CN115857515A - AGV robot route planning method, system and storage medium - Google Patents
AGV robot route planning method, system and storage medium Download PDFInfo
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Abstract
The invention discloses an AGV robot route planning method, a system and a storage medium, wherein the method comprises the following steps: s1, constructing a route map of the AGV robot spanning the buildings and the floors; the route map comprises a first-level map and a second-level map, and the first-level map and the second-level map are connected through nodes; and S2, determining a primary planned route in the route map according to the start and stop points of the running task of the AGV robot, and performing actual route planning of the primary map and batch route planning of the secondary map according to configuration parameters of the node where the AGV robot is located in the actual running process. According to the method, the three-dimensional space map is layered and reduced in dimension, the planarization of the spatial relationship is realized, and the planning efficiency of the AGV running route, the dispatching flexibility of the AGV and the later maintenance efficiency of the AGV running environment under the complex scene of continuous building-crossing and floor-crossing are greatly improved when the AGV running route is planned.
Description
Technical Field
The invention belongs to the technical field of automatic control, and particularly relates to a method and a system for planning routes of AGV robots continuously crossing buildings and floors and a storage medium.
Background
The AGV robot in China is developed in nearly 50 years, and with the development of the AGV guidance technology, the AGV navigation is developed into a positioning and navigation mode mainly based on laser radar positioning guidance and assisted by inertial guidance and vision from the initial guide rail guidance and electromagnetic beacon guidance.
However, since the Slam maps used by the AGVs are continuous plane maps, when the AGVs need to run across floors and buildings, the start points are on different maps, and the truncation of the maps causes the need of traversing the connection points between the maps for route splicing during route planning. When the building structure is complex and the AGV needs to be transferred continuously among different buildings, the map construction and the route planning of the whole AGV operation scene need to be calculated in a large quantity, and the efficiency is low.
In order to realize the route planning of AGV continuously crossing buildings and floors, in the traditional route planning method, for the AGV route planning of multiple buildings and multiple floors, a transfer layer map needs to be found out firstly when the transfer is needed. The method has the following defects:
(1) When the number of continuous transfer floors is large, the continuous inquiry and calculation are carried out during calculation, so that the calculation amount is large and the calculation speed is low.
(2) If the robot needs to plan the route again in the middle, errors or blockage caused by slow route planning are easy to occur.
Another conventional map construction and route planning method is to take an elevator as a special route, calculate routes between all points in advance when updating a map and a route, and match the corresponding routes according to positions of start and stop points when a robot performs a task. This method has the following disadvantages:
(1) When multiple robots are used in a coordinated manner, elevator dispatching cannot be independently carried out, so that resource coordinated dispatching cannot be formed among multiple elevators, and coordinated dispatching among robots, robots and elevators cannot be flexibly realized when multiple robots queue up to use the elevators.
(2) The map and the route are updated each time, the global calculation needs to be carried out in advance, the calculation is long in time consumption, the construction is difficult, and the project implementation is not facilitated.
(3) When the robot is abnormal in the process of running and the current AGV robot is not at a station, a route cannot be planned by directly taking the current coordinate point of the robot as a starting point (because the current coordinate point is not in the calculated route nodes).
Disclosure of Invention
Aiming at the defects in the prior art, the AGV robot route planning method, the AGV robot route planning system and the storage medium solve the problems that the traditional method for continuously crossing buildings, the AGV map is discontinuous when crossing the floors, the operation route planning efficiency is low, and the route cannot be flexibly adjusted in the operation process.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that: an AGV robot route planning method comprises the following steps:
s1, constructing a continuous cross-building and cross-floor route map of the AGV robot;
the route map comprises a first-level map and a second-level map, and the first-level map and the second-level map are connected through nodes;
and S2, determining a primary planned route in the route map according to the starting point and the ending point of the running task of the AGV robot, and performing actual route planning of the primary map and batch route planning of the secondary map according to configuration parameters of the node where the AGV robot is located in the actual running process.
