Path planning method, path planning device, and computer-readable storage medium

Abstract

The application provides a path planning method, a path planning device and a computer readable storage medium. The path planning method comprises: running according to a current planning path segment; acquiring a next planning path segment and other planning path segments of other mobile robots; judging whether a predicted path of the other mobile robots conflicts with the next planning path segment based on the next planning path segment and the other planning path segments; if so, adjusting the next planning path segment according to a conflict situation, and running according to the adjusted next planning path segment. In this way, the path planning method adds an additional safety detection of a predicted path segment to normal safety detection, so that path conflicts or deadlock loops between mobile robots can be detected earlier, and path splicing is performed at a suitable position of an original path, so that early avoidance without stopping is realized, and the overall operation efficiency and smoothness of the system are higher.

Description

Technical Field

[0001] This application relates to the field of automation technology, and in particular to a path planning method, a path planning device, and a computer-readable storage medium. Background Technology

[0002] Automated Guided Vehicles (AGVs) are key equipment in intelligent logistics and warehousing systems. They function as material handling robots, significantly reducing labor costs and improving work efficiency. While AGVs move along predetermined guide paths, multiple AGVs may exist within the same work area, potentially causing their paths to conflict and creating a deadlock, preventing further movement. In such cases, some AGVs need to maneuver to avoid the conflict.

[0003] Currently, before selecting a yielding point, both vehicles need to stop simultaneously to filter the yielding point, and then one vehicle can proceed first. This method inevitably causes pauses in the equipment during the yielding process, affecting the overall efficiency and smoothness of the system. Summary of the Invention

[0004] This application provides a path planning method, a path planning apparatus, and a computer-readable storage medium.

[0005] This application provides a path planning method applied to a mobile robot, the path planning method comprising:

[0006] Operate according to the currently planned route segment;

[0007] Obtain the next planned path segment, as well as other planned path segments for other mobile robots;

[0008] Based on the next planned path segment and the other planned path segments, determine whether there is a conflict with the predicted path of the other mobile robots;

[0009] If so, adjust the next planned path segment according to the conflict situation, and run according to the adjusted next planned path segment.

[0010] The conflict scenarios include the predicted time and location of the conflict;

[0011] The adjustment of the next planned path segment according to the conflict situation includes:

[0012] Adjust the running speed in the next planned path segment according to the predicted time and location of the conflict.

[0013] The adjustment of the next planned path segment according to the conflict situation includes:

[0014] According to the conflict situation, obtain the judgment results of the other mobile robots regarding path conflicts;

[0015] Based on the conflict situation and the judgment result, determine whether the next planned path segment and the other planned path segments form a deadlock;

[0016] If so, select avoidance points on the map and calculate the new next planned path based on the avoidance points.

[0017] The step of selecting avoidance points on the map includes:

[0018] Based on the device capability values, a set of selectable points is filtered out from the map;

[0019] Points marked as immovable and occupied by devices are excluded from the set of available points, and / or points on other planned path segments and points covered by the outlines of devices during the operation of other mobile robots.

[0020] Avoidance points are selected from the remaining points in the available point set.

[0021] The step of filtering the available point set in the map based on device capability values ​​includes:

[0022] Based on the device capability values, a first set of selectable points is selected from the map;

[0023] Obtain the deadlock duration between the next planned path segment and the other planned path segments;

[0024] A second set of optional points is selected from the first set of optional points based on the deadlock duration.

[0025] The step of selecting avoidance points from the remaining points in the selectable point set includes:

[0026] Calculate the additional path length added by using all remaining points in the selectable point set as avoidance points;

[0027] The point with the shortest path length is selected as the avoidance point.

[0028] The step of selecting the point with the shortest path length as the avoidance point includes:

[0029] Sort all remaining points in the selectable point set in ascending order of path length;

[0030] The point at the top of the sorted list is taken as the first avoidance point;

[0031] Obtain the first planned path segment from the end point of the current planned path segment to the first avoidance point;

[0032] Obtain the second planned path segment from the first avoidance point to the terminal of the next planned path segment;

[0033] The first planned path segment and the second planned path segment are combined to form the new next planned path segment;

[0034] Detect whether the new next planned path segment forms a deadlock with the other planned path segments;

[0035] If not, then the first avoidance point is determined as the target avoidance point;

[0036] If so, select the next sorted point as the second avoidance point and replan the path.

