CN110285821A - A kind of AGV Transport Vehicle method for optimizing route based on intelligent parking lot - Google Patents
A kind of AGV Transport Vehicle method for optimizing route based on intelligent parking lot Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The invention discloses a kind of AGV Transport Vehicle method for optimizing route based on intelligent parking lot, upper seat in the plane system compares rapidly parking stall in parking lot, vehicle parks information, then will test signal and feed back to master controller；Shortest route problem is converted by parking stall searching process, and it is solved using heuristic A * algorithm, main control computer can obtain rapidly best parking stall by A* algorithm and go forward side by side the planning of walking along the street diameter, save the time, improve parking efficiency.By rasterizing Map building, visualize it is stronger, can the parking stall utilization power in the current parking lot of real time inspection and the situation of AGV, the monitoring and management to parking lot be more convenient and intelligent.
Description
Technical field
The invention belongs to AGV transportation robot Path Planning Technique field, and in particular to a kind of based on intelligent parking lot
AGV Transport Vehicle method for optimizing route.
Background technique
With the fast development of today's society economy, the ownership of national automobile is also constantly rising.The volume of holding of automobile
Sharp increase is badly in need of solving with the rare contradiction in parking stall.In order to solve this phenomenon, establishes a kind of high performance intelligence and stop
Parking lot becomes a kind of inexorable trend.Wisdom parking lot based on parking AGV just can solve this parking problem, use transport
Vehicle robot AGV and intelligent parking system realize vehicle access automation, and wherein most important part is exactly the AGV that stops
Method for optimizing route.The purpose of research intelligent parking AGV paths planning method is: system is obtained in real time by various detection devices
The occupancy situation on pick-up the library parking stall Zhong Ge and runway, and according to AGV status information, rapidly one is found from for AGV
The nothing of point to target point touches optimal path, it is ensured that AGV smoothly completes vehicle access within a short period of time, parks task.
Problem not high for intelligence degree present in modern Intelligent parking lot system at present, AGV is in access bus or train route
There is also some problems in the selection of diameter, be largely by manually in Background control, can not intelligent selection optimal path make
Transport Vehicle path it is most short and reduce work time-consuming.This causes AGV that can not obtain the service condition on parking stall in parking lot in time,
The waiting time is too long when making customer's Transport Vehicle.In addition, for traditional path planning algorithm for example, dijkstra algorithm, although
Shortest path can be found, but region of search is very big, takes a long time, algorithm is more inflexible, cannot be done according to the variation of scene
Corresponding variation out.
Summary of the invention
The present invention provides a kind of AGV Transport Vehicle method for optimizing route based on intelligent parking lot, solves above-mentioned access
Vehicle overlong time finds the shortest path technical problem that time-consuming, inconvenient, the scope of application is small.
In order to solve the above-mentioned technical problem, the technical scheme adopted by the invention is that: a kind of AGV based on intelligent parking lot
Transport Vehicle method for optimizing route, which comprises the following steps:
S1, the intelligent parking lot Run-time scenario model for creating haulage vehicle robot AGV；
S2, intelligent parking lot environment and optimal parking stall are analyzed；
Two-dimensional grid map is built up in the building of S3, scene；
S4, A* algorithm, acquisition haulage vehicle robot AGV Transport Vehicle optimal path are used.
Further, the step S1 the following steps are included:
A, according to application scenarios, make related hypothesis: the outlet of intelligent parking lot is from entrance in different positions, transport vehicle
Robot completes can to receive after bicycle parking order that subsequent command completes nearest pick-up task, curb-to-curb width meets AGV most
Big turning radius, AGV and vehicle as a whole, AGV carrier vehicle and unloaded speed of service when returning it is constant；
B, it is 3 meters wide to set parking stall, 6 meters long, driving, which intersects, has a lot of social connections 6 meters, and location information in intelligent parking lot is expressed as grid
Lattice.
Further, the step S2 the following steps are included:
Entrance is denoted as a little 1, outlet is denoted as point N, and each parking stall is denoted as Pi(i=1,2 ... n), and n is natural number, from entering
The distance of mouth to outlet is denoted as d, and shortest path is denoted as Dmin, and the shortest path from entrance to parking stall is path (1, Pi), from
The shortest path of parking stall to outlet is path (Pi, N),
The then sum of the distance from entrance to parking stall and from parking stall to outlet are as follows:
The then shortest path from entrance to all available parking places with corresponding parking stall to outlet distance are as follows:
Further, the step S3 includes: in conjunction with idle in the structural schematic diagram in specific intelligence parking lot and parking lot
Parking lot structure schematic diagram is built into two-dimensional grid map by the information of parking stall；By access of the AGV in the static state road network of parking lot
Vehicle routing problem is converted into solving the shortest route problem for arriving other points in two-dimensional grid map between the node that is arbitrarily designated.
