CN114115259A - AGV real-time path gauge and collision avoidance method and system - Google Patents
AGV real-time path gauge and collision avoidance method and system Download PDFInfo
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Abstract
The embodiment of the invention discloses an AGV real-time path planning and collision avoidance method and system, wherein an AGV walking road is planned according to the structure of a grid type loading area to obtain a planned road network; and according to a preset passing rule, planning the AGV picking path in real time in the road network according to the order, and carrying out real-time collision protection on the AGV in the walking process. By introducing the road network concept and the passing rule, the route calculation and the anti-collision calculation are simplified, the calculation workload is reduced, the efficiency is improved, the AGV anti-collision is realized more efficiently through the real-time anti-collision calculation, the AGV navigation of picking the goods in a grid type multi-point position according to the order is really realized, and simultaneously, a large number of AGV parallel operations are supported.
Description
Technical Field
The embodiment of the invention relates to the technical field of AGV navigation, in particular to an AGV real-time path gauge, an anticollision method and an anticollision system.
Background
At present, navigation path planning of an Automatic Guided Vehicle (AGV) is basically a pure point-to-point algorithm mode, and is not suitable for multi-point picking path planning according to an order. If a path is planned in advance, but the actual operation time for picking up goods according to an order shakes, the time window of the passing path changes, paths of a large number of AGV which operate in parallel at the same time are overlapped definitely, and when the time window changes, the calculation required for avoiding collision is extremely complex, the calculation amount is large, the operation is complex, and the navigation efficiency is low. The grid type goods picking and loading positions are large in point positions and are densely arranged, order picking and loading are multi-point position operation, and if a path algorithm is independently relied on, the grid type goods picking and loading positions are complex and difficult to meet requirements.
Disclosure of Invention
Therefore, the embodiment of the invention provides an AGV real-time path gauge and an anti-collision method, and aims to solve the problems that the number of points of the conventional grid type goods picking and loading positions is large, the grid type goods picking and loading positions are densely arranged, the order goods picking and loading operations are multi-point operation, and if a path algorithm is independently relied on, the operation is not only complicated, but also the requirements are difficult to meet.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
according to a first aspect of an embodiment of the present invention, a method for AGV real-time path planning and collision avoidance is provided, where the method includes:
planning an AGV walking road according to the structure of the grid type loading area to obtain a planned road network, wherein the road network comprises a plurality of X axial one-way roads and a plurality of Y axial one-way roads which are arranged in the grid type loading area, and quick one-way channels which are arranged at the rear side and the left side and the right side of the grid type loading area and between the grid type loading area and an area to be distributed, and the area to be distributed is positioned at the front side of the grid type loading area;
and according to a preset passing rule, planning the AGV picking path in real time in the road network according to the order, and carrying out real-time collision protection on the AGV in the walking process.
Further, the road network comprises two schemes, wherein the scheme I comprises the following steps: y axle negative direction is only established to many Y axial one-way roads, and the quick one-way passageway in Y axle positive direction is established to the rear side in grid dress district, scheme two: the multiple Y-axis one-way channels are provided with a positive Y-axis direction and a negative Y-axis direction, the Y-axis one-way channels in the positive Y-axis direction and the negative Y-axis direction are alternately arranged at intervals, and the rear side of the grid type loading area is not provided with a quick one-way channel;
and both schemes include: the plurality of X-axis single-way channels are arranged in the positive direction and the negative direction of the X axis, and the X-axis single-way channels in the positive direction and the negative direction of the X axis are alternately arranged at intervals; the left side and the right side of the grid type loading area are provided with X-axis positive direction quick one-way channels; two Y-axis quick one-way channels in the positive direction and the negative direction are arranged between the grid type loading area and the area to be distributed.
Further, according to preset traffic rules, real-time goods picking path planning is performed on the AGVs according to orders in the road network, which specifically includes:
for scenario one:
s11, setting position values (w, x, y), where w is 0 indicating a positive direction row, w is 1 indicating a negative direction row, x is a row value, and y is a column value;
s12, assuming that a shopping basket location initial location (w1, x1, y1), a first loading location (w2, x2, y2), if y2 is y1, w1 is w2, if w2 is 1, a next transition point of the AGV is a fast one-way channel cross waiting location, and after the waiting system notifies, the AGV respectively passes through two fast one-way channels to reach the loading area y2 cross waiting location, and if w2 is 0, the AGV stops at the y2+1 cross waiting location; if Y2> Y1, then the fast single lane is parked to Y2 or Y2+1 wait bit by the front Y-axis positive direction; if Y2< Y1, then dock to Y1 or Y1+1 wait bit through the front side Y-axis negative direction fast single lane;
s13, route of loading position 1(w1, x1, y1) to loading position 2(w2, x2, y 2):
s131, when y2 is y1, w1 is w2
When w1 is w2 is 0, if x2> x1, then no transition point is needed, if x2< x1, then the next transition point is (1, x1, Y1-1), then enters the rear Y-axis forward express way, then enters column Y2;
if w1 is w2 is 1, if x2> x1, then the next transition point is (0, x1, Y1-1), then enters the front Y-axis positive fast one-way lane, then enters Y2 columns; if x2< x1, then no transition point is needed;
s132, if y2> y1
If w1 is equal to 0 and w2 is equal to 0, the next transition point is (1, x1, Y1-1), and then enters a fast single-row channel in the positive direction of the rear Y axis, and then enters Y2 columns;
if w1 is 0 and w2 is 1, entering a forward direction fast single-row channel of the front Y axis, and then entering a Y2 column;
if w1 is equal to 1 and w2 is equal to 0, entering a fast single-row channel in the positive direction of the rear Y axis, and then entering a Y2 column;
if w1 is 1 and w2 is 1, the next transition point is (0, x1 and Y1-1), the front Y-axis positive direction fast single-row channel is entered, and then the front Y-axis positive direction fast single-row channel is entered into Y2 columns;
s133, if y2< y1
If w1 is 0, w2 is 0, if x2> x1, the next transition point is (0, x2, y1), and if x2< x1, the next two transition points are (1, x1, y1-1) and (1, x2, y1-1) in this order;
if w1 is 0, w2 is 1, if x2> x1, the next transition point is (0, x2, y1), and if x2< x1, the next transition point is (1, x1, y 1-1);
if w1 is 1, w2 is 0, if x2> x1, the next transition point is (0, x1, y1-1), and if x2< x1, the next transition point is (1, x2, y 1);
if w1 is 1, w2 is 1, and if x2> x1, the next two transition points are (0, x1, y1-1) and (0, x2, y1-1) in that order; if x2< x1, the next transition point is (1, x2, y 1);
s134, when the Y-axis one-way channel in the negative direction needs to span more than 2 rows, the Y-axis one-way channel on the front side rapidly passes in the negative direction;
s14, after picking, if the goods are in the positive direction X axial one-way channel, directly walking the front side fast one-way channel to the area to be delivered; if the single-way channel is arranged in the X axial direction in the negative direction, the single-way channel moves to the next X axial direction in the positive direction, and then the single-way channel moves to the area to be delivered in the front side fast single-way channel.