[0037] This application also provides another path planning method, which is applied to a path planning system, wherein the path planning system includes a control platform, a first mobile robot, and a second mobile robot; the path planning method includes:

[0038] The control platform sets a first planned path segment based on the first mobile robot and a second planned path segment based on the second mobile robot.

[0039] The control platform determines whether the first mobile robot and the second mobile robot conflict based on the first planned path segment and the second planned path segment.

[0040] If so, the control platform adjusts the first planned path segment according to the conflict situation and sets the third planned path segment for the first mobile robot;

[0041] The control platform sends the third planned path segment to the first mobile robot and the second planned path segment to the second mobile robot;

[0042] The first mobile robot operates according to the third planned path segment;

[0043] The second mobile robot operates according to the second planned path segment.

[0044] This application also provides a path planning apparatus, which includes a processor and a memory, wherein the memory stores program data, and the processor executes the program data to implement the path planning method described above.

[0045] This application also provides a computer-readable storage medium for storing program data, which, when executed by a processor, is used to implement the path planning method described above.

[0046] The beneficial effects of this application are: the path planning device operates according to the currently planned path segment; it obtains the next planned path segment, as well as other planned path segments of other mobile robots; based on the next planned path segment and the other planned path segments, it determines whether there is a conflict with the predicted paths of the other mobile robots; if so, it adjusts the next planned path segment according to the conflict situation and operates according to the adjusted next planned path segment. Through the above method, the path planning method adds an additional safety detection of the predicted path segment to the normal safety detection, enabling mobile robots to detect path conflicts or deadlock loops earlier, and simultaneously select appropriate positions on the original path for path splicing, thereby achieving non-stop early avoidance, resulting in higher overall system operating efficiency and smoothness. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0048] Figure 1 This is a flowchart illustrating an embodiment of the path planning method provided in this application;

[0049] Figure 2 yes Figure 1 The diagram shows a detailed flowchart of the path planning method.

[0050] Figure 3 This is a flowchart illustrating another embodiment of the path planning method provided in this application;

[0051] Figure 4 This is a flowchart illustrating another embodiment of the path planning method provided in this application;

[0052] Figure 5 yes Figure 4 The diagram shows a detailed flowchart of the path planning method.

[0053] Figure 6 This is a flowchart illustrating another embodiment of the path planning method provided in this application;

[0054] Figure 7 This is a schematic diagram of the structure of an embodiment of the path planning device provided in this application.

[0055] Figure 8 This is a schematic diagram of an embodiment of the computer-readable storage medium provided in this application. Detailed Implementation

[0056] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0057] The following is an explanation of the technical terms used in this application:

[0058] Topological map: An abstract map that maintains the correct relative positional relationships between points and lines, but not necessarily the correct shape, area, distance, and orientation.

[0059] Path planning: In an environment with obstacles, find a collision-free path from the initial state to the target state according to certain criteria.

[0060] Deadlock: A state in which multiple devices cannot move due to conflicting paths.

[0061] Please see Figure 1 and Figure 2 , Figure 1 This is a flowchart illustrating an embodiment of the path planning method provided in this application. Figure 2 yes Figure 1 The diagram shows the specific process flow of the path planning method.

[0062] This application's embodiments predict mobile robot paths in advance, selecting avoidance points before multiple mobile robots stop and directly stitching together paths. This allows multiple mobile robots to avoid each other in advance without additional stops, resulting in higher efficiency and smoother operation. Furthermore, reserving more space facilitates the selection of better avoidance points.

[0063] The path planning method of this application is applied to a path planning device, which can be a server or a system consisting of a server and terminal devices working together. Accordingly, the various parts of the path planning device, such as units, sub-units, modules, and sub-modules, can be all located in the server, or they can be located separately in the server and terminal devices.