Further, in the step S4 A* algorithm the following steps are included:
(1) open list and close list is established, starting point is stored in open list；
(2) node in close list is chosen, if the node, without expanding node, output is as a result, path is advised
Draw failure；If the node has expanding node, carries out following circulation: a, comparing point all in open list, by open
The shortest node in path is stored in close list in list calculated result；B, for next extension in open list
Node repeats a step；
(3) it if calculating result node in step (2) a without the point of any extension, exports as a result, obtaining best road
Diameter.
Further, the grid includes obstacle grid and current grid；Obstacle grid indicates that parking stall is occupied, logical
Row grid indicates that parking stall is available.
Further, the curb-to-curb width is greater than single AGV normally travel width.
Further, the intelligent parking lot includes mechanical system, management system, monitoring system；The mechanical system packet
Landing and combed frame are included, landing enters the lifting of Entrance and outlet and park for vehicle, and combed is set up
It sets on parking stall, parks cars for supporting；The management system includes parking lot detector, card-reading system and host computer, vehicle
Location probe is used for the Parking situation for monitoring parking stall Parking situation, administrator being made to understand parking stall in parking lot in time, card-reading system
For detecting the identity of car owner and its information of vehicle, management of the host computer for haulage vehicle robot AGV in parking lot；Institute
Stating monitoring system includes camera and alarm system, and camera is used to record the image in parking lot, and alarm system is for detecting
Smokescope in parking lot, notice alarm when excessive concentration.
Advantageous effects of the invention:
1, parking stall in parking lot is compared rapidly by upper seat in the plane system, vehicle parks information, then will test signal feedback
To master controller, main control computer can obtain rapidly best parking stall by A* algorithm and go forward side by side the planning of walking along the street diameter, save the time, mention
Height parking efficiency.
2, the determination that best parking stall is determined from another angle finds process by analysis parking stall, converts it to
Shortest route problem, and it is solved using heuristic A * algorithm.
3, by rasterizing Map building, visualize it is stronger, can the current parking lot of real time inspection parking stall utilization power with
And the situation of AGV, the monitoring and management to parking lot are more convenient and intelligent.
Detailed description of the invention
Fig. 1 is the method for the present invention schematic diagram；
Fig. 2 is Intelligent parking lot system figure of the present invention；
Fig. 3 is the two-dimensional grid map of intelligent parking lot of the present invention；
Fig. 4 is program schematic diagram of the invention.
Specific embodiment
The invention will be further described below.Following embodiment is only used for clearly illustrating technical side of the invention
Case, and not intended to limit the protection scope of the present invention.
As shown in Figure 1, a kind of method based on the AGV Transport Vehicle routing algorithm optimization for intelligent parking lot includes:
1, parking lot structure model is constructed
According to application scenarios, following hypothesis is made:
1) outlet in parking lot and entrance are in different location；
2) haulage vehicle robot will be standby at the parking stall after completing bicycle parking order, wait subsequent command；
3) curb-to-curb width meets AGV maximum turning radius, and road width need to guarantee single AGV normally travel；
4) consider AGV actual size, AGV and vehicle are regarded as an entirety；
5) assume that the speed of service is constant when AGV carrier vehicle and unloaded return.
2, the foundation of optimized vehicle bit model
The problem of finding optimal path is exactly to be analyzed and processed to remaining empty parking space according to the computation rule of setting, is obtained
To a most suitable parking stall, so that sum of the distance of the haulage vehicle from parking entrance to parking stall and from parking stall to outlet
It is most short.
Entrance is denoted as a little 1, outlet is denoted as point N, and each parking stall is denoted as i, Pi (i=1,2 ... n), and n is natural number, from
The distance of entrance to outlet is denoted as d, and shortest path is denoted as Dmin, and the shortest path from entrance to parking stall is path (1, Pi),
Shortest path from parking stall to outlet is path (Pi, N),
Then this stops two-way path length of picking up the car are as follows:
The formula is indicated from entrance to parking stall and from parking stall to outlet sum of the distance；
Then this stops two-way shortest path length of picking up the car are as follows:
The formula indicates from entrance to all available parking places and corresponds to parking stall to outlet apart from shortest path.
