described based on the traveling most short principle of task completion time, according to the topological structure, the original state
Data and the traveling task data plan AGV, comprising:
For each traveling task in the traveling task data, according to the target AGV of the pending traveling task
Movement velocity and the different node between travelable route determination difference node between running time；
The traveling starting point for obtaining the traveling task reaches the most short running time of each node in first set, and described the
One set is for storing the node for being not determined by most short running time；
The corresponding first node of most short running time described in the first set is moved into second set, second collection
It shares and has determined that the node of most short running time in storage；
The first node is obtained to reach in the first set the most short running time of each node and described travel
Point reaches between the running time of the first node and value；
Determine whether described and value more than or equal to the traveling starting point reaches in the first set each node most
Short running time；
It is greater than or equal to the most short traveling that the traveling starting point reaches each node in the first set in described and value
When the time, the first node is updated to second node；The second node is that the traveling starting point reaches first collection
Node corresponding to the most short running time of each node in conjunction；The traveling starting point for obtaining the traveling task is executed again
The step of reaching the most short running time of each node in first set, until the first set stops when being empty；
The corresponding running time in path and the target AGV constituted according to node each in the second set executes institute
The duration needed to wait for before traveling task is stated to plan AGV.
Optionally, the corresponding running time in path and the mesh constituted according to node each in the second set
Mark AGV executes the duration needed to wait for before the traveling task and plans AGV, comprising:
The duration needed to wait for before the traveling task will be executed and the shortest target AGV of the sum of the running time is true
It is set to the AGV for executing the traveling task, obtains the AGV travel route.
Optionally, the movement velocity of the AGV includes the straight trip speed and turning speed of AGV.
Optionally, the AGV that obtains can travel the topological structure of route, comprising:
Show topological input interface；
The topology input operation acted in the topological input interface is received, the topological structure is obtained.
Optionally, the traveling task data for obtaining AGV, comprising:
Display task input interface；
Receive the starting point input operation acted on the task input interface and terminal input operation；
The traveling terminal life of the traveling starting point and terminal input operation instruction of operation instruction is inputted according to the starting point
At traveling task, the traveling task data is obtained.
Optionally, described based on the traveling most short principle of task completion time, according to the topological structure, the original state
After data and the traveling task data plan AGV, further includes:
The waiting time of AGV travel route, each AGV each node in corresponding travel route that display planning obtains
And reach the theoretical time of each node.
Optionally, described based on the traveling most short principle of task completion time, according to the topological structure, the original state
Before data and the traveling task data plan AGV, further includes:
Determine whether the topological structure is accurate；
Topological structure amendment prompt is shown in the topological structure inaccuracy, the topological structure amendment prompt is for mentioning
Show that user corrects the topological structure.
Second aspect, provides a kind of AGV device for planning, and described device includes:
Described device includes:
First obtains module, can travel the topological structure of route for obtaining AGV, the topological structure includes at least two
Travelable route between node and different nodes；
Second obtains module, and for obtaining the initial condition data of each AGV, the initial condition data includes each
Initial position, movement velocity and the device identification of AGV；
Third obtains module, and for obtaining the traveling task data of AGV, the traveling task data includes at least one row
Sail the traveling starting point and traveling terminal of task；
Route planning module, for based on traveling the most short principle of task completion time, according to the topological structure, it is described just
Beginning status data and the traveling task data plan AGV.
Optionally, the route planning module, is used for:
For each traveling task in the traveling task data, according to the target AGV of the pending traveling task
Movement velocity and the different node between travelable route determination difference node between running time；
The traveling starting point for obtaining the traveling task reaches the most short running time of each node in first set, and described the
One set is for storing the node for being not determined by most short running time；
The corresponding first node of most short running time described in the first set is moved into second set, second collection
It shares and has determined that the node of most short running time in storage；
The first node is obtained to reach in the first set the most short running time of each node and described travel
Point reaches between the running time of the first node and value；
Determine whether described and value more than or equal to the traveling starting point reaches in the first set each node most
Short running time；
It is greater than or equal to the most short traveling that the traveling starting point reaches each node in the first set in described and value
When the time, the first node is updated to second node；The second node is that the traveling starting point reaches first collection
Node corresponding to the most short running time of each node in conjunction；The traveling starting point for obtaining the traveling task is executed again
The step of reaching the most short running time of each node in first set, until the first set stops when being empty；
The corresponding running time in path and the target AGV constituted according to node each in the second set executes institute
The duration needed to wait for before traveling task is stated to plan AGV.