Further, in the step S1, the primary map is a planar map subjected to dimensionality reduction of a 3-dimensional space map of an area where the AGV robot task is located, and the secondary map is a slam map of each floor of the area where the AGV robot task is located;
the nodes for connecting the first-level map and the second-level map comprise elevator nodes, floor map nodes and map connecting nodes with the representing distance of 0; each floor map node corresponds to one slam map of the floor;
in the primary map, the elevator nodes, the floor map nodes and the map connecting nodes represent the connection and traffic relation among the nodes through connecting lines.
Further, the configuration parameters of the elevator nodes are used for determining the time spent by the running tasks of the AGV robot on the elevator nodes during actual route planning;
the configuration parameters of the floor map nodes are used for determining the trafficability of the current route of the AGV robot in the nodes when the actual route is planned, and further determining the planned route which is shortest in current time or shortest in distance;
the configuration parameters of the map connection node are used for determining the connection relation and the running direction of the AGV robot between the node and other nodes during actual route planning.
Further, the configuration parameters of the elevator nodes comprise node types, elevator IDs, elevator names, elevator types, accessible floors, floor heights, departure floors, arrival floors, openable elevator doors, access directions, running directions and elevator running speeds;
the configuration parameters of the floor map nodes comprise a node type, a map ID, a map name, a front node type, a front node ID, a rear node type, a rear node ID, a passing state of a route in the node, passing directions of front and rear nodes, a length coefficient of the route between the front and rear nodes and a time coefficient of the route between the front and rear nodes;
the configuration parameters of the map connection nodes comprise node types, node IDs, node names, front node IDs, rear node IDs and front and rear node passing directions.
Further, in step S2, the method for determining the preliminary planned route includes:
determining all reachable routes from a starting point to an end point on a primary map according to the starting point and the end point of the running task of the AGV robot, and taking the reachable routes as preliminary planned routes;
and in the reachable route, representing each passing point of the AGV robot when executing the running task through an elevator node, a floor map node and/or a map connection node.
Further, in the step S2, when the actual route of the primary map is planned, and in the actual operation process, when the route point where the AGV robot is located needs to adjust the next actual route, the actual route is planned again according to the configuration parameters of the next route point in the currently planned route of the AGV robot;
when the batch route of the secondary map is planned, according to the configuration parameter information of the route point where the current AGV robot is located, the next route point corresponding to the current route point is determined in the primarily planned route and is used as the current batch route of the AGV robot on the secondary map for planning.
An AGV robot operation route planning system of an AGV robot operation route planning method includes:
the route map construction module is used for constructing a route map of an area where the AGV robot task is located, and comprises a first-level map and a second-level map which are connected through nodes;
the node parameter configuration module is used for configuring parameters of each node in the route map and used as data reference for determining the passing point during route planning;
and the route planning module is used for carrying out preliminary route planning of the AGV robot and actual planned route adjustment in the running process according to the constructed route map and parameters of nodes in the route map.
Further, the primary map is a plane map subjected to dimensionality reduction of a 3-dimensional space map of an area where the AGV robot task is located, and the secondary map is a slam map of each floor of the area where the AGV robot task is located;
the nodes for connecting the first-level map and the second-level map comprise elevator nodes, floor map nodes and map connecting nodes with the representing distance of 0; each floor map node corresponds to one slam map of the floor;
in the primary map, the elevator nodes, the floor map nodes and the map connecting nodes represent the connection and traffic relation among the nodes through connecting lines.
Furthermore, the node parameter configuration module comprises an elevator node parameter configuration unit, a floor map node parameter configuration unit and a floor map node parameter configuration unit;
the elevator node parameter configuration unit determines the time spent by the running task at each elevator node according to the configuration parameters; the floor map node parameter configuration unit determines a planning route with shortest time or shortest distance according to configuration parameters; and the map connection node parameter configuration unit determines the connection relation and the operation direction between the nodes according to the configuration parameters.
A computer storage medium stores a computer program, and when the computer program is executed, the AGV robot route planning method is realized.
