Route planning method, device, equipment and storage medium

Abstract

The present invention discloses a route planning method, device, equipment and storage medium. The method includes: obtaining the starting point, multiple intermediate points and the end point of the route to be planned; planning a first route segment based on the multiple intermediate points and the end point of the route to be planned; judging whether the starting point of the route to be planned is within the factory area, and when the starting point of the route to be planned is within the factory area, planning the shortest route from the starting point of the route to be planned to the first route segment based on a pre-built prohibited route database to obtain a second route segment; when the starting point of the route to be planned is not within the factory area, planning a second route segment from the starting point of the route to be planned to the starting point of the first route segment based on a pre-built prohibited route database; and obtaining a planned complete route based on the first route segment and the second route segment. According to this method, the shortest route can be planned in the factory area and the embedded factory area, solving the problem of being affected by the factory area and the nested factory area during route planning.

Description

Technical Field

[0001] The present invention relates to the field of vehicle navigation technology, and in particular to a route planning method, device, equipment and storage medium. Background Art

[0002] With the continuous development of technology, navigation systems with vehicle navigation functions have emerged. Navigation systems can plan routes for users and use global positioning system (GPS) chips to obtain real-time movement trajectories, thereby determining the vehicle's position on the road on the traffic vector map.

[0003] However, during the route planning process, due to the influence of the factory area and the embedded factory area, vehicles may pass through the factory area. If the factory area prohibits external vehicles from passing through, then path planning errors will occur. If there are many small factory areas within the factory area, and these small factory areas can only pass specific vehicles, various planning errors will occur according to the existing path planning algorithm.

[0004] Therefore, how to solve the impact of plant areas and nested plant areas on planned routes is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] The disclosed embodiments provide a route planning method, apparatus, device, and storage medium. To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is provided below. This summary is not intended to be a comprehensive review, identify key or important elements, or delineate the scope of these embodiments. Its sole purpose is to present some concepts in a simplified form, serving as a prelude to the detailed description that follows.

[0006] In a first aspect, an embodiment of the present disclosure provides a route planning method, comprising:

[0007] Get the starting point, multiple intermediate points and the end point of the route to be planned;

[0008] Planning a first route segment according to a plurality of intermediate points and an end point of the route to be planned;

[0009] Determine whether the starting point of the route to be planned is within the factory area. If the starting point of the route to be planned is within the factory area, plan the shortest route from the starting point of the route to be planned to the first route segment based on a pre-built prohibited route database to obtain the second route segment;

[0010] When the starting point of the route to be planned is not within the factory area, a second route segment from the starting point of the route to be planned to the starting point of the first route segment is planned according to a pre-built prohibited route database;

[0011] A planned complete route is obtained according to the first route segment and the second route segment.

[0012] In one embodiment, planning a first route segment based on a plurality of intermediate points and an end point of the route to be planned includes:

[0013] Planning a first route segment using a preset route planning algorithm according to multiple intermediate points and an end point of the route to be planned;

[0014] Get the start and end points of all roads included in the first route segment, and store the start and end points of all roads in the road node list in sequence.

[0015] In one embodiment, when the starting point of the route to be planned is within the factory area, the shortest route from the starting point of the route to be planned to the first route segment is planned based on a pre-built prohibited route database to obtain the second route segment, including:

[0016] Calculate the distance from the starting point of the route to be planned to all road nodes in the road node list;

[0017] Sort the distances from smallest to largest, and extract a preset number of road nodes at the front;

[0018] The starting point of the route to be planned is used as the starting point of the second route segment, and the extracted road node is used as the end point of the second route segment. A preset number of second route segments are planned respectively, and during the planning, prohibited routes in the prohibited route database are avoided;

[0019] The route segment with the shortest distance among the preset number of second route segments is used as the planned second route segment.

[0020] In one embodiment, when the starting point of the route to be planned is not within the factory area, planning a second route segment from the starting point of the route to be planned to the starting point of the first route segment based on a pre-built prohibited route database includes:

[0021] The starting point of the route to be planned is used as the starting point of the second route segment, and the starting point of the first route segment is used as the end point of the second route segment. Route planning is performed to avoid prohibited routes in the prohibited route database to obtain a planned second route segment.

[0022] In one embodiment, after planning the first route segment according to the plurality of intermediate points and the end point of the route to be planned, the method further includes:

[0023] Build a database of prohibited routes.