The beneficial effects of the present application are as follows: it can travel the topological structure of route by obtaining AGV, topological structure includes at least
Travelable route between two nodes and different nodes；Obtain the initial condition data of each AGV, initial condition data packet
Include initial position, movement velocity and the device identification of each AGV；The traveling task data of AGV is obtained, traveling task data includes
The traveling starting point and traveling terminal of at least one traveling task；Based on the traveling most short principle of task completion time, tied according to topology
Structure, initial condition data and traveling task data plan AGV；It can solve and generate AGV's based on shortest path principle
The problem that travel route causes the execution efficiency of traveling task lower；Since the traveling most short principle of task completion time can be based on
The travel route of AGV is generated, it is thus possible to improve the execution efficiency of traveling task.
Above description is only the general introduction of technical scheme, in order to better understand the technological means of the application,
And can be implemented in accordance with the contents of the specification, with the preferred embodiment of the application and cooperate attached drawing below detailed description is as follows.
Detailed description of the invention
Fig. 1 is the flow chart for the AGV planing method that the application one embodiment provides；
Fig. 2 is the schematic diagram for the topological input interface that the application one embodiment provides；
Fig. 3 is the schematic diagram for the state input interface that the application one embodiment provides；
Fig. 4 is the schematic diagram for the task input interface that the application one embodiment provides；
Fig. 5 is the schematic diagram for the task input interface that another embodiment of the application provides；
Fig. 6 is the schematic diagram for the topological structure that the application one embodiment provides；
Fig. 7 is the schematic diagram for the display AGV travel route that the application one embodiment provides；
Fig. 8 is the block diagram for the AGV device for planning that the application one embodiment provides.
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the application is described in further detail.Implement below
Example is not limited to scope of the present application for illustrating the application.
Optionally, the application is said so that the executing subject of step each in each embodiment is the control terminal of AGV as an example
It is bright, wherein control terminal can be the electronic equipment that computer, mobile phone, tablet computer, server etc. have processing capacity, this implementation
Example does not limit the device type of control terminal.
Fig. 1 is the flow chart for the AGV planing method that the application one embodiment provides.This method includes at least following
Step:
Step 101, obtaining AGV can travel the topological structure of route, and the topological structure is including at least two nodes and not
With the travelable route between node.
In one example, topological structure is that control terminal is obtained based on human-computer interaction technology.It is opened up at this point, control terminal is shown
Flutter input interface；The topology input operation acted in topological input interface is received, topological structure is obtained.
Wherein, topology input operation can be the operation of path length between input node and node；Alternatively, being also possible to
It draws node and marks the operation of path length between node, such as: dragging mouse draws node, and marks road among the nodes
Electrical path length, the present embodiment do not limit the action type of topology input operation.
With reference to topological input interface shown in Fig. 2, the first row of the topology input interface includes two integer datas n and m,
N indicates that the number of nodes of topological structure, m indicate the number of paths in topological structure.In Fig. 2, n 36, m 37.The first row it
It afterwards include m row, each row of data indicates that a paths, each row of data include two integer datas s, e and a real-coded GA w,
Wherein, s indicates the starting point of respective path, and e indicates that the terminal of respective path, w indicate the length of respective path.
In another example, topological structure is stored in control terminal, reads to obtain by control terminal.
Step 102, the initial condition data of each AGV is obtained, which includes the initial bit of each AGV
It sets, movement velocity and device identification.
Wherein, initial position be AGV do not start execute traveling task when the location of.
Optionally, the movement velocity of AGV includes the straight trip speed and turning speed of AGV.Wherein, straight trip speed can be
Average speed of the AGV in straight-line travelling；Turning speed can be average speed of the AGV in curve driving.
Device identification can be vehicle identification code, number, device number of AGV etc., and the present embodiment is not to the class of device identification
Type limits.
In one example, initial condition data is that control terminal is obtained based on human-computer interaction technology.At this point, control terminal is aobvious
Show state input interface；The state input operation acted in state input interface is received, initial condition data is obtained.