[0064] Furthermore, the aforementioned server can be either hardware or software. When the server is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or as a single server. When the server is software, it can be implemented as multiple software programs or software modules, such as software or software modules used to provide distributed servers, or as a single software program or software module; no specific limitation is made here. In some possible implementations, the path planning method of this application embodiment can be implemented by the processor calling computer-readable instructions stored in memory.

[0065] In the embodiments of this application, the path planning device can be a mobile robot or a processing unit in a mobile robot, etc. The following description uses a mobile robot as the execution subject of the path planning method.

[0066] Specifically, such as Figure 1 As shown, the path planning method in this embodiment of the application specifically includes the following steps:

[0067] Step S11: Run according to the currently planned path segment.

[0068] In this embodiment of the application, the mobile robot runs on the topology map according to the currently planned path segment.

[0069] In other embodiments, the mobile robot may also be in an initialization state, i.e., not yet in operation.

[0070] Step S12: Obtain the next planned path segment, as well as other planned path segments for other mobile robots.

[0071] In the embodiments of this application, such as Figure 2 As shown, the mobile robot receives the next running task from the system. It should be noted that when the mobile robot receives the next running task from the system, it is still in the process of running the currently planned path segment; therefore, it will not stop running and wait for the next path segment to be issued.

[0072] Specifically, after receiving the next task, the mobile robot plans a path, i.e., the next planned path segment, based on its updated status and location information. The mobile robot can also obtain other planned path segments from other mobile robots on the same topology map via a local area network or other communication methods.

[0073] It should be noted that the next planned path segment and other planned path segments are all predicted path segments, and the mobile robot is still in the process of running the current planned path segment.

[0074] Step S13: Determine whether there is a conflict between the predicted paths of other mobile robots based on the next planned path segment and other planned path segments.

[0075] In this embodiment of the application, the mobile robot determines whether its predicted path conflicts with the predicted paths of other mobile robots based on its own next planned path segment and the planned path segments of other mobile robots.

[0076] Specifically, the logic for determining whether a predicted path conflicts with another mobile robot is as follows: the mobile robot checks whether other mobile robots appear in its next planned path segment, and whether the points covered by its own outline on the topology map overlap with the points covered by the outlines of other mobile robots on the topology map. If the above logic is met, it can be confirmed that the predicted path of the mobile robot conflicts with the predicted path of other mobile robots.

[0077] When the mobile robot confirms a path conflict, it obtains the specific details of the conflict, such as the location, time, and duration of the conflict, and then proceeds to step S14.

[0078] Step S14: Adjust the next planned path segment according to the conflict situation, and run according to the adjusted next planned path segment.

[0079] In this embodiment of the application, after determining the specific conflict situation, the mobile robot can adjust the predicted next planned path segment according to the conflict situation.

[0080] For example, a mobile robot can decide whether to slow down or stop based on the specific time and location of a potential conflict, waiting for the path conflict to resolve before resuming its original operating speed. If slowing down, the robot will reduce its planned speed before reaching the predicted conflict location, and then increase it to the original planned speed after the conflict is resolved. If stopping, the robot will pause its operation between reaching the predicted conflict location and resuming operation after the conflict is resolved.

[0081] In this embodiment, the path planning device operates according to the currently planned path segment; it obtains the next planned path segment and other planned path segments of other mobile robots; based on the next planned path segment and the other planned path segments, it determines whether there is a conflict with the predicted paths of the other mobile robots; if so, it adjusts the next planned path segment according to the conflict situation and operates according to the adjusted next planned path segment. Through this method, the path planning method adds an additional safety detection of the predicted path segment to the normal safety detection, enabling mobile robots to detect path conflicts or deadlock loops earlier, and simultaneously select appropriate positions on the original path for path splicing, thereby achieving non-stop early avoidance and improving the overall operating efficiency and smoothness of the system.

[0082] Please continue reading. Figure 3 , Figure 3 This is a flowchart illustrating another embodiment of the path planning method provided in this application.