[0024] In one embodiment, building a prohibited route database includes:

[0025] Determine whether the starting point and the end point of the second route segment are within the factory area;

[0026] When the starting point and the end point of the second route segment are both within the factory area, or when neither the starting point nor the end point of the second route segment is within the factory area, the distance from the starting point of the second route segment to the nearest factory gate is calculated, and the distance from the end point of the second route segment to the nearest factory gate is calculated; if the distance is less than a first preset distance threshold, the nearest factory gate is passable; if the distance is greater than or equal to the first preset distance threshold, the nearest factory gate is prohibited from passing, and other factory gates are also prohibited from passing;

[0027] The roads associated with the factory gates that are prohibited from entering are stored in the prohibited route database.

[0028] In one embodiment, when a small factory area is nested within a factory area, a prohibited route database is constructed, including:

[0029] Determine whether the starting point and the end point of the second route segment are within the small factory area;

[0030] When the starting point of the second route segment is within a small factory area, all gates of the small factory area are accessible, while gates of other small factory areas are prohibited from access;

[0031] When the end point of the second route segment is within a small factory area, all gates of the small factory area are accessible, while gates of other small factory areas are prohibited;

[0032] The roads associated with the restricted small factory gates are stored in the restricted route database.

[0033] In a second aspect, an embodiment of the present disclosure provides a route planning device, comprising:

[0034] The acquisition module is used to obtain the starting point, multiple intermediate points and the end point of the route to be planned;

[0035] A first planning module is used to plan a first route segment according to a plurality of intermediate points and an end point of the route to be planned;

[0036] The second planning module is used to determine whether the starting point of the planned route is within the factory area. If the starting point of the planned route is within the factory area, the shortest route from the starting point of the planned route to the first route segment is planned based on a pre-built prohibited route database to obtain a second route segment;

[0037] A third planning module is configured to plan a second route segment from the starting point of the route to be planned to the starting point of the first route segment based on a pre-built prohibited route database when the starting point of the route to be planned is not within the factory area;

[0038] The output module is used to obtain a planned complete route according to the first route segment and the second route segment.

[0039] In a third aspect, an embodiment of the present disclosure provides a route planning device, comprising a processor and a memory storing program instructions, wherein the processor is configured to execute the route planning method provided in the above embodiment when executing the program instructions.

[0040] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable medium having computer-readable instructions stored thereon, and the computer-readable instructions can be executed by a processor to implement a route planning method provided in the above embodiment.

[0041] The technical solutions provided by the embodiments of the present disclosure may have the following beneficial effects:

[0042] The route planning method in the nested factory scenario provided by the embodiment of the present disclosure analyzes whether the starting point and end point of the route to be planned are within the factory area, determines which road near the factory area is prohibited, and obtains the prohibited route. The prohibited route is taken into account in the route planning process, and different gates are opened and closed according to different scenarios to enable the vehicle to choose a faster and better route, thereby solving the problem of deviation caused by the influence of the factory area during the route planning process.

[0043] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0045] Figure 1 is a flowchart illustrating a route planning method according to an exemplary embodiment;

[0046] Figure 2 is a flowchart illustrating a route planning method according to an exemplary embodiment;

[0047] Figure 3 is a schematic structural diagram of a route planning device according to an exemplary embodiment;

[0048] Figure 4 is a schematic structural diagram of a route planning device according to an exemplary embodiment;

[0049] Figure 5 It is a schematic diagram of a computer storage medium according to an exemplary embodiment. DETAILED DESCRIPTION

[0050] The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them.

[0051] It should be understood that the embodiments described are only a portion of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0052] In the following description, unless otherwise indicated, identical numbers in different figures represent identical or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of systems and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0053] In the description of the present invention, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, in the description of the present invention, unless otherwise specified, "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0054] Figure 1 is a flowchart of a route planning method according to an exemplary embodiment. Figure 1 , the method specifically includes the following steps.

[0055] S101 obtains the starting point, multiple intermediate points, and the end point of the route to be planned.

[0056] In an optional embodiment, before executing step S101, it also includes compiling road data and road starting point and end point data, obtaining the coordinates of the factory gate, and storing the road linkId associated with the factory gate in the map, and then loading the stored road data and factory location data into the memory.