Further, according to preset traffic rules, real-time goods picking path planning is performed on the AGVs according to orders in the road network, which specifically includes:
for scheme two:
s21, setting position values (w, x, y, v), where w is 0 indicating a positive direction row, w is 1 indicating a negative direction row, x is a row value, y is a column value, v is 0 indicating a positive column, and v is 1 indicating a negative column;
s22, an initial shopping basket position (w1, x1, y1), a first loading position (w2, x2, y2, v2), if y2 is y1, w1 is w2, if w1 is 1, a next transition point of the AGV is a fast one-way channel crossing waiting position, the AGV respectively passes through two fast one-way channels after waiting for system notification, reaches a loading area y2 crossing waiting position, if w1 is 0, if v2 is 1, the AGV stops at y2+1 crossing waiting position, and if v2 is 0, the AGV 2-1 crossing waiting position; if y2> y1, then the fast single lane dock through the drop-down positive direction to either y2 or y2+1/y2-1 wait bit; if y2< y1, then the fast single lane dock through the drop zone negative direction to y2 or y2+1/y2-1 wait bits;
s23, route of loading position 1(w1, x1, y1, v1) to loading position 2(w2, x2, y2, v 2):
s231, when y2 is y1, w1 is w2
If w1 ═ w2 ═ 0, if x2> x1, then no transition point is required; if x2< x1, if v1 is 0 and v2 is 0, the following three transition points are in order: (0, x1+1, y1,1), (1, x1+1, y1-1,1), (1, x2, y1-1, 0); if v1 is equal to 0 and v2 is equal to 1, the following two transition points are in sequence: (1, x1, y1+1,0), (1, x2, y1+1, 1); if v1 is 1 and v2 is 0, the next two transition points are (1, x1, y1-1,1), (1, x2, y1-1,0) in sequence; if v1 is 1 and v2 is 1, the next three transition points are (1, x1, y1-1,1), (1, x2-1, y1-1,0), (0, x2-1, y2,0) in this order;
if w1 ═ w2 ═ 1, if x2> x1, if v1 ═ 0, and v2 ═ 0, then the next three transition points are in that order; (0, x1, y1+1,0), (0, x2+1, y1+1,1), (1, x2+1, y2, 1); if v1 is equal to 0 and v2 is equal to 1, the following two transition points are in sequence: (0, x1, y1+1,0), (0, x2, y1+1, 1); if v1 is 1 and v2 is 0, the next two transition points are (0, x1, y1-1,1), (0, x2, y1-1,0) in sequence; if v1 is 1 and v2 is 1, the next three transition points are (0, x1, y1-1,1), (0, x2+1, y1-1,0), (1, x2+1, y2,0) in this order; if x2< x1, then no transition point is needed;
s232, if y2> y1
S2321, when w1 is 1 and w2 is 0
If x2> x1, if v1 is 0, the next transition point is (0, x1, y2.0), and if v1 is 1, the next two transition points are (1, x1-1, y1,0), (0, x1-1, y2,0) in this order;
if x2< x1, if v2 is equal to 0, the next transition point is (1, x2, y1,0), and if v2 is equal to 1, the next two transition points are (1, x2-1, y1,0), (0, x2-1, y2,0) in this order;
if x2 ═ x1, v1 ═ v2, if v1 ═ 0, then no transition points are required; if v1 is 1, the next two transition points are (1, x1-1, y1,0), (0, x1-1, y2,0) in sequence;
s2322 when w1 is 1 and w2 is 1
If x2> x1, if v1 is 0 and v2 is 0, then the next two transition points are (0, x1, y1+1.0), (0, x2, y1+1,0) in that order; if v1 is 0 and v2 is 1, the next three transition points are (0, x1, y1+1,0), (0, x2+1, y1+1,0), (1, x2+1, y2,0) in this order; if v1 is 1 and v2 is 0, the next three transition points are (1, x1-1, y1,0), (0, x1-1, y1+1,0), (0, x2, y1+1,0) in sequence; if v1 is 1 and v2 is 1, the next four transition points are (1, x1-1, y1,0), (0, x1-1, y1+1,0), (0, x2+1, y1+1,0), (1, x2+1, y2,0) in sequence;
if x2< x1, if v2 is 0, then the next transition point is (1, x2, y1, 0); if v2 is equal to 1, the next two transition points are (1, x2+1, y1,0), (1, x2+1, y2,0) in sequence;
if x2 ═ x1, v1 ═ v2, if v1 ═ 0, then no transition points are required; if v1 is 1, the next 4 transition points are (1, x1-1, y1,0), (0, x1-1, y1+1,0), (0, x2+1, y1+1,0), (1, x2+1, y2,0) in sequence;
s2323, when w1 is 0 and w2 is 1
If x2> x1, if v2 is 0, then the next transition point is (0, x2, y1, 0); if v2 is equal to 1, the next two transition points are (0, x2+1, y1,0), (1, x2+1, y2,0) in sequence;
if x2< x1, if v1 is 0, then the next transition point is (1, x1, y2, 0); if v1 is equal to 1, the next two transition points are (0, x1+1, y1,0), (1, x1+1, y2,0) in sequence;
if x2 ═ x1, v1 ═ v2, if v1 ═ 0, then no transition points are required; if v1 is equal to 1, the next two transition points are (0, x1+1, y1,0), (1, x1+1, y2,0) in sequence;
s2324, when w1 is 0 and w2 is 0
If x2> x1, if v1 is 0, then the next transition point is (0, x1, y2, 0); if v1 is equal to 1, the next two transition points are (0, x1+1, y1,0), (0, x1+1, y2,0) in sequence;
if x2< x1, if v1 is 0 and v2 is 0, then the next two transition points are (1, x1, y1+1,0), (1, x2, y1+1,0) in that order; if v1 is 0 and v2 is 1, the next 3 transition points are (1, x1, y1+1,0), (1, x2-1, y1+1,0), (0, x2-1, y2,0) in sequence; if v1 is 1 and v2 is 0, the next 3 transition points are (0, x1+1, y1,0), (1, x1+1, y1+1,0), (1, x2, y1+1,0) in sequence; if v1 is 1 and v2 is 1, the next 4 transition points are (0, x1+1, y1,0), (1, x1+1, y1+1,0), (1, x2-1, y1+1,0), (0, x2-1, y2,0) in sequence;
s233, if y2< y1, then similarly when y2> y 1;
s24, after picking, if the goods are in the positive direction X axial one-way channel, directly walking the front side fast one-way channel to the area to be delivered; if the single-way channel is arranged in the X axial direction in the negative direction, the single-way channel moves to the next X axial direction in the positive direction, and then the single-way channel moves to the area to be delivered in the front side fast single-way channel.
Further, carry out real-time collision avoidance to AGV at the walking in-process, specifically include:
when the vehicle runs on the X-axis single-way channel and the quick single-way channel, whether other AGVs exist in front or not is detected based on an AGV self anti-collision mechanism, if so, the vehicle is paused for waiting, and if not, the vehicle passes through;