The invention has the beneficial effects that:
1. the invention provides a path planning method compatible with continuous cross-building, cross-floor complex scenes and a single Slam map, which can perform independent scheduling service on any node of the same type in a system, improve the flexibility and compatibility of the system and improve the resource utilization rate;
2. the method improves the route planning speed, reduces the concurrent pressure, the traffic relation among different Slam maps can be realized by using a route planning algorithm of a plane map, and the route planning inside the Slam map can be realized by step operation.
3. The map relation in the three-dimensional space map can be displayed through plane visualization, and visualized route planning and project operation and maintenance are realized at low cost.
Drawings
FIG. 1 is a flowchart of an AGV robot route planning method provided by the present invention.
Fig. 2 is a schematic view of a three-dimensional spatial scene provided by the present invention.
Fig. 3 is a schematic view of the three-dimensional space map provided by the present invention for reducing dimensions.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
Example 1:
the embodiment of the invention provides an AGV robot route planning method, which comprises the following steps of:
s1, constructing a continuous cross-building and cross-floor route map of the AGV robot;
the route map comprises a first-level map and a second-level map, and the first-level map and the second-level map are connected through nodes;
and S2, determining a primary planned route in the route map according to the starting point and the ending point of the running task of the AGV robot, and performing actual route planning of the primary map and batch route planning of the secondary map according to configuration parameters of the node where the AGV robot is located in the actual running process.
In the embodiment of the invention, to realize the operation of the AGV robot in a cross-building and cross-floor complex scene, a three-dimensional space model of a task area of the AGV robot needs to be modeled, as shown in fig. 2, the AGV robot is a simple and common space model and relates to cross 4 buildings and 8 elevators, if the operation task of the AGV robot is from 1 floor to 4 floors, at least 4 elevators need to be used in the middle, and the transfer is performed from 2 floors and 3 floors, but in an actual use scene, due to the limitations of building plane layout, in-floor route planning and the like, the selection of elevators in a plurality of available elevators may be related. In an actual project, the environment for the AGV robot to actually operate may be more complicated than that in the example of fig. 2, and there are more transfer floors and elevators.
Based on the method, the embodiment of the invention firstly constructs a route map of cross-building and cross-floor, and carries out route planning based on the map; in step S1 of the embodiment of the invention, a first-level map is a planar map subjected to dimension reduction of a 3-dimensional space map of an area where an AGV robot task is located, and a second-level map is a slam map of each floor of the area where the AGV robot task is located;
the nodes for connecting the first-level map and the second-level map comprise elevator nodes, floor map nodes and map connecting nodes with the representing distance of 0; each floor map node corresponds to one slam map of the floor;
in the primary map, connection and traffic relation among nodes are represented by connecting lines among elevator nodes, floor map nodes and map connecting nodes.
Specifically, when a route map is constructed, all slam maps, connection points between maps, elevators and other map-crossing connection positions related in a space are regarded as a node, a plane map is formed by the nodes according to an actual connection relation, as shown in fig. 3, the route map is formed by reducing the three-dimensional space relation in fig. 2 into a plane graph, wherein a circular node is the slam map, a square node is the elevator, a diamond node is the map connection point with the distance of 0, and each connection line represents the connection and passing relation between the nodes.