3, the building of road network
For a certain specific intelligent parking lot, road and parking stall position are static, but available parking stall and by
Occupy parking stall varies constantly.It, can in conjunction with the information of parking stall idle in the structural schematic diagram in above-mentioned parking lot and parking lot
Parking lot structure is built into two-dimensional grid map, so that clearly inbound path is planned.AGV is in parking lot static state road network
In Transport Vehicle routing problem be just convertible into and solve in two-dimensional grid map between the node that is arbitrarily designated to other points
Shortest route problem.
4, A* algorithm steps
(1) an open queue and close queue, while the evaluation letter by the way that start node is calculated are built first
Number, falls in lines to it, and set corresponding head and tail pointer；
(2) node selection is carried out to queue heads, if this node is target point, then just directly exporting optimal path, road
Path search terminates, and otherwise continues to extend；
(3) point of extension is checked, sees whether it conflicts with point already existing in queue, it is same if there is conflict
When the point be the point that can not be extended again, then just carrying out giving up processing at this time to it.If new node with wait extend
Point duplicates, then just carrying out the comparison of evaluation function to it, and save to the lesser node of cost, while updating it
Forwarding pointer then directly carries out the 5th step；
(4) it if not duplicating phenomenon, then carrying out the insertion of corresponding position according to its cost value at this time, and then realizes
The arrangement of size finally obtains new queue；
(5) if queue heads node can still extend, then enter second step, otherwise just by queue head pointer to moving down
It is dynamic, it is performed simultaneously second step.
As shown in Fig. 2, intelligent parking lot includes mechanical system, management system, monitoring system and other systems.It is wherein mechanical
System includes landing and combed frame, and landing enters the lifting of Entrance and outlet and park for vehicle, is combed
Type frame is arranged on parking stall, parks cars for supporting.Management system includes parking lot detector, card-reading system and host computer.
Parking lot detector is used for the Parking situation for monitoring parking stall Parking situation, administrator being made to understand parking stall in parking lot in time；Card reading system
System is for detecting the identity of car owner and its information of vehicle；Management of the host computer for haulage vehicle robot AGV in parking lot,
By comparing the information in parking lot at parking stall, vehicle parking information and parking lot entrance, haulage vehicle machine is guided in time
The haulage vehicle of people AGV enters and leaves parking lot.Monitoring system includes camera and alarm system, and camera is for recording in parking lot
Image, alarm system is for detecting smokescope in parking lot, notice alarm when excessive concentration.
As shown in figure 3, location information in intelligent parking lot is expressed as grid, grid includes obstacle grid and current grid
Lattice；Obstacle grid indicates that occupied, the current grid in parking stall indicates that parking stall is available.On final optimal path, gained
Optimal parking stall is unique.
Optimal parking stall is found out with A* algorithm, so that from starting point to parking stall and the sum of the distance of parking stall to outlet is the smallest most short
Path, the specific steps are as follows: step 1: by parking lot digital expression, in a program, 0 represents and can pass through, 1 starting point, 3 terminals,
2 obstacles, 4 free parking spaces.When free parking space is occupied, signal is fed back to system by sensor detection, and the parking stall is aobvious
It is unavailable to be shown as 2.Step 2: as shown in figure 3, A* algorithm and actual scene are combined, programming instruction is completed.Step 3:
Program is run, the optimal transit route as a result, i.e. AGV is virtualized.
As shown in figure 3, star mark point is best parking stall in Visualization image, when system is planned in advance
After changing path, routing instruction will be changed and be sent to AGV, then the path planning in parking lot can be achieved.This method may be used on stopping
It is stopped in the path optimization of AGV Transport Vehicle in, greatly shortens the working time of AGV, improve depositing for inner part of parking lot
Pick-up operational efficiency saves energy consumption and cost.Meanwhile complicated parking lot environment can also be expressed by rasterizing map,
The management in parking lot is allowed to have more visualization and intelligence.
The present processes, in conjunction with intelligent parking system, floor control dispatches system by airborne communication system to transport
Job instruction is assigned by vehicle robot, compares parking stall, vehicle parking information in parking lot by master system, later Intelligent stop
The main control computer of parking lot management system can obtain rapidly best parking stall by A* algorithm and go forward side by side the planning of walking along the street diameter, and A* algorithm melts
The advantages of having closed the algorithm of dijkstra's algorithm and BFS, has classical and enlightening, can more be suitble to modern intelligent parking lot
Demand.Vehicle computing device receives the environmental information that other systems are got and routing information and master system control signal institute
The path of planning.That is AGV will be transported from entrance to some parking stall to bicycle parking, then the vehicle is transported from parking stall to outlet, whole
The sum of a two sections of distances of process are shortest.This optimization method will save more Transport Vehicle times for us, improve Intelligent stop
The operational efficiency in parking lot reduces the energy consumption of haulage vehicle robot.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of AGV Transport Vehicle method for optimizing route based on intelligent parking lot, which comprises the following steps:
S1, the intelligent parking lot Run-time scenario model for creating haulage vehicle robot AGV；
S2, intelligent parking lot environment and optimal parking stall are analyzed；
Two-dimensional grid map is built up in the building of S3, scene；
S4, A* algorithm, acquisition haulage vehicle robot AGV Transport Vehicle optimal path are used.