when entering the intersection, the system anti-collision mechanism realizes AGV anti-collision, and when entering the intersection, the system anti-collision mechanism comprises: when entering the X-axis one-way lane from outside the loading area, moving in the Y-axis direction, and entering or traversing the fast one-way lane.
Further, the system collision avoidance mechanism specifically includes:
calculating a crossing window time basic unit according to the acceleration of the AGV and the crossing movement length of the crossing column in the Y direction;
judging whether other AGVs pass through a target X-axis single-line channel or a quick single-line channel in the cross-pass window time basic unit, if not, informing the AGVs to pass through, if so, informing the AGVs to wait, and calculating the next cross-pass time window until the next cross-pass time window can pass through;
the arrival distance value is the sum of the width of the distribution basket and the length from the highest speed of the AGV to the stop of the brake, if the arrival distance value is lower than a first preset value, the arrival distance value is judged to be unable to pass, and if the arrival distance value exceeds the first preset value, the arrival distance value is judged to be able to pass; the forward distance value is the sum of the width of the distribution basket and a preset buffer value, if the forward distance value is lower than a second preset value, the forward distance value is judged to be unable to pass, and if the forward distance value exceeds the second preset value, the forward distance value is judged to be able to pass.
Furthermore, all the one-way roads in the road network are one-way single AGV running channels.
According to a second aspect of the embodiments of the present invention, a system for AGV real-time path planning and collision avoidance is provided, where the system includes:
the network planning module is used for planning AGV walking roads according to the structure of the grid type loading area to obtain a planned network, wherein the network comprises a plurality of X axial one-way roads and a plurality of Y axial one-way roads which are arranged in the grid type loading area, and quick one-way channels which are arranged on the rear side, the left side and the right side of the grid type loading area and between the grid type loading area and the area to be distributed, and the area to be distributed is positioned on the front side of the grid type loading area;
and the real-time path planning and collision avoidance module is used for carrying out real-time goods picking path planning on the AGV according to the order in the road network according to the preset passing rule and carrying out real-time collision avoidance on the AGV in the traveling process.
According to a third aspect of embodiments of the present invention, a computer storage medium is provided, which contains one or more program instructions for executing the method of any one of the above items by an AGV real-time path planning and collision avoidance system.
The embodiment of the invention has the following advantages:
according to the method and the system for planning the AGV real-time path and preventing collision, the AGV walking road is planned according to the structure of a grid type loading area, and a planned road network is obtained; and according to a preset passing rule, planning the AGV picking path in real time in the road network according to the order, and carrying out real-time collision protection on the AGV in the walking process. By introducing the road network concept and the passing rule, the route calculation and the anti-collision calculation are simplified, the calculation workload is reduced, the efficiency is improved, the AGV anti-collision is realized more efficiently through the real-time anti-collision calculation, the AGV navigation of picking the goods in a grid type multi-point position according to the order is really realized, and simultaneously, a large number of AGV parallel operations are supported.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
Fig. 1 is a schematic flowchart of an AGV real-time path planning and collision avoidance method according to embodiment 1 of the present invention;
fig. 2 is a schematic diagram illustrating the arrangement of an X-axis one-way lane and a Y-axis one-way lane in the AGV real-time path planning and collision avoidance method provided in embodiment 1 of the present invention;
fig. 3 is a schematic diagram of a planned road network in a first scheme of the AGV real-time path planning and collision avoidance method provided in embodiment 1 of the present invention;
fig. 4 is a schematic diagram of path planning in a first scheme of an AGV real-time path planning and collision avoidance method according to embodiment 1 of the present invention;
fig. 5 is a schematic diagram of a planned road network according to a second scheme in the AGV real-time path planning and collision avoidance method provided in embodiment 1 of the present invention;
fig. 6 is a schematic diagram of path planning in a second scheme of the AGV real-time path planning and collision avoidance method provided in embodiment 1 of the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1, the present embodiment provides an AGV real-time path planning and collision avoidance method, where the method includes:
s100, carry out AGV walking road planning according to the structure in latticed loading district, obtain the planning road network, the road network includes many X axial one-way roads and many Y axial one-way roads that set up in latticed loading district to and at the rear side in latticed loading district, the left and right sides and at latticed loading district and wait to join in marriage quick one-way passageway that sets up between the district, it is located the front side in latticed loading district to wait to join in marriage the district.