[0083] like Figure 3 As shown, in Figure 1 Following the path planning method shown, the path planning method in this embodiment further includes the following steps:

[0084] Step S15: Obtain the path conflict judgment results from other mobile robots according to the conflict situation.

[0085] In this embodiment of the application, after the mobile robot detects a path conflict, it further detects whether a deadlock will occur based on the conflict information.

[0086] Specifically, path conflict refers to the impact on a single mobile robot, while deadlock is a situation that prevents multiple mobile robots from functioning properly. Therefore, after a mobile robot confirms that it has experienced a path conflict, it needs to check whether other mobile robots are experiencing path conflicts.

[0087] Step S16: Based on the conflict situation and the judgment result, determine whether the next planned path segment and other planned path segments form a deadlock.

[0088] In this embodiment, if other mobile robots also experience path conflicts at the same time and location, the mobile robot can determine that a deadlock is likely to occur among multiple mobile robots, including itself. At this point, proceed to step S17.

[0089] Specifically, the mobile robot predicts deadlock loops in advance based on the safety detection of the predicted path segments. The safety detection primarily confirms that the predicted path segments will not conflict with the predicted path segments of other mobile robots, thus preventing collisions. This embodiment adds a longer prediction portion to the safety detection, and performs separate logical processing on this added prediction portion, ensuring it is only used to record necessary deadlock information without affecting the normal detection process. The condition for determining a deadlock is that the predicted path segments of both mobile robots detect the other mobile robot, meaning both mobile robots detect a path conflict.

[0090] Step S17: Select avoidance points on the map and calculate the new next planned path based on the avoidance points.

[0091] In this embodiment of the application, if the mobile robot predicts that a deadlock will occur, a suitable avoidance point is selected in the topology map based on the predicted path segment of the mobile robot and the topology map information. At the same time, a new predicted path segment is formed using the selected avoidance point and is stitched together with the current path segment in operation to improve the operating efficiency and smoothness of the mobile robot.

[0092] Specifically, when initializing the topology map, the mobile robot can initially select map points that meet certain conditions as preliminary avoidance points. The selection rule for these preliminary avoidance points is: all map points on the map that are allowed to be avoided. For example, depending on different business needs, many special locations on the map cannot be used as avoidance points. The mobile robot can pre-exclude some special locations based on its configuration, such as workbenches, charging areas, and queuing areas.

[0093] In one embodiment, the mobile robot can filter a set of available points from the initial avoidance points on the map based on its device capabilities. For example, when filtering the set of available points, the mobile robot needs to consider its current device capabilities, such as remaining battery power, turning angle, and rotation direction, so that the resulting set of available points consists of map points that can operate normally and reach the final destination.

[0094] Then, the mobile robot obtains the deadlock duration of the deadlock loop formed with other mobile robots, and excludes some points from the set of available points based on the deadlock duration. The execution logic is: the longer the deadlock duration, the farther away the possible avoidance point that the mobile robot needs to select is from the deadlock position, in order to ensure that the avoidance point can help the mobile robot completely get out of the deadlock loop.

[0095] Finally, the mobile robot further excludes points occupied by devices marked as immovable or in other special states from the set of available points, as well as points on other planned path segments and points covered by the outlines of other devices in operation, and selects suitable avoidance points from the remaining points in the set of available points. Among them, immovable or other special states of devices include, but are not limited to: malfunctioning vehicles, charging vehicles, offline vehicles, etc.

[0096] In another embodiment, the mobile robot can also screen avoidance points according to certain rules, the screening criteria being:

[0097] a) Exclude points occupied by devices in special states in the system, such as faulty vehicles, charging vehicles, offline vehicles, etc.

[0098] b) Exclude points on other equipment paths and points contained within the equipment's travel outline.

[0099] c) Exclude points whose distance exceeds a certain threshold. This threshold can be gradually increased based on the duration of the deadlock loop, thereby controlling the unlocking process time in most cases. Furthermore, in special scenarios where no point can be found in a short time, it ensures that all points are considered and no possible points are overlooked.

[0100] d) Exclude locations that are inaccessible after considering equipment capacity values.

