CN115437323A - A method of operating attitude scheduling control for laser-guided AGV - Google Patents

Abstract

The invention discloses an operation attitude scheduling control method for laser-guided AGVs. The steps of the operation attitude scheduling control method for laser-guided AGVs are as follows: Step 1: The method is based on the topological map of the scheduling system, and the electronic map is drawn After completion, add fixed laser information attributes to all nodes to indicate the laser x-coordinate, laser y-coordinate and laser angle of the AGV at the point; Step 2: Calculate the walking laser angle of each node; Step 3: Calculate the laser angle of each node Walking laser information; Step 4: Send the walking laser information to the AGV: the present invention is used for a laser-guided AGV's operating attitude scheduling control method, which provides the AGV's operating attitude control on each node and path segment, improving the The flexibility of dispatching AGVs can realize independent control of each AGV's operating attitude, and supports customized AGV attitudes in path segments, which enhances the adaptability of the system.

Description

A method of operating attitude scheduling control for laser-guided AGV

technical field

The invention relates to an operation attitude scheduling control method for a laser-guided AGV, which belongs to the technical field of automated logistics.

Background technique

Laser-guided AGV refers to an AGV equipped with a laser radar sensor to obtain global coordinate data, and uses a navigation controller to calculate the AGV attitude and path, thereby realizing the handling task. Multiple AGVs can be clustered under the unified scheduling of the scheduling system to realize complex handling tasks. The main functions of the AGV scheduling system include system management, map management, equipment management, task scheduling, path planning, traffic control, etc. The path planning algorithm can calculate the path that the AGV can reach from the starting point to the ending point.

Relevant inventions at home and abroad have proposed many path planning methods for laser-guided AGVs, but generally only involve path node planning, and do not calculate the operating posture of the AGV on the path. At runtime, its body posture is generally defaulted to the head of the car facing the next path point. In practice, when it is necessary to control the attitude of the AGV in a special path section, for example, when entering the charging station, the side of the charging brush needs to face the charger, and when using the ground infrared communication device, the AGV needs to face a certain position of the body toward the device, etc. In order to solve this problem, it is necessary to schedule and control the running attitude of the AGV in units of path segments.

Contents of the invention

The object of the present invention is to provide a kind of operation posture scheduling control method for laser-guided AGV, to solve the above-mentioned background technology and not to calculate the operation posture of AGV on the path, in the traditional method, the AGV follows the path When running from the start point to the end point, the body posture is generally defaulted to the problem that the front of the car is facing the next way point.

In order to achieve the above object, the present invention provides the following technical solutions: a method for operating attitude scheduling control of laser-guided AGVs, the steps of the operating attitude scheduling control method for laser-guided AGVs are as follows:

Step 1: This method is based on the topological map of the dispatching system. After the topological map is drawn, the AGV control system plans the driving nodes of the AGV according to the starting point and the ending point of the AGV, and two adjacent driving nodes are connected into a line to form a driving path; for all Node planning marks the laser x-coordinate and laser y-coordinate of the AGV at the point;

Step 2: Carry out path planning for the AGV, and obtain the nodes and paths passed sequentially from the starting point to the end point. The AGV control system sets the orientation of the AGV's predetermined area at the node at each node, that is, the attitude attribute of the AGV at the node;

Step 3: Send the planned walking nodes, driving paths, and attitude attributes of the AGV at each node to the AGV. After receiving the information, the AGV executes the walking of each node and the attitude attributes of each node in order.

As a preferred technical solution of the present invention, in step one, the topological map is composed of nodes and paths, and the AGV attitude attributes include: towards the end of the path segment, towards the starting point of the path segment, towards the left, that is, from the starting point to the end point of the path segment The direction of the vector is determined, the direction to the right is determined by the vector direction from the start point to the end point of the path segment, the next node towards the driving, the previous node towards the driving and the uncertain direction.

As a preferred technical solution of the present invention, the indeterminate direction means that the orientation of the given area at the node is not fixed, and there are different attitude settings under different conditions.

As a preferred technical solution of the present invention, in the second step, when there is a path connection after this point, that is, there is a next node.

As a preferred technical solution of the present invention, in the step 3, during the process of moving from one node to the next node, the AGV first walks to the x and y coordinate position of the next point, and after reaching the coordinate position of the next node, it rotates Reach the AGV attitude attribute at this node.