In this embodiment, the road network includes two schemes, where the scheme is as follows: as shown in fig. 3, the Y-axis negative direction is only established in the Y-axis one-way lanes, the Y-axis positive direction fast one-way lane (upper area fast lane) is established at the rear side of the grid type loading area, scheme two: as shown in fig. 5, the plurality of Y-axis one-way lanes are provided with a positive Y-axis direction and a negative Y-axis direction, and the Y-axis one-way lanes in the positive Y-axis direction and the negative Y-axis direction are alternately arranged at intervals, and the rear side of the grid type cargo area is not provided with a fast one-way channel;
in addition to the above differences, the other arrangements are the same, and both schemes include: the plurality of X-axis single-way channels are arranged in the positive direction and the negative direction of the X axis, and the X-axis single-way channels in the positive direction and the negative direction of the X axis are alternately arranged at intervals; the left side and the right side of the grid type loading area are provided with X-axis positive direction quick one-way channels; two Y-axis quick single-way channels (lower-area quick channels) in the positive direction and the negative direction are arranged between the grid type loading area and the area to be distributed.
As shown in fig. 2, the physical arrangement of the X-axis and Y-axis one-way channels of the grid-type cargo area is set as the center of the Y-axis one-way channel at the center of the left cargo channel of the cargo box in the X-axis direction, and as the center of the X-axis one-way channel at the center of the cargo outlet in the Y-axis direction.
And S200, according to preset passing rules, planning the AGV picking path in real time in the road network according to the order, and performing real-time collision prevention protection on the AGV in the traveling process.
In the case of the road network installation, the following traffic rules are established:
all the one-way roads are one-way single AGV driving passages;
when the vehicle runs on the X-axis single-way channel and the quick single-way channel, whether other AGVs exist in front or not is detected based on an AGV self anti-collision mechanism, if so, the vehicle is paused for waiting, and if not, the vehicle passes through;
when entering the intersection, the system anti-collision mechanism realizes AGV anti-collision, and when entering the intersection, the system anti-collision mechanism comprises: movement in these directions is referred to as cross-over movement when entering an X-axis one-way lane from outside the loading area, moving in the Y-axis direction, and entering or traversing a fast one-way lane.
Further, the system collision avoidance mechanism specifically includes:
calculating a crossing window time basic unit, such as 1 second, according to the acceleration of the AGV and the crossing movement length of the crossing columns in the Y direction;
judging whether other AGVs pass through a target X-axis single-line channel or a quick single-line channel in the cross-pass window time basic unit, if not, informing the AGVs to pass through, if so, informing the AGVs to wait, and calculating the next cross-pass time window until the next cross-pass time window can pass through;
the arrival distance value is the sum of the width of the distribution basket and the length from the highest speed of the AGV to the stop of the brake, if the arrival distance value is lower than a first preset value, the arrival distance value is judged to be unable to pass, and if the arrival distance value exceeds the first preset value, the arrival distance value is judged to be able to pass; the forward distance value is the sum of the width of the distribution basket and a preset buffer value, if the forward distance value is lower than a second preset value, the forward distance value is judged to be unable to pass, and if the forward distance value exceeds the second preset value, the forward distance value is judged to be able to pass.
For example, 90 centimeters is taken as a first preset value, if the incoming distance value is less than 90 centimeters, the incoming distance value is judged to be unable to pass, and if the incoming distance value is greater than 90 centimeters, the incoming distance value is judged to be able to pass; the forward distance value is obtained by adding 5 cm margin to the width of the distribution basket, for example, 60 cm is used as a calculation particle, if the difference of the forward position value is less than 60 cm, the forward position value is judged to be unable to pass, and if the difference is more than 60 cm, the forward position value is judged to be able to pass.
The path planning calculation method comprises the following steps:
as shown in fig. 4, for scenario one:
s11, setting position values (w, x, y), where w is 0 indicating a positive direction row, w is 1 indicating a negative direction row, x is a row value, and y is a column value;
s12, assuming that a shopping basket location initial location (w1, x1, y1), a first loading location (w2, x2, y2), if y2 is y1, w1 is w2, if w2 is 1, a next transition point of the AGV is a fast one-way channel cross waiting location, and after the waiting system notifies, the AGV respectively passes through two fast one-way channels to reach the loading area y2 cross waiting location, and if w2 is 0, the AGV stops at the y2+1 cross waiting location; if Y2> Y1, then the fast single lane is parked to Y2 or Y2+1 wait bit by the front Y-axis positive direction; if Y2< Y1, then dock to Y1 or Y1+1 wait bit through the front side Y-axis negative direction fast single lane;
s13, route of loading position 1(w1, x1, y1) to loading position 2(w2, x2, y 2):
s131, when y2 is y1, w1 is w2
When w1 is w2 is 0, if x2> x1, then no transition point is needed, if x2< x1, then the next transition point is (1, x1, Y1-1), then enters the rear Y-axis forward express way, then enters column Y2;
if w1 is w2 is 1, if x2> x1, then the next transition point is (0, x1, Y1-1), then enters the front Y-axis positive fast one-way lane, then enters Y2 columns; if x2< x1, then no transition point is needed;
s132, if y2> y1
If w1 is equal to 0 and w2 is equal to 0, the next transition point is (1, x1, Y1-1), and then enters a fast single-row channel in the positive direction of the rear Y axis, and then enters Y2 columns;
if w1 is 0 and w2 is 1, entering a forward direction fast single-row channel of the front Y axis, and then entering a Y2 column;
if w1 is equal to 1 and w2 is equal to 0, entering a fast single-row channel in the positive direction of the rear Y axis, and then entering a Y2 column;
if w1 is 1 and w2 is 1, the next transition point is (0, x1 and Y1-1), the front Y-axis positive direction fast single-row channel is entered, and then the front Y-axis positive direction fast single-row channel is entered into Y2 columns;
s133, if y2< y1
If w1 is 0, w2 is 0, if x2> x1, the next transition point is (0, x2, y1), and if x2< x1, the next two transition points are (1, x1, y1-1) and (1, x2, y1-1) in this order;
if w1 is 0, w2 is 1, if x2> x1, the next transition point is (0, x2, y1), and if x2< x1, the next transition point is (1, x1, y 1-1);
if w1 is 1, w2 is 0, if x2> x1, the next transition point is (0, x1, y1-1), and if x2< x1, the next transition point is (1, x2, y 1);
if w1 is 1, w2 is 1, and if x2> x1, the next two transition points are (0, x1, y1-1) and (0, x2, y1-1) in that order; if x2< x1, the next transition point is (1, x2, y 1);
s134, when the Y-axis one-way channel in the negative direction needs to span more than 2 rows, the Y-axis one-way channel on the front side rapidly passes in the negative direction;
s14, after picking, if the goods are in the positive direction X axial one-way channel, directly walking the front side fast one-way channel to the area to be delivered; if the single-way channel is arranged in the X axial direction in the negative direction, the single-way channel moves to the next X axial direction in the positive direction, and then the single-way channel moves to the area to be delivered in the front side fast single-way channel.