[0057] Furthermore, the uploaded starting point and end point of the route to be planned are obtained, and multiple intermediate points are selected between the starting point and end point of the route to be planned, for example, several key intermediate points that the route to be planned must pass through are selected. The number of intermediate points is not specifically limited in the embodiment of the present disclosure.

[0058] S102 plans a first route segment according to a plurality of intermediate points and an end point of the route to be planned.

[0059] In one embodiment, a first route segment is planned based on multiple intermediate points and an endpoint of the route to be planned using a preset route planning algorithm. Specifically, after obtaining the position coordinates of the intermediate points and the endpoint, a route planning algorithm known in the art can be used to plan the first route segment based on the position coordinates of the multiple intermediate points and the endpoint.

[0060] Furthermore, the start points and end points of all roads included in the first route segment are obtained, and the start points and end points of all roads are sequentially stored in a road node list.

[0061] In a possible implementation, after planning the first route segment based on multiple intermediate points and the end point of the route to be planned, the method further includes: constructing a prohibited route database, which stores prohibited routes, and the prohibited routes will be bypassed during the route planning process.

[0062] Specifically, building a prohibited route database includes:

[0063] First, determine whether the starting point and the end point of the second route segment are within the factory area.

[0064] When the starting point of the second route segment is within the factory area and the end point of the second route segment is not within the factory area, or the starting point of the second route segment is not within the factory area and the end point is within the factory area, all factory doors are opened by default and there is no prohibited route.

[0065] If the start and end points of the second route segment are both within the factory area, or if neither the start nor the end point of the second route segment is within the factory area, the nearest factory gate near the start and end points is found using the previously loaded factory coordinates. All other factory gates are prohibited from entering. The distance from the start point of the second route segment to the nearest factory gate is then calculated, as is the distance from the end point of the second route segment to the nearest factory gate. If the distance is less than a first preset distance threshold, for example, less than 100 meters, the nearest factory gate is permitted. If the distance is greater than or equal to the first preset distance threshold, the nearest factory gate is also prohibited from entering. The roads associated with the prohibited factory gates are stored in the prohibited route database.

[0066] Furthermore, when there are small factory areas nested within the factory area, these small factory areas may only allow specific vehicles to pass through. Therefore, a database of prohibited routes in small factory areas is constructed, including:

[0067] Traverse all small factory areas and determine whether the starting point and end point of the second route segment are within the small factory area;

[0068] When the starting point of the second route segment is within a small factory area, all gates of the small factory area are accessible, while gates of other small factory areas are prohibited.

[0069] When the end point of the second route section is within a small factory area, all gates of the small factory area are accessible, while gates of other small factory areas are prohibited.

[0070] The roads associated with the restricted small factory gates are stored in the restricted route database.

[0071] According to this step, by analyzing the positional relationship between the starting point and end point of the second route segment and the factory area, as well as the road data associated with the factory area, the prohibited route data is analyzed and obtained, and combined with the nested factory area scenario, the applicability of the path planning algorithm in a mixed multi-factory area scenario is greatly improved.

[0072] S103 determines whether the starting point of the route to be planned is within the factory area. If the starting point of the route to be planned is within the factory area, the shortest route from the starting point of the route to be planned to the first route segment is planned based on a pre-built prohibited route database to obtain the second route segment.

[0073] In one embodiment, after obtaining the first route segment from the middle point to the end point, the method further includes planning a second route segment from the start point to the middle point.

[0074] Specifically, based on the starting point of the route to be planned and the coordinates of the factory location, determine whether the starting point of the route to be planned is within the factory. When the starting point of the route to be planned is within the factory, calculate the distance from the starting point of the route to be planned to all road nodes in the road node list in turn, and find the point closest to the starting point of the route to be planned to the first route segment. Because there may be two-way roads, considering the situation where the distance is only the shortest but a detour is required, the distances are sorted from small to large, and a preset number of road nodes in the front are extracted, for example, 5 road nodes with a closer distance are extracted.

[0075] Furthermore, the starting point of the route to be planned is used as the starting point of the second route segment, and the extracted road node is used as the end point of the second route segment. A preset number of second route segments are planned respectively. When planning, the prohibited routes in the pre-built prohibited route database are avoided.

[0076] Finally, the route segment with the shortest distance among the preset number of planned second route segments is used as the planned second route segment.

[0077] According to this step, when planning the second route segment, the prohibited routes are fully considered, solving the problem of route planning deviation in the factory scenario.