Compared with the prior art, the beneficial effect of the present invention is: the present invention is a kind of operation attitude scheduling control method for laser-guided AGV:

(1) The present invention focuses on the operation attitude scheduling control method of the laser-guided AGV, provides the operation attitude control of the AGV on each node and path segment, and improves the flexibility of scheduling the AGV.

(2) The present invention can realize the independent control of the running attitude of each AGV, and supports the customized AGV attitude of the path segment, which enhances the adaptability of the system.

Description of drawings

Fig. 1 is an explanatory diagram of the system principle of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Fig. 1, the present invention provides a kind of operation attitude scheduling control method for laser-guided AGV,

A kind of operation posture scheduling control method for laser-guided AGV, the steps of the operation posture scheduling control method for laser-guided AGV are as follows:

Step 1: This method is based on the topological map of the dispatching system. After the topological map is drawn, the AGV control system plans the driving nodes of the AGV according to the starting point and the ending point of the AGV, and two adjacent driving nodes are connected into a line to form a driving path; for all Node planning marks the laser x-coordinate and laser y-coordinate of the AGV at the point;

Step 2: Carry out path planning for the AGV, and obtain the nodes and paths passed sequentially from the starting point to the end point. The AGV control system sets the orientation of the AGV's predetermined area at the node at each node, that is, the attitude attribute of the AGV at the node;

Step 3: Send the planned walking nodes, driving paths, and attitude attributes of the AGV at each node to the AGV. After receiving the information, the AGV executes the walking of each node and the attitude attributes of each node in order.

In the first step, the topology map is composed of nodes and paths, and the AGV attitude attributes include: towards the end of the path segment, towards the starting point of the path segment, towards the left, which is determined by the vector direction from the start point to the end point of the path segment, and towards the right, which is determined by the path Vector direction determination from start to end of segment, next node to travel, previous node to travel, and indeterminate direction.

The uncertain direction means that the orientation of the given area at the node is not fixed, and there are different attitude settings under different conditions.

In the second step, when there is a path connection after this point, there is a next node.

As a preferred technical solution of the present invention, in the step 3, during the process of moving from one node to the next node, the AGV first walks to the x and y coordinate position of the next point, and after reaching the coordinate position of the next node, it rotates Reach the AGV attitude attribute at this node.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (5)

1. A running attitude scheduling control method for a laser guidance AGV is characterized by comprising the following steps:

the method comprises the following steps: the method is based on a topological map of a dispatching system, after the topological map is drawn, an AGV control system plans driving nodes of the AGV according to a starting point and a terminal point where the AGV is located, and every two adjacent driving nodes are connected into a line to form a driving path; planning and marking the laser x coordinate and the laser y coordinate of the AGV at the point for all the nodes;

step two: planning a path of the AGV to obtain nodes and paths which pass through from a starting point to a terminal point in sequence, and setting the direction of an AGV established area at each node, namely the attitude attribute of the AGV at the node by the AGV control system;

step three: and sending the planned walking nodes, the planned driving path and the attitude attribute of the AGV at each node to the AGV, and executing the walking of each node and the attitude attribute at each node in sequence after the AGV receives the information.

2. The operational attitude dispatch control method for a laser guided AGV of claim 1, wherein: in the first step, the topological map is composed of nodes and paths, and the AGV attitude attributes include: towards the end of a path segment, towards the start of a path segment, towards the left, i.e. determined in the vector direction from the start to the end of the path segment, towards the right, i.e. determined in the vector direction from the start to the end of the path segment, towards the next node of travel, towards the previous node of travel and towards the uncertain direction.

3. The method of claim 2 for controlling the operational attitude scheduling of a laser guided AGV, wherein: the uncertain direction represents that the orientation of the set area at the node is not fixed, and the set posture is different under different conditions.

4. The method of claim 3 for controlling the operational attitude scheduling of a laser guided AGV, wherein: in the second step, when there is a path connection after the point, there is a next node.

5. The operational attitude dispatch control method for a laser guided AGV according to claim 4, wherein: in the third step, in the process of moving from one node to the next node, the AGV moves to the x and y coordinate positions of the next point in advance, and after reaching the coordinate position of the next node, the AGV posture attribute at the node is reached through rotation.

Images