As shown in fig. 6, for scenario two:
s21, setting position values (w, x, y, v), where w is 0 indicating a positive direction row, w is 1 indicating a negative direction row, x is a row value, y is a column value, v is 0 indicating a positive column, and v is 1 indicating a negative column;
s22, an initial shopping basket position (w1, x1, y1), a first loading position (w2, x2, y2, v2), if y2 is y1, w1 is w2, if w1 is 1, a next transition point of the AGV is a fast one-way channel crossing waiting position, the AGV respectively passes through two fast one-way channels after waiting for system notification, reaches a loading area y2 crossing waiting position, if w1 is 0, if v2 is 1, the AGV stops at y2+1 crossing waiting position, and if v2 is 0, the AGV 2-1 crossing waiting position; if y2> y1, then the fast single lane dock through the drop-down positive direction to either y2 or y2+1/y2-1 wait bit; if y2< y1, then the fast single lane dock through the drop zone negative direction to y2 or y2+1/y2-1 wait bits;
s23, route of loading position 1(w1, x1, y1, v1) to loading position 2(w2, x2, y2, v 2):
s231, when y2 is y1, w1 is w2
If w1 ═ w2 ═ 0, if x2> x1, then no transition point is required; if x2< x1, if v1 is 0 and v2 is 0, the following three transition points are in order: (0, x1+1, y1,1), (1, x1+1, y1-1,1), (1, x2, y1-1, 0); if v1 is equal to 0 and v2 is equal to 1, the following two transition points are in sequence: (1, x1, y1+1,0), (1, x2, y1+1, 1); if v1 is 1 and v2 is 0, the next two transition points are (1, x1, y1-1,1), (1, x2, y1-1,0) in sequence; if v1 is 1 and v2 is 1, the next three transition points are (1, x1, y1-1,1), (1, x2-1, y1-1,0), (0, x2-1, y2,0) in this order;
if w1 ═ w2 ═ 1, if x2> x1, if v1 ═ 0, and v2 ═ 0, then the next three transition points are in that order; (0, x1, y1+1,0), (0, x2+1, y1+1,1), (1, x2+1, y2, 1); if v1 is equal to 0 and v2 is equal to 1, the following two transition points are in sequence: (0, x1, y1+1,0), (0, x2, y1+1, 1); if v1 is 1 and v2 is 0, the next two transition points are (0, x1, y1-1,1), (0, x2, y1-1,0) in sequence; if v1 is 1 and v2 is 1, the next three transition points are (0, x1, y1-1,1), (0, x2+1, y1-1,0), (1, x2+1, y2,0) in this order; if x2< x1, then no transition point is needed;
s232, if y2> y1
S2321, when w1 is 1 and w2 is 0
If x2> x1, if v1 is 0, the next transition point is (0, x1, y2.0), and if v1 is 1, the next two transition points are (1, x1-1, y1,0), (0, x1-1, y2,0) in this order;
if x2< x1, if v2 is equal to 0, the next transition point is (1, x2, y1,0), and if v2 is equal to 1, the next two transition points are (1, x2-1, y1,0), (0, x2-1, y2,0) in this order;
if x2 ═ x1, v1 ═ v2, if v1 ═ 0, then no transition points are required; if v1 is 1, the next two transition points are (1, x1-1, y1,0), (0, x1-1, y2,0) in sequence;
s2322 when w1 is 1 and w2 is 1
If x2> x1, if v1 is 0 and v2 is 0, then the next two transition points are (0, x1, y1+1.0), (0, x2, y1+1,0) in that order; if v1 is 0 and v2 is 1, the next three transition points are (0, x1, y1+1,0), (0, x2+1, y1+1,0), (1, x2+1, y2,0) in this order; if v1 is 1 and v2 is 0, the next three transition points are (1, x1-1, y1,0), (0, x1-1, y1+1,0), (0, x2, y1+1,0) in sequence; if v1 is 1 and v2 is 1, the next four transition points are (1, x1-1, y1,0), (0, x1-1, y1+1,0), (0, x2+1, y1+1,0), (1, x2+1, y2,0) in sequence;
if x2< x1, if v2 is 0, then the next transition point is (1, x2, y1, 0); if v2 is equal to 1, the next two transition points are (1, x2+1, y1,0), (1, x2+1, y2,0) in sequence;
if x2 ═ x1, v1 ═ v2, if v1 ═ 0, then no transition points are required; if v1 is 1, the next 4 transition points are (1, x1-1, y1,0), (0, x1-1, y1+1,0), (0, x2+1, y1+1,0), (1, x2+1, y2,0) in sequence;
s2323, when w1 is 0 and w2 is 1
If x2> x1, if v2 is 0, then the next transition point is (0, x2, y1, 0); if v2 is equal to 1, the next two transition points are (0, x2+1, y1,0), (1, x2+1, y2,0) in sequence;
if x2< x1, if v1 is 0, then the next transition point is (1, x1, y2, 0); if v1 is equal to 1, the next two transition points are (0, x1+1, y1,0), (1, x1+1, y2,0) in sequence;
if x2 ═ x1, v1 ═ v2, if v1 ═ 0, then no transition points are required; if v1 is equal to 1, the next two transition points are (0, x1+1, y1,0), (1, x1+1, y2,0) in sequence;
s2324, when w1 is 0 and w2 is 0
If x2> x1, if v1 is 0, then the next transition point is (0, x1, y2, 0); if v1 is equal to 1, the next two transition points are (0, x1+1, y1,0), (0, x1+1, y2,0) in sequence;
if x2< x1, if v1 is 0 and v2 is 0, then the next two transition points are (1, x1, y1+1,0), (1, x2, y1+1,0) in that order; if v1 is 0 and v2 is 1, the next 3 transition points are (1, x1, y1+1,0), (1, x2-1, y1+1,0), (0, x2-1, y2,0) in sequence; if v1 is 1 and v2 is 0, the next 3 transition points are (0, x1+1, y1,0), (1, x1+1, y1+1,0), (1, x2, y1+1,0) in sequence; if v1 is 1 and v2 is 1, the next 4 transition points are (0, x1+1, y1,0), (1, x1+1, y1+1,0), (1, x2-1, y1+1,0), (0, x2-1, y2,0) in sequence;