Configuration parameters of the elevator nodes in the embodiment of the invention are used for determining the time spent by running tasks of the AGV robot on the elevator nodes during actual route planning; specifically, for elevator nodes, the elevators are divided into an inclined escalator and a straight elevator, the two elevators are different in control, cooperation with an AGV robot and related use modes, the straight elevator is divided into a single door and a split door, and the split doors are different in the door opening direction and the door entering and exiting direction due to different services on different floors; therefore, the configuration parameters of the elevator nodes in the embodiment of the invention comprise the node type, the elevator ID, the elevator name, the elevator type, the reachable floor, the floor height, the departure floor, the arrival floor, the elevator door capable of being opened, the access direction, the running direction and the running speed of the elevator; the specific content corresponding to each parameter is shown in table 1;
table 1: configuration parameters for elevator nodes
| Parameter name | Description of the invention |
| Node type | Type name of elevator node in primary map |
| Elevator ID | Elevator ID, globally unique |
| Elevator name | Elevator names, typically in real circumstances |
| Elevator type | The elevators are classified and can be respectively managed according to different elevator types; common elevator with straight ladder for AGV robot And staircase for smoothing ground |
| Can reach the floor | Slam map node for defining elevator connection |
| Layer height | The floor height of each floor is defined, and the floor height is combined with the running speed of the elevator to be predicted on the elevator node in path planning Time required to be spent |
| Departure floor | Starting floor of robot when executing certain task and using elevator |
| To a floor | Target floor when robot executes certain task and uses elevator |
| Openable elevator door | The staircase generally has no staircase door; the vertical ladder may have a front door and a rear door, the opening direction of each layer is different, and the vertical ladder needs to be arranged on each layer With open doors for management |
| Direction of entry and exit | During actual construction, the elevator may be different according to the floor according to the distribution scene, and the robot can only enter the elevator or only exit the elevator Elevators, avoid atThe robot in the elevator in the same floor comes out, and the robot outside the elevator comes in, so that blockage is caused. |
| Direction of travel | In actual construction, some elevators need to be set to only move the robot up or only move it down according to the delivery scenario And the robot is sent to avoid the jam caused by the robots entering and exiting the elevator in the same floor. Using an elevator conveyor The direction of the robot is made into a loop line, so that congestion can be avoided. |
Based on the parameter configuration in table 1, when an actual path is planned, according to the number of slam map nodes (namely floor map nodes) connected with an elevator, obtaining corresponding elevator parameters, determining whether the elevator can be used for a current task, and calculating the time spent by an AGV robot to operate the task on the elevator nodes; meanwhile, the available time of the elevator is pre-judged by matching with a task queue of the elevator, so that when a plurality of elevators are available, the fastest available elevator is selected preferentially, and the total time spent by the AGV robot on the elevator nodes is calculated. In this embodiment, the total time required for the elevator nodes = the time required for the AGV to operate + the time available for waiting for the elevator.
The configuration parameters of the floor map nodes in the embodiment of the invention are used for determining the trafficability of the current route of the AGV robot in the nodes during actual route planning, and further determining the planned route which is shortest in current time or shortest in distance; specifically, for a floor map node (i.e., a slam map node), in each slam map node, a plurality of different routes may be selected according to route planning and according to the difference between the nodes before and after the connected node; when the whole route planning is carried out, whether front and rear nodes can be communicated in the current slam map node or not needs to be determined according to different route parameters, and the distance and the time in the node are judged in advance; therefore, the configuration parameters of the floor map nodes in the embodiment of the invention comprise the node type, the map ID, the map name, the front node type, the front node ID, the rear node type, the rear node ID, the passing state of the route in the node, the passing directions of the front node and the rear node, the length coefficient of the route between the front node and the rear node and the time coefficient of the route between the front node and the rear node; the specific content corresponding to each parameter is shown in table 2;
table 2: configuration parameters for floor map nodes
| Parameter name | Description of the invention |
| Node type | Type parameters of slam map nodes in primary map |
| Map ID | Id of slam map |
| Map name | The slam map name is generally the information of the building and the floor where the map is located |
| Front node type | Type of a node on a current map node in a first level route plan |
| Front node id | ID of a node on a current map node in a first level route plan |
| Back node type | Type of a node subsequent to a current map node in a first level route planning |
| Back node id | ID of a node subsequent to a current map node in a first level route planning |
| Route is at local node Inner traffic state | In the first-level route planning, whether the nodes in the local map can be connected with the nodes in the front and the rear (the map can be connected with the nodes in the front and the rear Point, but the front and back nodes are not necessarily connected by routes in the map) |
| Front and rear node passing Direction | In the first-level route planning, the running direction in the local map node of the route connecting the front and rear nodes. Routes within a node Is diverged, although connected, allowing the direction of passage not to coincide with the direction of planning |
| Road between front and rear nodes Coefficient of line length | According to the length coefficient, the length of the planned route is estimated, and when a plurality of routes are available, the optimal route is selected |
| Road between front and rear nodes Time coefficient of line | According to the length coefficient, the running time of the planned route is estimated, and the most suitable route is selected when a plurality of routes are available Optimal route |
Based on the parameter configuration in table 2, it can be determined whether the current route is passable in the node, and a combination of routes that are simultaneously shortest or have the shortest distance between the routes passing through the node is calculated.