Wherein, state input operation can be the operation of input initial position, movement velocity and device identification.
With reference to state input interface shown in Fig. 3, the first row of the state input interface includes integer data n, n a table
Show the quantity of AGV, n is 10 in Fig. 3.N row after the first row, every row indicate the initial position of an AGV, movement velocity and
Device identification.Every row in n row includes two integer datas s, v and a character string i.Wherein, s indicates that corresponding A GV's is initial
Position, v indicate that the movement velocity of corresponding A GV, i indicate the device identification of corresponding A GV.
In another example, initial condition data is stored in control terminal, reads to obtain by control terminal.
Step 103, the traveling task data of AGV is obtained, which includes the row of at least one traveling task
Sail starting point and traveling terminal.
Optionally, traveling task data includes static task data and dynamic task data.Wherein, static task data are
Refer to the task data that each AGV is got before executing traveling task.Dynamic task data refer to be started at least one AGV
Execute the task data got after traveling task.
In one example, the traveling task data of AGV is obtained, comprising: display task input interface；Reception, which acts on, appoints
The starting point input operation and terminal input operation being engaged on input interface；The traveling beginning and end of operation instruction is inputted according to starting point
The traveling terminal for inputting operation instruction generates traveling task, obtains traveling task data.
With reference to task input interface shown in Fig. 4, the first row of the task input interface includes integer data n, n a table
Show the quantity of traveling task, n is 30 in Fig. 4.N row after the first row, every row indicate a traveling task.It is every in n row
Row includes two integer datas s, e.Wherein, s indicates that the traveling starting point of corresponding traveling task, e indicate the row of corresponding traveling task
Sail terminal.
With reference to task input interface shown in fig. 5, which includes starting point input control 51, terminal input control
Part 52 and task generate control 53.The starting point input operation acted on starting point input control 51 is received, receives and acts on
Terminal on terminal input control 52 inputs operation；Then, the task generation acted on task generation control 53 is being received
Traveling task is generated when operation, obtains traveling task data.
In another example, traveling task data is stored in control terminal, reads to obtain by control terminal.
Step 104, based on the traveling most short principle of task completion time, according to topological structure, initial condition data and traveling
Task data plans AGV.
Optionally, based on the traveling most short principle of task completion time, appointed according to topological structure, initial condition data and traveling
Business data plan AGV, include at least following steps:
Step 1, for traveling task data in each traveling task, according to the target AGV's of pending traveling task
The running time between travelable route determination difference node between movement velocity and different nodes.
Assuming that travelable route in topological structure as shown in fig. 6, this can travel route include 5 nodes A, B, C, D and
E.Wherein, A is connected with B, D respectively, and B is connected with A, C and D respectively, and C is connected with B, D, E respectively, and D is connected with A, B, C, E respectively, E
It is connected respectively with C, D.
For each AGV, control terminal is according to the path length between node (with reference to the path length marked above each path
Degree) and the different nodes of movement velocity (including straight trip speed and turning speed) calculating of the AGV between running time.
Step 2, the traveling starting point for obtaining traveling task reach the most short running time of each node in first set.
In the present embodiment, control terminal is default, and there are two set, first set and second sets.Wherein, first set is used for
Storage is not determined by the node of most short running time；Second set is for storing the node for having determined that most short running time.Just
Beginningization first set includes all nodes in addition to travelling starting point, and initialization second set only includes traveling starting point.
Assuming that traveling starting point is A, then first set is initialized are as follows: { B, C, D, E }；Second set is { A }.
Control terminal obtains the most short running time that A reaches each node in first set, that is, A arrives separately at B, C, D and E
Most short running time.At this point, not can travel route since A reaches C and E, the running time that A reaches C and E is ∞.
If the running time that A reaches B is less than the running time that A reaches D, the running time that A reaches B is most short running time.
The corresponding first node of running time most short in first set is moved into second set by step 3.
Assuming that it is most short running time that A, which reaches the running time of B, in Fig. 6, then B point is moved into second set, at this point, first
Set are as follows: { C, D, E }；Second set is { A, B }.
Step 4 obtains the most short running time of each node and traveling starting point arrival in first node arrival first set
Between the running time of destination node and value.