[0101] After filtering the avoidance points according to the above embodiments and rules, the mobile robot sorts the filtered avoidance points. The basic principle of sorting is to sort the points based on the additional distance traveled by the mobile robot to avoid them.

[0102] Specifically, the additional distance traveled due to obstacle avoidance equals the distance from the device to the obstacle avoidance point plus the distance from the obstacle avoidance point to the task endpoint, minus the current path length of the device. Furthermore, depending on the type of device and the specific scenario, additional costs are considered for device rotation, curvature, and special road sections, and these costs are added to the distance traveled.

[0103] Ultimately, the mobile robot uses the map point with the shortest additional distance as an avoidance point to replan its path and break the deadlock.

[0104] For specific instructions on rerouting paths and resolving deadlocks, please refer to [link / reference needed]. Figure 4 and Figure 5 , Figure 4 This is a flowchart illustrating another embodiment of the path planning method provided in this application. Figure 5 yes Figure 4 The diagram shows the specific process flow of the path planning method.

[0105] This application embodiment predicts the path that the mobile robot will subsequently travel, detects deadlocks in advance based on the conflict situation of the predicted path segment, and then the algorithm autonomously selects a temporary avoidance point based on map characteristics, and plans a path from the current point to the avoidance point and then to the task endpoint in advance, so that other devices can continue to pass without unnecessary waiting, thereby resolving the deadlock.

[0106] Specifically, the path planning method provided in this application includes the following steps:

[0107] Step S21: Sort all remaining points in the selectable point set according to path length from shortest to longest.

[0108] In this embodiment of the application, the mobile robot sorts the remaining map points after filtering the available point set from shortest to longest according to the calculated additional distance to avoid obstacles.

[0109] Step S22: Select the first point in the sorted list as the first avoidance point.

[0110] In this embodiment of the application, the mobile robot uses the map point with the shortest additional distance to avoid as the first avoidance point.

[0111] Step S23: Obtain the first planned path segment from the end point of the current planned path segment to the first avoidance point.

[0112] In this embodiment, the mobile robot starts from the avoidance point and plans a path to the task endpoint, i.e., the first planned path segment. This ensures that there is a path from the avoidance point to the task endpoint. Each time, the first point in the sorted candidate avoidance point queue is selected as the avoidance point.

[0113] Step S24: Obtain the second planned path segment from the first avoidance point to the terminal of the next planned path segment.

[0114] In this embodiment of the application, the mobile robot then uses the end point of the segment path that the device is currently executing as the planning starting point to plan a path to the avoidance point, which is the second planned path segment.

[0115] Step S25: Combine the first planned path segment and the second planned path segment into a new next planned path segment.

[0116] In this embodiment of the application, the mobile robot splices together the original path based on the overlap of the new and old path points and the execution status of the current segment of the path of the device to obtain a complete path.

[0117] Step S26: Detect whether the new next planned path segment forms a deadlock with other planned path segments.

[0118] In the embodiment of the application, the mobile robot performs a safety check on the path to the avoidance point to ensure that the device can reach the avoidance point without path conflict or deadlock. If the detection is unsafe, i.e. a deadlock occurs, then proceed to step S28; if the detection is safe, i.e. no new deadlock occurs, then proceed to step S27.

[0119] Step S27: The first avoidance point is then determined as the target avoidance point.

[0120] Step S28: Select the next sorted point as the second avoidance point and replan the path.

[0121] In the application embodiment, the mobile robot removes the first avoidance point from the candidate queue and selects the next sorted map point as the second avoidance point, and repeats the above steps S23 to S26 until an avoidance point that meets the safety detection is selected.

[0122] In another embodiment, when the number of re-executions exceeds a certain threshold, the mobile robot terminates the replanning of the predicted path segment and waits for the next frame to continue selection, which can effectively prevent interface timeout.