s233, if y2< y1, then similarly when y2> y 1;
s24, after picking, if the goods are in the positive direction X axial one-way channel, directly walking the front side fast one-way channel to the area to be delivered; if the single-way channel is arranged in the X axial direction in the negative direction, the single-way channel moves to the next X axial direction in the positive direction, and then the single-way channel moves to the area to be delivered in the front side fast single-way channel.
According to the AGV real-time path planning and collision avoidance method, the planning of the personalized goods picking path can be achieved according to the order, the optimal path for the AGV to pick and load the goods is achieved, and the problem of mutual collision when a large number of AGVs operate simultaneously can be effectively solved.
Example 2
Corresponding to the above embodiment 1, this embodiment provides an AGV real-time path planning and collision avoidance system, where the system includes:
the network planning module is used for planning AGV walking roads according to the structure of the grid type loading area to obtain a planned network, wherein the network comprises a plurality of X axial one-way roads and a plurality of Y axial one-way roads which are arranged in the grid type loading area, and quick one-way channels which are arranged on the rear side, the left side and the right side of the grid type loading area and between the grid type loading area and the area to be distributed, and the area to be distributed is positioned on the front side of the grid type loading area;
and the real-time path planning and collision avoidance module is used for carrying out real-time goods picking path planning on the AGV according to the order in the road network according to the preset passing rule and carrying out real-time collision avoidance on the AGV in the traveling process.
The functions executed by each component in the AGV real-time path planning and collision avoidance system provided in the embodiment of the present invention are described in detail in embodiment 1, and therefore, redundant description is not repeated here.
Example 3
In accordance with the above embodiments, the present embodiment provides a computer storage medium, which contains one or more program instructions for executing the method of embodiment 1 by an AGV real-time path planning and collision avoidance system.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (9)
1. An AGV real-time path planning and collision avoidance method is characterized by comprising the following steps:
planning an AGV walking road according to the structure of the grid type loading area to obtain a planned road network, wherein the road network comprises a plurality of X axial one-way roads and a plurality of Y axial one-way roads which are arranged in the grid type loading area, and quick one-way channels which are arranged at the rear side and the left side and the right side of the grid type loading area and between the grid type loading area and an area to be distributed, and the area to be distributed is positioned at the front side of the grid type loading area;
and according to a preset passing rule, planning the AGV picking path in real time in the road network according to the order, and carrying out real-time collision protection on the AGV in the walking process.
2. The AGV real-time path planning and collision avoidance method according to claim 1, wherein the road network includes two schemes, wherein the scheme is as follows: y axle negative direction is only established to many Y axial one-way roads, and the quick one-way passageway in Y axle positive direction is established to the rear side in grid dress district, scheme two: the multiple Y-axis one-way channels are provided with a positive Y-axis direction and a negative Y-axis direction, the Y-axis one-way channels in the positive Y-axis direction and the negative Y-axis direction are alternately arranged at intervals, and the rear side of the grid type loading area is not provided with a quick one-way channel;
and both schemes include: the plurality of X-axis single-way channels are arranged in the positive direction and the negative direction of the X axis, and the X-axis single-way channels in the positive direction and the negative direction of the X axis are alternately arranged at intervals; the left side and the right side of the grid type loading area are provided with X-axis positive direction quick one-way channels; two Y-axis quick one-way channels in the positive direction and the negative direction are arranged between the grid type loading area and the area to be distributed.