[0078] S104: When the starting point of the route to be planned is not within the factory area, a second route segment from the starting point of the route to be planned to the starting point of the first route segment is planned according to a pre-built prohibited route database.

[0079] Furthermore, when the starting point of the route to be planned is not within the factory area, a second route segment from the starting point of the route to be planned to the starting point of the first route segment is planned based on a pre-built prohibited route database, including:

[0080] The starting point of the route to be planned is used as the starting point of the second route segment, and the starting point of the first route segment is used as the end point of the second route segment. The path planning algorithm in the existing technology is used to plan the route, avoiding the prohibited routes in the pre-built prohibited route database, and obtaining the planned second route segment.

[0081] According to this step, when planning the second route segment, the prohibited routes are fully considered, solving the problem of route planning deviation in the factory scenario.

[0082] S105 obtains a planned complete route according to the first route segment and the second route segment.

[0083] In one embodiment, when the starting point of the planned route is outside the factory, the endpoint of the second route segment is the starting point of the first route segment, and the final planned complete route is the second route segment plus the first route segment. When the starting point of the planned route is inside the factory, the endpoint of the second route segment may be on the first route segment, which is the node on the first route segment closest to the starting point of the planned route. The final planned complete route is the second route segment plus the remaining route of the first route segment.

[0084] According to this step, a planned complete route can be obtained, and the planned complete route can be output to the vehicle navigation system.

[0085] In order to facilitate understanding of the route planning method provided in the embodiment of the present application, Figure 2 For explanation. Figure 2 As shown, the method includes the following steps:

[0086] First, load the data into memory, including compiling road data and road starting and ending point data, obtaining the coordinates of the factory gate, and storing the road linkId associated with the factory gate in the map. Then, load the stored road data and factory location data into memory.

[0087] Then, the starting point and end point of the route to be planned are obtained, and multiple intermediate points are set between the starting point and the end point. Based on the multiple intermediate points and the end point, a path planning algorithm in the prior art is used to plan a bound route.

[0088] Furthermore, it is determined whether the starting point of the route to be planned is within the factory area. If it is within the factory area, the road nodes of the bound route are stored in the node list, and the distances from the starting point of the route to be planned to the road nodes of the bound route are calculated in sequence. The five closest road nodes are selected, and then the path planning distances from the starting point of the route to be planned to the five nodes closest to the bound route are calculated in sequence. The node closest to the path planning distance is used as the starting point of the bound route.

[0089] If the starting point of the planned route is not within the factory area, the planned bound route is the complete route from the uploaded multiple intermediate points to the end point. The starting point of the bound route is the first intermediate point.

[0090] Furthermore, a route from the starting point to the starting point of the bound route is planned, and prohibited routes in the factory area are taken into consideration. Specifically, obtaining prohibited routes in the factory area includes: determining whether the starting point of the route to be planned and the starting point of the bound route are within the factory area. When the starting point of the route to be planned and the starting point of the bound route are both within the factory area, or when neither of them is within the factory area, traversing to find the factory gate closest to the starting point of the route to be planned and the starting point of the bound route, and determining whether the distance is less than 100 meters. If so, open this gate, close other factory gates, and store the roads associated with the prohibited factory gate in the prohibited route database. If not, close all factory gates and store the roads associated with the prohibited factory gate in the prohibited route database.

[0091] Furthermore, if there are nested factory areas, the starting point of the planned route and the starting point of the bound route are checked to see if they are in a small factory area. If the starting point of the planned route or the starting point of the bound route are in a small factory area, all doors in the small factory area at the current point are opened, the doors of other small factory areas are banned, and the roads associated with the banned small factory area doors are stored in the banned route database. If the starting point of the bound route is not in a small factory area, determine whether the nearest door to the starting point of the bound route is within 50 meters. If so, the nearest small factory area door is allowed to pass, and the other small factory area doors are banned. If not, all small factory area doors are banned. According to this step, all banned routes can be obtained.

[0092] Furthermore, the obtained prohibited routes are input, and the route from the starting point to the starting point of the bound route is planned according to the path planning algorithm. During the planning, all prohibited routes are avoided.

[0093] Finally, the planned complete route is returned. The complete route includes the bound route planned in the first step and the route from the starting point to the starting point of the bound route planned in the second step.