The configuration parameters of the map connection node in the embodiment of the invention are used for determining the connection relation and the running direction of the AGV robot between the node and other nodes during actual route planning; the configuration parameters of the map connection nodes comprise node types, node IDs, node names, front node IDs, rear node IDs and front and rear node passing directions; the specific content corresponding to each parameter is shown in table 3;
table 3: configuration parameters for map connection nodes
| Parameter name | Description of the preferred embodiment |
| Node type | Type parameter of map connection node in level 1 map |
| Node ID | Node id |
| Node name | Node name |
| Front node id | In the route planning in the level 1 map, the previous node id of the local node is calculated according to the route direction. Map nodes are slam map nodes at the front and the back of map connecting node |
| Back node id | And in the route planning in the level 1 map, the node id which is the next node of the local node is arranged according to the route direction. Map nodes are slam map nodes at the front and the back of map connecting node |
| Front and rear node passing direction | According to the passing direction of the routes in the front map and the rear map which are connected with the node, the routes can pass in the same direction, and the routes cannot pass in the opposite direction. |
In step S2 of the embodiment of the present invention, the method for determining the preliminary planned route includes:
determining all reachable routes from a starting point to an end point on a primary map according to the starting point and the end point of the running task of the AGV robot, and taking the reachable routes as preliminary planned routes; in the reachable route, each passing point of the AGV robot when executing the running task is represented by an elevator node, a floor map node and/or a map connection node.
In step S2 of the embodiment of the present invention, when the actual route planning of the primary map is performed, in the actual operation process, when the route point where the AGV robot is located needs to adjust the next actual route, the actual route planning is performed again according to the configuration parameters of the next route point in the currently planned route of the AGV robot;
when the batch route of the secondary map is planned, according to the configuration parameter information of the route point where the current AGV robot is located, the next route point corresponding to the current route point is determined in the primarily planned route and is used as the current batch route of the AGV robot on the secondary map for planning.
Taking the route map shown in fig. 3 as an example, when the robot receives a running task, firstly planning a preliminary planned route between maps according to the map information where the start and stop points of the AGV robot are located in a planar graph after dimension reduction, and if the start and stop points of the AGV robot are at D1F3 and the stop points are at D4F1, planning the preliminary planned route of the AGV as follows:
D1F3-T1/T2-D1F1/D1F2/D1F3-L3/L2/L1-D2F1/D2F2/D2F4-T3/T4-D2F1/D2F1-L4/L5-D3F1/D3F3-T5/T6-D3F2-L6-D4F2-T7/T8-D4F1; wherein, X/Y indicates that the step in the route planning can walk around the X node or the Y node and can be passed.
The AGV robot needs to adjust next section actual route like when some point midway in the actual operation process, then only need from the node on next one level map begin to plan again can, during actual route planning, can plan actual operation route batch on the 2 level map, if: firstly, planning a running route of the robot in a D1F3 node to start execution, and planning an elevator T1 task when the running route is executed; and after entering the elevator, planning the running route of the robot in the D1F2 node. After the splitting, when a large number of robot order tasks exist, the batch planning can reduce the operation pressure.
After the first-level map line planning of the cross-building and the cross-floor is finished, the relevant attributes of all nodes of the first-level map are refined according to the actual scene, and the method can be more flexible and has higher efficiency in the actual line planning.