3. The method for AGV real-time path planning and collision avoidance according to claim 2, wherein the real-time routing planning of the AGV according to the order in the road network according to the preset traffic rule specifically includes:
for scenario one:
s11, setting position values (w, x, y), where w is 0 indicating a positive direction row, w is 1 indicating a negative direction row, x is a row value, and y is a column value;
s12, assuming that a shopping basket location initial location (w1, x1, y1), a first loading location (w2, x2, y2), if y2 is y1, w1 is w2, if w2 is 1, a next transition point of the AGV is a fast one-way channel cross waiting location, and after the waiting system notifies, the AGV respectively passes through two fast one-way channels to reach the loading area y2 cross waiting location, and if w2 is 0, the AGV stops at the y2+1 cross waiting location; if Y2> Y1, then the fast single lane is parked to Y2 or Y2+1 wait bit by the front Y-axis positive direction; if Y2< Y1, then dock to Y1 or Y1+1 wait bit through the front side Y-axis negative direction fast single lane;
s13, route of loading position 1(w1, x1, y1) to loading position 2(w2, x2, y 2):
s131, when y2 is y1, w1 is w2
When w1 is w2 is 0, if x2> x1, then no transition point is needed, if x2< x1, then the next transition point is (1, x1, Y1-1), then enters the rear Y-axis forward express way, then enters column Y2;
if w1 is w2 is 1, if x2> x1, then the next transition point is (0, x1, Y1-1), then enters the front Y-axis positive fast one-way lane, then enters Y2 columns; if x2< x1, then no transition point is needed;
s132, if y2> y1
If w1 is equal to 0 and w2 is equal to 0, the next transition point is (1, x1, Y1-1), and then enters a fast single-row channel in the positive direction of the rear Y axis, and then enters Y2 columns;
if w1 is 0 and w2 is 1, entering a forward direction fast single-row channel of the front Y axis, and then entering a Y2 column;
if w1 is equal to 1 and w2 is equal to 0, entering a fast single-row channel in the positive direction of the rear Y axis, and then entering a Y2 column;
if w1 is 1 and w2 is 1, the next transition point is (0, x1 and Y1-1), the front Y-axis positive direction fast single-row channel is entered, and then the front Y-axis positive direction fast single-row channel is entered into Y2 columns;
s133, if y2< y1
If w1 is 0, w2 is 0, if x2> x1, the next transition point is (0, x2, y1), and if x2< x1, the next two transition points are (1, x1, y1-1) and (1, x2, y1-1) in this order;
if w1 is 0, w2 is 1, if x2> x1, the next transition point is (0, x2, y1), and if x2< x1, the next transition point is (1, x1, y 1-1);
if w1 is 1, w2 is 0, if x2> x1, the next transition point is (0, x1, y1-1), and if x2< x1, the next transition point is (1, x2, y 1);
if w1 is 1, w2 is 1, and if x2> x1, the next two transition points are (0, x1, y1-1) and (0, x2, y1-1) in that order; if x2< x1, the next transition point is (1, x2, y 1);
s134, when the Y-axis one-way channel in the negative direction needs to span more than 2 rows, the Y-axis one-way channel on the front side rapidly passes in the negative direction;
s14, after picking, if the goods are in the positive direction X axial one-way channel, directly walking the front side fast one-way channel to the area to be delivered; if the single-way channel is arranged in the X axial direction in the negative direction, the single-way channel moves to the next X axial direction in the positive direction, and then the single-way channel moves to the area to be delivered in the front side fast single-way channel.
4. The method for AGV real-time path planning and collision avoidance according to claim 2, wherein the real-time routing planning of the AGV according to the order in the road network according to the preset traffic rule specifically includes:
for scheme two:
s21, setting position values (w, x, y, v), where w is 0 indicating a positive direction row, w is 1 indicating a negative direction row, x is a row value, y is a column value, v is 0 indicating a positive column, and v is 1 indicating a negative column;
s22, an initial shopping basket position (w1, x1, y1), a first loading position (w2, x2, y2, v2), if y2 is y1, w1 is w2, if w1 is 1, a next transition point of the AGV is a fast one-way channel crossing waiting position, the AGV respectively passes through two fast one-way channels after waiting for system notification, reaches a loading area y2 crossing waiting position, if w1 is 0, if v2 is 1, the AGV stops at y2+1 crossing waiting position, and if v2 is 0, the AGV 2-1 crossing waiting position; if y2> y1, then the fast single lane dock through the drop-down positive direction to either y2 or y2+1/y2-1 wait bit; if y2< y1, then the fast single lane dock through the drop zone negative direction to y2 or y2+1/y2-1 wait bits;
s23, route of loading position 1(w1, x1, y1, v1) to loading position 2(w2, x2, y2, v 2):
s231, when y2 is y1, w1 is w2
If w1 ═ w2 ═ 0, if x2> x1, then no transition point is required; if x2< x1, if v1 is 0 and v2 is 0, the following three transition points are in order: (0, x1+1, y1,1), (1, x1+1, y1-1,1), (1, x2, y1-1, 0); if v1 is equal to 0 and v2 is equal to 1, the following two transition points are in sequence: (1, x1, y1+1,0), (1, x2, y1+1, 1); if v1 is 1 and v2 is 0, the next two transition points are (1, x1, y1-1,1), (1, x2, y1-1,0) in sequence; if v1 is 1 and v2 is 1, the next three transition points are (1, x1, y1-1,1), (1, x2-1, y1-1,0), (0, x2-1, y2,0) in this order;
if w1 ═ w2 ═ 1, if x2> x1, if v1 ═ 0, and v2 ═ 0, then the next three transition points are in that order; (0, x1, y1+1,0), (0, x2+1, y1+1,1), (1, x2+1, y2, 1); if v1 is equal to 0 and v2 is equal to 1, the following two transition points are in sequence: (0, x1, y1+1,0), (0, x2, y1+1, 1); if v1 is 1 and v2 is 0, the next two transition points are (0, x1, y1-1,1), (0, x2, y1-1,0) in sequence; if v1 is 1 and v2 is 1, the next three transition points are (0, x1, y1-1,1), (0, x2+1, y1-1,0), (1, x2+1, y2,0) in this order; if x2< x1, then no transition point is needed;
s232, if y2> y1
S2321, when w1 is 1 and w2 is 0
If x2> x1, if v1 is 0, the next transition point is (0, x1, y2.0), and if v1 is 1, the next two transition points are (1, x1-1, y1,0), (0, x1-1, y2,0) in this order;
if x2< x1, if v2 is equal to 0, the next transition point is (1, x2, y1,0), and if v2 is equal to 1, the next two transition points are (1, x2-1, y1,0), (0, x2-1, y2,0) in this order;