Based on above-mentioned example, control terminal obtain B reach C running time+A reach B running time and value, B reach D
Running time+A reach B running time and value, B reach E running time+A reach B running time and value.
Step 5 determines and is worth whether be greater than or equal to the most short traveling that traveling starting point reaches each node in first set
Time.
Control terminal obtains the most short running time that traveling starting point reaches each node in first set.Based on above-mentioned example,
Control terminal obtains the running time and A arrival E that A reaches the running time (running time that A reaches C by D) of C, A arrival D
Running time (A pass through D reach E running time), then, determine minimum value from each running time, obtain most short
Running time.Finally, in step 4 and value is compared by control terminal with the most short running time, determines and value is most short with this
The size of running time.
Optionally, it is being greater than or equal to the most short running time that traveling starting point reaches each node in first set with value
When, execute step 6；When being less than the most short running time of each node in traveling starting point arrival first set with value, hold again
Row step 2, until first set stops when being empty.
First node is updated to second node by step 6, which is each in traveling starting point arrival first set
Node corresponding to the most short running time of node；It executes again each in the traveling starting point arrival first set for obtain traveling task
The step of most short running time of a node, until first set stops when being empty.
Assuming that the most short running time that step 5 is determined is the running time that A reaches D, and the most short running time is greater than
Or equal in step 4 and value, then the B in second set is updated to D, at this point, first set are as follows: { B, D, E }；Second set
For { A, D }.
Step 7, the corresponding running time in path constituted according to node each in second set and target AGV execute traveling
The duration needed to wait for before task plans AGV.
Since the operating status and initial position of each AGV are different, the time for starting to execute traveling task is different.
In the present embodiment, the duration needed to wait for before traveling task will be executed and be determined as with the shortest target AGV of the sum of running time
The AGV for executing traveling task, obtains the travel route of the AGV.
Wherein, before target AGV executes traveling task the duration that is needed to wait for include target AGV from initial position travel to
Travel the time of starting point；And/or target AGV has executed the duration that lastrow sails task.
Optionally, client is being planned AGV the theory that can also get AGV and reach each node on travel route
Time and waiting time, client record the theoretical time and waiting time.
Optionally, based on the traveling most short principle of task completion time, appointed according to topological structure, initial condition data and traveling
Before business data plan AGV, further includes: determine whether topological structure is accurate；It shows and opens up in topological structure inaccuracy
Structural modifications prompt is flutterred, topological structure amendment prompt is for prompting user to correct topological structure.
Optionally it is determined that whether topological structure accurately comprises determining that in topological structure with the presence or absence of redundant node and/or superfluous
Remaining path.
Optionally, AGV travel route that control terminal display planning obtains, each after determining the programme path of AGV
AGV theoretical time of the waiting time of each node and each node of arrival in corresponding travel route.
The programme path 71 of each AGV with reference to shown in Fig. 7, each AGV in corresponding travel route each node etc.
To duration 72 and the theoretical time 73 of each node of arrival.It wherein, should for the device identification (ID) of AGV each in Fig. 7
The travel route of AGV includes that initial position shown in the first row reaches shown in the route and the second row of traveling starting point from traveling
Starting point reaches the route of traveling terminal；Waiting time includes reaching on the route for travelling starting point shown in the first row in initial position
Shown in the waiting time of each node and the second row from traveling starting point reach traveling terminal route on each node etc.
To duration；Theoretical time includes the theory for reaching each node shown in the first row on from initial position to the route for travelling starting point
The theoretical time of each node is reached shown in time and second on from traveling starting point to the route for travelling terminal.
In conclusion AGV planing method provided in this embodiment, can travel the topological structure of route by obtaining AGV, opens up
Flutterring structure includes the travelable route between at least two nodes and different nodes；The initial condition data of each AGV is obtained,
Initial condition data includes initial position, movement velocity and the device identification of each AGV；Obtain the traveling task data of AGV, row
Sail the traveling starting point and traveling terminal that task data includes at least one traveling task；Based on the traveling most short original of task completion time
Then, AGV is planned according to topological structure, initial condition data and traveling task data；It can solve based on shortest path
Principle generates the problem that the travel route of AGV causes the execution efficiency of traveling task lower；It is complete since traveling task can be based on
The travel route of AGV is generated at time most short principle, it is thus possible to improve the execution efficiency of traveling task.