[0094] According to the route planning method of this embodiment, by analyzing whether the starting point and end point of the route to be planned are within the factory area, it is determined which roads near the factory area are prohibited, and a prohibited route is obtained. The prohibited route is taken into consideration during the route planning process, and different gates are opened and closed according to different scenarios to enable the vehicle to choose a faster and better route, thereby solving the problem of deviation caused by the influence of the factory area during the route planning process.

[0095] The present disclosure also provides a route planning device, which is used to execute the route planning method of the above embodiment. Figure 3 As shown, the device includes:

[0096] The acquisition module 301 is used to obtain the starting point, multiple intermediate points and the end point of the route to be planned;

[0097] A first planning module 302 is configured to plan a first route segment based on a plurality of intermediate points and an end point of the route to be planned;

[0098] The second planning module 303 is configured to determine whether the starting point of the route to be planned is within the factory area. If the starting point of the route to be planned is within the factory area, the shortest route from the starting point of the route to be planned to the first route segment is planned based on a pre-built prohibited route database to obtain a second route segment.

[0099] The third planning module 304 is configured to plan a second route segment from the starting point of the route to be planned to the starting point of the first route segment based on a pre-built prohibited route database when the starting point of the route to be planned is not within the factory area;

[0100] The output module 305 is configured to obtain a planned complete route according to the first route segment and the second route segment.

[0101] It should be noted that the route planning device provided in the above embodiment, when executing the route planning method, is merely illustrated by the division of the aforementioned functional modules. In actual applications, the aforementioned functions can be assigned to different functional modules as needed, i.e., the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. Furthermore, the route planning device provided in the above embodiment and the route planning method embodiment are based on the same concept. The implementation process is detailed in the method embodiment and will not be repeated here.

[0102] The embodiments of the present disclosure further provide an electronic device corresponding to the route planning method provided in the aforementioned embodiments, so as to execute the aforementioned route planning method.

[0103] Please refer to Figure 4 , which shows a schematic diagram of an electronic device provided by some embodiments of the present application. Figure 4 As shown, the electronic device includes: a processor 400, a memory 401, a bus 402 and a communication interface 403, and the processor 400, the communication interface 403 and the memory 401 are connected via the bus 402; the memory 401 stores a computer program that can be run on the processor 400, and when the processor 400 runs the computer program, it executes the route planning method provided in any of the aforementioned embodiments of the present application.

[0104] Memory 401 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage. Communication between the system network element and at least one other network element is achieved through at least one communication interface 403 (which may be wired or wireless), and may use the Internet, a wide area network, a local area network, a metropolitan area network, etc.

[0105] Bus 402 may be an ISA bus, a PCI bus, or an EISA bus. Buses may be classified as address buses, data buses, and control buses. Memory 401 is used to store programs, and processor 400 executes the programs upon receiving execution instructions. The route planning method disclosed in any of the aforementioned embodiments of the present application may be applied to or implemented by processor 400.

[0106] The processor 400 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in the processor 400 or by software instructions. The above processor 400 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of this application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory 401 , and the processor 400 reads the information in the memory 401 and completes the steps of the above method in combination with its hardware.

[0107] The electronic device provided in the embodiment of the present application and the route planning method provided in the embodiment of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, operated or implemented by them.

[0108] The present application also provides a computer-readable storage medium corresponding to the route planning method provided in the above embodiment. Figure 5The computer-readable storage medium shown is a CD 500 on which a computer program (ie, a program product) is stored. When the computer program is run by a processor, it executes the route planning method provided by any of the aforementioned embodiments.