if x2 ═ x1, v1 ═ v2, if v1 ═ 0, then no transition points are required; if v1 is 1, the next two transition points are (1, x1-1, y1,0), (0, x1-1, y2,0) in sequence;
s2322 when w1 is 1 and w2 is 1
If x2> x1, if v1 is 0 and v2 is 0, then the next two transition points are (0, x1, y1+1.0), (0, x2, y1+1,0) in that order; if v1 is 0 and v2 is 1, the next three transition points are (0, x1, y1+1,0), (0, x2+1, y1+1,0), (1, x2+1, y2,0) in this order; if v1 is 1 and v2 is 0, the next three transition points are (1, x1-1, y1,0), (0, x1-1, y1+1,0), (0, x2, y1+1,0) in sequence; if v1 is 1 and v2 is 1, the next four transition points are (1, x1-1, y1,0), (0, x1-1, y1+1,0), (0, x2+1, y1+1,0), (1, x2+1, y2,0) in sequence;
if x2< x1, if v2 is 0, then the next transition point is (1, x2, y1, 0); if v2 is equal to 1, the next two transition points are (1, x2+1, y1,0), (1, x2+1, y2,0) in sequence;
if x2 ═ x1, v1 ═ v2, if v1 ═ 0, then no transition points are required; if v1 is 1, the next 4 transition points are (1, x1-1, y1,0), (0, x1-1, y1+1,0), (0, x2+1, y1+1,0), (1, x2+1, y2,0) in sequence;
s2323, when w1 is 0 and w2 is 1
If x2> x1, if v2 is 0, then the next transition point is (0, x2, y1, 0); if v2 is equal to 1, the next two transition points are (0, x2+1, y1,0), (1, x2+1, y2,0) in sequence;
if x2< x1, if v1 is 0, then the next transition point is (1, x1, y2, 0); if v1 is equal to 1, the next two transition points are (0, x1+1, y1,0), (1, x1+1, y2,0) in sequence;
if x2 ═ x1, v1 ═ v2, if v1 ═ 0, then no transition points are required; if v1 is equal to 1, the next two transition points are (0, x1+1, y1,0), (1, x1+1, y2,0) in sequence;
s2324, when w1 is 0 and w2 is 0
If x2> x1, if v1 is 0, then the next transition point is (0, x1, y2, 0); if v1 is equal to 1, the next two transition points are (0, x1+1, y1,0), (0, x1+1, y2,0) in sequence;
if x2< x1, if v1 is 0 and v2 is 0, then the next two transition points are (1, x1, y1+1,0), (1, x2, y1+1,0) in that order; if v1 is 0 and v2 is 1, the next 3 transition points are (1, x1, y1+1,0), (1, x2-1, y1+1,0), (0, x2-1, y2,0) in sequence; if v1 is 1 and v2 is 0, the next 3 transition points are (0, x1+1, y1,0), (1, x1+1, y1+1,0), (1, x2, y1+1,0) in sequence; if v1 is 1 and v2 is 1, the next 4 transition points are (0, x1+1, y1,0), (1, x1+1, y1+1,0), (1, x2-1, y1+1,0), (0, x2-1, y2,0) in sequence;
s233, if y2< y1, then similarly when y2> y 1;
s24, after picking, if the goods are in the positive direction X axial one-way channel, directly walking the front side fast one-way channel to the area to be delivered; if the single-way channel is arranged in the X axial direction in the negative direction, the single-way channel moves to the next X axial direction in the positive direction, and then the single-way channel moves to the area to be delivered in the front side fast single-way channel.
5. The method for AGV real-time path planning and collision avoidance according to claim 1, wherein the real-time collision avoidance of the AGV during the traveling process specifically comprises:
when the vehicle runs on the X-axis single-way channel and the quick single-way channel, whether other AGVs exist in front or not is detected based on an AGV self anti-collision mechanism, if so, the vehicle is paused for waiting, and if not, the vehicle passes through;
when entering the intersection, the system anti-collision mechanism realizes AGV anti-collision, and when entering the intersection, the system anti-collision mechanism comprises: when entering the X-axis one-way lane from outside the loading area, moving in the Y-axis direction, and entering or traversing the fast one-way lane.
6. The AGV real-time path planning and collision avoidance method according to claim 5, wherein the system collision avoidance mechanism specifically comprises:
calculating a crossing window time basic unit according to the acceleration of the AGV and the crossing movement length of the crossing column in the Y direction;
judging whether other AGVs pass through a target X-axis single-line channel or a quick single-line channel in the cross-pass window time basic unit, if not, informing the AGVs to pass through, if so, informing the AGVs to wait, and calculating the next cross-pass time window until the next cross-pass time window can pass through;
the arrival distance value is the sum of the width of the distribution basket and the length from the highest speed of the AGV to the stop of the brake, if the arrival distance value is lower than a first preset value, the arrival distance value is judged to be unable to pass, and if the arrival distance value exceeds the first preset value, the arrival distance value is judged to be able to pass; the forward distance value is the sum of the width of the distribution basket and a preset buffer value, if the forward distance value is lower than a second preset value, the forward distance value is judged to be unable to pass, and if the forward distance value exceeds the second preset value, the forward distance value is judged to be able to pass.
7. The method of claim 1, wherein all the one-way roads in the road network are one-way single AGV travel lanes.
8. The utility model provides a AGV real-time path planning and collision avoidance system which characterized in that, the system includes:
the network planning module is used for planning AGV walking roads according to the structure of the grid type loading area to obtain a planned network, wherein the network comprises a plurality of X axial one-way roads and a plurality of Y axial one-way roads which are arranged in the grid type loading area, and quick one-way channels which are arranged on the rear side, the left side and the right side of the grid type loading area and between the grid type loading area and the area to be distributed, and the area to be distributed is positioned on the front side of the grid type loading area;
and the real-time path planning and collision avoidance module is used for carrying out real-time goods picking path planning on the AGV according to the order in the road network according to the preset passing rule and carrying out real-time collision avoidance on the AGV in the traveling process.
9. A computer storage medium comprising one or more program instructions for performing the method of any one of claims 1-7 by an AGV real-time path planning and collision avoidance system.
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