In addition, also will record each occupied time interval of travel route interior joint in AGV path planning, from can make
Task time shortest path is completed in selection in path, it is ensured that is not conflicted between AGV.
In addition, the acquisition modes of topological structure and traveling task data are simple, it can be improved and obtain topological structure and traveling
The efficiency of task data.
Fig. 8 is the block diagram for the AGV device for planning that the application one embodiment provides.The device includes at least following mould
Block: first, which obtains module 810, second, obtains module 820, third acquisition module 830 and route planning module 840.
First obtains module 810, can travel the topological structure of route for obtaining AGV, the topological structure includes at least
Travelable route between two nodes and different nodes；
Second obtains module 820, and for obtaining the initial condition data of each AGV, the initial condition data includes every
Initial position, movement velocity and the device identification of a AGV；
Third obtains module 830, and for obtaining the traveling task data of AGV, the traveling task data includes at least one
The traveling starting point and traveling terminal of a traveling task；
Route planning module 840, for being based on the traveling most short principle of task completion time, according to the topological structure, institute
It states initial condition data and the traveling task data plans AGV.
Optionally, the route planning module 840, is used for:
For each traveling task in the traveling task data, according to the target AGV of the pending traveling task
Movement velocity and the different node between travelable route determination difference node between running time；
The traveling starting point for obtaining the traveling task reaches the most short running time of each node in first set, and described the
One set is for storing the node for being not determined by most short running time；
The corresponding first node of most short running time described in the first set is moved into second set, second collection
It shares and has determined that the node of most short running time in storage；
The first node is obtained to reach in the first set the most short running time of each node and described travel
Point reaches between the running time of the first node and value；
Determine whether described and value more than or equal to the traveling starting point reaches in the first set each node most
Short running time；
It is greater than or equal to the most short traveling that the traveling starting point reaches each node in the first set in described and value
When the time, the first node is updated to second node；The second node is that the traveling starting point reaches first collection
Node corresponding to the most short running time of each node in conjunction；The traveling starting point for obtaining the traveling task is executed again
The step of reaching the most short running time of each node in first set, until the first set stops when being empty；
The corresponding running time in path and the target AGV constituted according to node each in the second set executes institute
The duration needed to wait for before traveling task is stated to plan AGV.
Correlative detail refers to above method embodiment.
It should be understood that the AGV device for planning provided in above-described embodiment is when carrying out AGV planning, only with above-mentioned each
The division progress of functional module can according to need and for example, in practical application by above-mentioned function distribution by different function
Energy module is completed, i.e., the internal structure of AGV device for planning is divided into different functional modules, to complete whole described above
Or partial function.In addition, AGV device for planning provided by the above embodiment and AGV planing method embodiment belong to same design,
Its specific implementation process is detailed in embodiment of the method, and which is not described herein again.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of AGV planing method, which is characterized in that the described method includes:
Obtaining AGV can travel the topological structure of route, and the topological structure includes between at least two nodes and different nodes
Travelable route；
The initial condition data of each AGV is obtained, the initial condition data includes the initial position of each AGV, movement velocity
And device identification；
The traveling task data of AGV is obtained, the traveling task data includes the traveling starting point and row of at least one traveling task
Sail terminal；
Based on the traveling most short principle of task completion time, according to the topological structure, the initial condition data and the traveling
Task data plans AGV.
2. the method according to claim 1, wherein described based on the traveling most short principle of task completion time, root
AGV is planned according to the topological structure, the initial condition data and the traveling task data, comprising:
For each traveling task in the traveling task data, according to the fortune of the target AGV of the pending traveling task
The running time between travelable route determination difference node between dynamic speed and the different nodes；
The traveling starting point for obtaining the traveling task reaches the most short running time of each node in first set, first collection
It shares and is not determined by the node of most short running time in storage；
The corresponding first node of most short running time described in the first set is moved into second set, the second set is used
The node of most short running time is had determined that in storage；
It obtains the first node and reaches the most short running time of each node in the first set and arrived with the traveling starting point
Up between the running time of the first node and value；
Determine whether described and value is greater than or equal to the most short row that the traveling starting point reaches each node in the first set
Sail the time；
It is greater than or equal to the most short running time that the traveling starting point reaches each node in the first set in described and value
When, the first node is updated to second node；The second node is that the traveling starting point reaches in the first set
Node corresponding to the most short running time of each node；The traveling starting point for obtaining the traveling task is executed again to reach
In first set the step of the most short running time of each node, until the first set stops when being empty；
The corresponding running time in path and the target AGV constituted according to node each in the second set executes the row
The duration needed to wait for before task is sailed to plan AGV.