[0109] It should be noted that examples of computer-readable storage media may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0110] The computer-readable storage medium provided in the above-mentioned embodiments of the present application and the route planning method provided in the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0111] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0112] The above embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A route planning method, characterized in that: include: Get the starting point, multiple intermediate points and the end point of the route to be planned; Planning a first route segment according to the plurality of intermediate points and an end point of the route to be planned; Planning a first route segment using a preset route planning algorithm based on the multiple intermediate points and the end point of the route to be planned; obtaining the start points and end points of all roads included in the first route segment, and sequentially storing the start points and end points of all roads in a road node list; Determine whether the starting point of the route to be planned is within the factory area. If the starting point of the route to be planned is within the factory area, calculate the distance from the starting point of the route to be planned to all road nodes in the road node list; Sort the distances from smallest to largest, and extract a preset number of road nodes at the top; Taking the starting point of the route to be planned as the starting point of the second route segment and the extracted road node as the end point of the second route segment, respectively planning a preset number of second route segments, and avoiding prohibited routes in the prohibited route database during planning; Using the shortest route segment among the preset number of second route segments as the planned second route segment; When the starting point of the route to be planned is not within the factory area, the starting point of the route to be planned is used as the starting point of the second route segment, and the starting point of the first route segment is used as the end point of the second route segment, and route planning is performed to avoid the prohibited routes in the prohibited route database to obtain a planned second route segment; The method of constructing a prohibited route database includes determining whether the starting point and the end point of the second route segment are within the factory area; when both the starting point and the end point of the second route segment are within the factory area, or when neither the starting point nor the end point of the second route segment is within the factory area, calculating the distance from the starting point of the second route segment to the nearest factory gate, and calculating the distance from the end point of the second route segment to the nearest factory gate; if the distance is less than a first preset distance threshold, the nearest factory gate is accessible; if the distance is greater than or equal to the first preset distance threshold, the nearest factory gate is prohibited, and other factory gates are also prohibited; and storing roads associated with the prohibited factory gates in the prohibited route database; When a small factory area is nested within the factory area, a prohibited route database is constructed, including: determining whether the starting point and the end point of the second route segment are within the small factory area; when the starting point of the second route segment is within the small factory area, all doors of the small factory area are accessible, and the doors of other small factory areas are prohibited; when the end point of the second route segment is within the small factory area, all doors of the small factory area are accessible, and the doors of other small factory areas are prohibited; and storing roads associated with the prohibited small factory area doors in the prohibited route database; A planned complete route is obtained according to the first route segment and the second route segment.

2. A route planning device, characterized in that: include: The acquisition module is used to obtain the starting point, multiple intermediate points and the end point of the route to be planned; A first planning module is configured to plan a first route segment according to a plurality of intermediate points and an end point of the route to be planned; Planning a first route segment using a preset route planning algorithm based on the multiple intermediate points and the end point of the route to be planned; obtaining the start points and end points of all roads included in the first route segment, and sequentially storing the start points and end points of all roads in a road node list; A second planning module is configured to determine whether the starting point of the route to be planned is within the factory area, and when the starting point of the route to be planned is within the factory area, calculate the distance from the starting point of the route to be planned to all road nodes in the road node list; Sort the distances from smallest to largest, and extract a preset number of road nodes at the top; Taking the starting point of the route to be planned as the starting point of the second route segment and the extracted road node as the end point of the second route segment, respectively planning a preset number of second route segments, and avoiding prohibited routes in the prohibited route database during planning; Using the shortest route segment among the preset number of second route segments as the planned second route segment; a third planning module configured to, when the starting point of the route to be planned is not within the factory area, use the starting point of the route to be planned as the starting point of the second route segment and the starting point of the first route segment as the end point of the second route segment, perform route planning, avoid prohibited routes in the prohibited route database, and obtain a planned second route segment; The method of constructing a prohibited route database includes determining whether the starting point and the end point of the second route segment are within the factory area; when both the starting point and the end point of the second route segment are within the factory area, or when neither the starting point nor the end point of the second route segment is within the factory area, calculating the distance from the starting point of the second route segment to the nearest factory gate, and calculating the distance from the end point of the second route segment to the nearest factory gate; if the distance is less than a first preset distance threshold, the nearest factory gate is accessible; if the distance is greater than or equal to the first preset distance threshold, the nearest factory gate is prohibited, and other factory gates are also prohibited; and storing roads associated with the prohibited factory gates in the prohibited route database; When a small factory area is nested within the factory area, a prohibited route database is constructed, including: determining whether the starting point and the end point of the second route segment are within the small factory area; when the starting point of the second route segment is within the small factory area, all doors of the small factory area are accessible, and the doors of other small factory areas are prohibited; when the end point of the second route segment is within the small factory area, all doors of the small factory area are accessible, and the doors of other small factory areas are prohibited; and storing roads associated with the prohibited small factory area doors in the prohibited route database; An output module is used to obtain a planned complete route based on the first route segment and the second route segment.

3. A route planning device, characterized in that: The system comprises a processor and a memory storing program instructions, wherein the processor is configured to execute the route planning method according to claim 1 when executing the program instructions.

4. A computer-readable medium, characterized in that Computer-readable instructions are stored thereon, and the computer-readable instructions can be executed by a processor to implement a route planning method as claimed in claim 1.

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