Example 2:
the present embodiment is a planning system based on the AGV robot route planning method in embodiment 1, and includes:
the route map construction module is used for constructing a route map of an area where the AGV robot task is located, and comprises a first-level map and a second-level map which are connected through nodes;
the node parameter configuration module is used for configuring parameters of each node in the route map and used as data reference for determining the passing point during route planning;
and the route planning module is used for carrying out preliminary route planning of the AGV robot and actual planned route adjustment in the running process according to the constructed route map and parameters of nodes in the route map.
The primary map in the embodiment of the invention is a planar map subjected to dimension reduction of a 3-dimensional space map of an area where an AGV robot task is located, and the secondary map is a slam map of each floor of the area where the AGV robot task is located;
the nodes for connecting the first-level map and the second-level map comprise elevator nodes, floor map nodes and map connecting nodes with the representing distance of 0; each floor map node corresponds to one slam map of the floor;
in the primary map, connection and traffic relation among nodes are represented by connecting lines among elevator nodes, floor map nodes and map connecting nodes.
The node parameter configuration module in the embodiment of the invention comprises an elevator node parameter configuration unit, a floor map node parameter configuration unit and a floor map node parameter configuration unit;
the elevator node parameter configuration unit determines the time spent by the running task at each elevator node according to the configuration parameters; the floor map node parameter configuration unit determines a planning route with the shortest time or the shortest distance according to the configuration parameters; and the map connection node parameter configuration unit determines the connection relation and the running direction between the nodes according to the configuration parameters.
Specifically, the configuration parameters of the elevator node parameter configuration unit include a node type, an elevator ID, an elevator name, an elevator type, a reachable floor, a floor height, a departure floor, an arrival floor, an openable elevator door, an access direction, a running direction and an elevator running speed; the configuration parameters of the floor map node parameter configuration unit comprise a node type, a map ID, a map name, a front node type, a front node ID, a rear node type, a rear node ID, a passing state of a route in the node, passing directions of front and rear nodes, a length coefficient of the route between the front and rear nodes and a time coefficient of the route between the front and rear nodes; the configuration parameters of the map connection node parameter configuration unit comprise a node type, a node ID, a node name, a front node ID, a rear node ID and a front-rear node passing direction.
Based on the system structure, when the route planning is carried out, after the first-level map route planning of the AGV robot is completed, routes between coordinate points are planned according to connecting coordinate points of front and back nodes and the current map in each layer, so that the whole cross-building and cross-floor complete routes can be connected in series, and the route planning of the complete tasks of the AGV robot is realized.
Example 3:
the embodiment of the invention provides a computer storage medium, wherein a computer program is stored in the computer storage medium, and when the computer program is executed, the AGV robot route planning method in the embodiment 1 is realized. In the embodiment of the present invention, the computer-readable storage medium includes, but is not limited to, various media that can store program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In the description of the present invention, it is to be understood that the terms "center", "thickness", "upper", "lower", "horizontal", "top", "bottom", "inner", "outer", "radial", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or an implicit indication of the number of technical features. Thus, features defined as "first", "second", "third" may explicitly or implicitly include one or more of the features.
Claims (10)
1. An AGV robot route planning method is characterized by comprising the following steps:
s1, constructing a continuous cross-building and cross-floor route map of the AGV robot;
the route map comprises a first-level map and a second-level map, and the first-level map and the second-level map are connected through nodes;
and S2, determining a primary planned route in the route map according to the start and stop points of the running task of the AGV robot, and performing actual route planning of the primary map and batch route planning of the secondary map according to configuration parameters of the node where the AGV robot is located in the actual running process.
2. The AGV robot route planning method according to claim 1, wherein in step S1, the primary map is a planar map obtained by reducing dimensions of a 3-dimensional space map of an area where the AGV robot task is located, and the secondary map is a slam map of each floor of the area where the AGV robot task is located;
the nodes for connecting the first-level map and the second-level map comprise elevator nodes, floor map nodes and map connecting nodes with the representing distance of 0; each floor map node corresponds to one slam map of the floor;
in the primary map, the elevator nodes, the floor map nodes and the map connecting nodes represent the connection and traffic relation among the nodes through connecting lines.