3. according to the method described in claim 2, it is characterized in that, it is described according to node each in the second set constitute
The corresponding running time in path and the target AGV execute the duration needed to wait for before the traveling task and advise to AGV
It draws, comprising:
The duration needed to wait for before the traveling task will be executed to be determined as with the shortest target AGV of the sum of the running time
The AGV for executing the traveling task obtains the AGV travel route.
4. according to the method described in claim 2, it is characterized in that, the movement velocity of the AGV include AGV straight trip speed and
Turning speed.
5. method according to any one of claims 1 to 4, which is characterized in that the AGV that obtains can travel the topology knot of route
Structure, comprising:
Show topological input interface；
The topology input operation acted in the topological input interface is received, the topological structure is obtained.
6. method according to any one of claims 1 to 4, which is characterized in that the traveling task data for obtaining AGV, packet
It includes:
Display task input interface；
Receive the starting point input operation acted on the task input interface and terminal input operation；
The traveling terminal of the traveling starting point and terminal input operation instruction that input operation instruction according to the starting point generates row
Task is sailed, the traveling task data is obtained.
7. method according to any one of claims 1 to 4, which is characterized in that described most short based on traveling task completion time
Principle, after being planned according to the topological structure, the initial condition data and the traveling task data AGV, also
Include:
Display planning obtain AGV travel route, each AGV in corresponding travel route the waiting time of each node and
Reach the theoretical time of each node.
8. method according to any one of claims 1 to 4, which is characterized in that described most short based on traveling task completion time
Principle, before being planned according to the topological structure, the initial condition data and the traveling task data AGV, also
Include:
Determine whether the topological structure is accurate；
Show that topological structure amendment prompt, the topological structure amendment prompt are used for prompting in the topological structure inaccuracy
Correct the topological structure in family.
9. a kind of AGV device for planning, which is characterized in that described device includes:
First obtains module, can travel the topological structure of route for obtaining AGV, the topological structure includes at least two nodes
And the travelable route between different nodes；
Second obtains module, and for obtaining the initial condition data of each AGV, the initial condition data includes each AGV
Initial position, movement velocity and device identification；
Third obtains module, and for obtaining the traveling task data of AGV, the traveling task data includes that at least one traveling is appointed
The traveling starting point and traveling terminal of business；
Route planning module, for being based on the traveling most short principle of task completion time, according to the topological structure, the initial shape
State data and the traveling task data plan AGV.
10. the apparatus according to claim 1, which is characterized in that the route planning module is used for:
For each traveling task in the traveling task data, according to the fortune of the target AGV of the pending traveling task
The running time between travelable route determination difference node between dynamic speed and the different nodes；
The traveling starting point for obtaining the traveling task reaches the most short running time of each node in first set, first collection
It shares and is not determined by the node of most short running time in storage；
The corresponding first node of most short running time described in the first set is moved into second set, the second set is used
The node of most short running time is had determined that in storage；
It obtains the first node and reaches the most short running time of each node in the first set and arrived with the traveling starting point
Up between the running time of the first node and value；
Determine whether described and value is greater than or equal to the most short row that the traveling starting point reaches each node in the first set
Sail the time；
It is greater than or equal to the most short running time that the traveling starting point reaches each node in the first set in described and value
When, the first node is updated to second node；The second node is that the traveling starting point reaches in the first set
Node corresponding to the most short running time of each node；The traveling starting point for obtaining the traveling task is executed again to reach
In first set the step of the most short running time of each node, until the first set stops when being empty；
The corresponding running time in path and the target AGV constituted according to node each in the second set executes the row
The duration needed to wait for before task is sailed to plan AGV.
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