2. a kind of AGV Transport Vehicle method for optimizing route based on intelligent parking lot according to claim 1, feature exist
In, the step S1 the following steps are included:
A, according to application scenarios, make related hypothesis: the outlet of intelligent parking lot is from entrance in different positions, haulage vehicle machine
Device people complete bicycle parking order after can receive subsequent command complete nearest pick-up task, curb-to-curb width meet AGV maximum turn
Curved radius, AGV and vehicle as a whole, AGV carrier vehicle and unloaded speed of service when returning it is constant；
B, it is 3 meters wide to set parking stall, 6 meters long, driving, which intersects, has a lot of social connections 6 meters, and location information in intelligent parking lot is expressed as grid.
3. a kind of AGV Transport Vehicle method for optimizing route based on intelligent parking lot according to claim 1, feature exist
In, the step S2 the following steps are included:
Entrance is denoted as a little 1, outlet is denoted as point N, and each parking stall is denoted as Pi(i=1,2 ... n), and n is natural number, from entrance to out
The distance of mouth is denoted as d, and shortest path is denoted as Dmin, and the shortest path from entrance to parking stall is path (1, Pi), from parking stall
Shortest path to outlet is path (Pi, N),
The then sum of the distance from entrance to parking stall and from parking stall to outlet are as follows:
The then shortest path from entrance to all available parking places with corresponding parking stall to outlet distance are as follows:
4. a kind of AGV Transport Vehicle method for optimizing route based on intelligent parking lot according to claim 1, feature exist
In the information that, the step S3 includes: in conjunction with parking stall idle in the structural schematic diagram in specific intelligence parking lot and parking lot, stopping
Parking lot structural schematic diagram is built into two-dimensional grid map；By Transport Vehicle routing problem of the AGV in the static state road network of parking lot
It is converted into solving the shortest route problem for arriving other points in two-dimensional grid map between the node that is arbitrarily designated.
5. a kind of AGV Transport Vehicle method for optimizing route based on intelligent parking lot according to claim 1, feature exist
In, A* algorithm in the step S4 the following steps are included:
(1) open list and close list is established, starting point is stored in open list；
(2) node in close list is chosen, if the node, without expanding node, output is as a result, path planning loses
It loses；If the node has expanding node, carries out following circulation: a, comparing point all in open list, by open list
The shortest node in path is stored in close list in calculated result；B, for the node of next extension in open list,
Repeat a step；
(3) it if calculating result node in step (2) a without the point of any extension, exports as a result, obtaining optimal path.
6. a kind of AGV Transport Vehicle method for optimizing route based on intelligent parking lot according to claim 2, feature exist
In the grid includes obstacle grid and current grid；Obstacle grid indicates that occupied, the current grid in parking stall indicates parking
Position is available.
7. a kind of AGV Transport Vehicle method for optimizing route based on intelligent parking lot according to claim 2, feature exist
In the curb-to-curb width is greater than single AGV normally travel width.
8. a kind of AGV Transport Vehicle method for optimizing route based on intelligent parking lot according to claim 1, feature exist
In the intelligent parking lot includes mechanical system, management system, monitoring system；
The mechanical system includes landing and combed frame, and landing enters the liter of Entrance and outlet for vehicle
It drops and parks, combed frame is arranged on parking stall, parks cars for supporting；
The management system includes parking lot detector, card-reading system and host computer, and parking lot detector is for monitoring parking stall parking feelings
Condition makes administrator understand the Parking situation of parking stall in parking lot in time, and card-reading system is for detecting the identity and its vehicle of car owner
Information, management of the host computer for haulage vehicle robot AGV in parking lot；
The monitoring system includes camera and alarm system, and camera is used to record the image in parking lot, and alarm system is used
Notice alarm when smokescope in detection parking lot, excessive concentration.
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| CN113666042A (en) * | 2021-08-25 | 2021-11-19 | 红云红河烟草(集团)有限责任公司 | Open-air goods space dispatching control method for redrying production |
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Application publication date: 20190927 |
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