3. The AGV robot route planning method according to claim 2, wherein the configuration parameters of the elevator nodes are used to determine the time spent by the running task of the AGV robot on the elevator nodes during the actual route planning;
the configuration parameters of the floor map nodes are used for determining the trafficability of the current route of the AGV robot in the nodes when the actual route is planned, and further determining the planned route which is shortest in current time or shortest in distance;
the configuration parameters of the map connection node are used for determining the connection relation and the running direction of the AGV robot between the node and other nodes during actual route planning.
4. The AGV robot route planning method according to claim 3, wherein the configuration parameters of the elevator nodes include node type, elevator ID, elevator name, elevator type, reachable floor, floor height, departure floor, arrival floor, openable elevator door, access direction, travel direction, and elevator travel speed;
the configuration parameters of the floor map nodes comprise a node type, a map ID, a map name, a front node type, a front node ID, a rear node type, a rear node ID, a passing state of a route in the node, passing directions of front and rear nodes, a length coefficient of the route between the front and rear nodes and a time coefficient of the route between the front and rear nodes;
the configuration parameters of the map connection nodes comprise node types, node IDs, node names, front node IDs, rear node IDs and front and rear node passing directions.
5. The AGV robot route planning method according to claim 2, wherein in step S2, the method for determining the preliminary planned route includes:
determining all reachable routes from a starting point to an end point on a primary map according to the starting point and the end point of the running task of the AGV robot, and taking the reachable routes as preliminary planned routes;
and in the reachable route, representing each passing point of the AGV robot when executing the running task through an elevator node, a floor map node and/or a map connection node.
6. The AGV robot route planning method according to claim 5, wherein in step S2, when the actual route planning of the primary map is performed, and in the actual operation process, when the approach point where the AGV robot is located needs to adjust the next actual route, the actual route planning is performed again according to the configuration parameters of the next approach point in the currently planned route of the AGV robot;
when the batch route of the secondary map is planned, according to the configuration parameter information of the route point where the current AGV robot is located, the next route point corresponding to the current route point is determined in the primarily planned route and is used as the current batch route of the AGV robot on the secondary map for planning.
7. An AGV robot route planning system based on the AGV robot route planning method according to any one of claims 1 to 6, comprising:
the route map construction module is used for constructing a route map of an area where the AGV robot task is located, and comprises a first-level map and a second-level map which are connected through nodes;
the node parameter configuration module is used for configuring parameters of each node in the route map and used as data reference for determining the passing point during route planning;
and the route planning module is used for carrying out preliminary route planning of the AGV robot and actual planned route adjustment in the running process according to the constructed route map and parameters of nodes in the route map.
8. The AGV robot route planning system according to claim 7, wherein the primary map is a planar map after dimension reduction of a 3-dimensional space map of an area where the AGV robot task is located, and the secondary map is a slam map of each floor of the area where the AGV robot task is located;
the nodes for connecting the first-level map and the second-level map comprise elevator nodes, floor map nodes and map connecting nodes with the representing distance of 0; each floor map node corresponds to one slam map of the floor;
in the primary map, the elevator nodes, the floor map nodes and the map connecting nodes represent the connection and traffic relation among the nodes through connecting lines.
9. The AGV robot route planning system of claim 8, wherein the node parameter configuration module includes an elevator node parameter configuration unit, a floor map node parameter configuration unit, and a floor map node parameter configuration unit;
the elevator node parameter configuration unit determines the time spent by the running task at each elevator node according to the configuration parameters; the floor map node parameter configuration unit determines a planning route with shortest time or shortest distance according to configuration parameters; and the map connection node parameter configuration unit determines the connection relation and the running direction between the nodes according to the configuration parameters.
10. A computer storage medium, wherein a computer program is stored in the computer storage medium, and when the computer program is executed, the AGV robot route planning method according to any one of claims 1 to 6 is realized.
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