[0123] In this embodiment, the mobile robot incorporates additional predictive path safety detection during normal safety checks, enabling devices to detect deadlock loops earlier. Simultaneously, it selects appropriate locations on the original path for path splicing, achieving non-stop early avoidance and improving the overall system efficiency and smoothness. The avoidance point sorting is no longer solely based on the distance from the device to the avoidance point; it considers the additional distance traveled by the device relative to the original path and takes into account the cost of efficiency when the device executes arcs and rotations. This makes the sorted avoidance points more reasonable, with less detours. Furthermore, due to consistent benchmarks, different devices can be comprehensively sorted based on this distance cost. The selection of avoidance points considers not only the path points of other devices but also the size and outline of the device, making the selection of avoidance points more reasonable and reducing the likelihood of secondary detours.

[0124] Please continue reading. Figure 6 , Figure 6 This is a flowchart illustrating another embodiment of the path planning method provided in this application.

[0125] The path planning method of this application embodiment is applied to a path planning system, wherein the path planning system includes a control platform, a first mobile robot, and a second mobile robot.

[0126] like Figure 6 As shown, the path planning method provided in this application specifically includes the following steps:

[0127] Step S31: The control platform sets a first planned path segment based on the first mobile robot and a second planned path segment based on the second mobile robot.

[0128] Step S32: The control platform determines whether the first mobile robot and the second mobile robot conflict based on the first planned path segment and the second planned path segment.

[0129] Step S33: The control platform adjusts the first planned path segment according to the conflict situation and sets the third planned path segment for the first mobile robot.

[0130] Step S34: The control platform sends the third planned path segment to the first mobile robot and the second planned path segment to the second mobile robot.

[0131] Step S35: The first mobile robot runs according to the third planned path segment.

[0132] Step S36: The second mobile robot runs according to the second planned path segment.

[0133] like Figure 2 As shown, the control platform issues tasks to the first and second mobile robots, and the device information of the first and second mobile robots is updated. Based on the updated device status and location information, the control platform uses an algorithm to plan the first planned path segment for the first mobile robot and the second planned path segment for the second mobile robot, and issues these tasks in segments according to certain rules.

[0134] Each time a path segment is distributed, its safety needs to be checked. If safe, the path is distributed successfully. If a path conflict is detected, the system checks whether a deadlock will occur based on the conflict information. If no deadlock occurs, the device slows down or stops, waiting for the conflict to be resolved. If a deadlock is predicted, a suitable avoidance point is found based on the device's path and map information, and the distributed path segments are then spliced ​​together.

[0135] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0136] To implement the path planning method of the above embodiments, this application also proposes another path planning apparatus, please refer to [link / reference needed]. Figure 7 , Figure 7 This is a schematic diagram of another embodiment of the path planning device provided in this application.

[0137] The path planning device 400 of this application embodiment includes a memory 41 and a processor 42, wherein the memory 41 and the processor 42 are coupled together.

[0138] The memory 41 is used to store program data, and the processor 42 is used to execute the program data to implement the path planning method described in the above embodiments.

[0139] In this embodiment, processor 42 can also be referred to as a CPU (Central Processing Unit). Processor 42 may be an integrated circuit chip with signal processing capabilities. Processor 42 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor, or processor 42 can be any conventional processor.

[0140] To implement the path planning method of the above embodiments, this application also provides a computer-readable storage medium, such as... Figure 8 As shown, the computer-readable storage medium 500 is used to store program data 51, which, when executed by the processor, is used to implement the path planning method as described in the above embodiments.

[0141] This application also provides a computer program product, wherein the computer program product includes a computer program operable to cause a computer to perform the path planning method as described in the embodiments of this application. The computer program product may be a software installation package.

[0142] The path planning method described in the above embodiments of this application, when implemented as a software functional unit and sold or used as an independent product, can be stored in a device, such as a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0143] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A path planning method, characterized in that, The path planning method is applied to a mobile robot, and the path planning method includes: Operate according to the currently planned route segment; The system obtains the next planned path segment and other planned path segments of other mobile robots according to the next running task issued by the system; wherein, the next planned path segment and other planned path segments are predicted path segments, and the mobile robot is still in the process of running the current planned path segment; Based on the next planned path segment and the other planned path segments, determine whether there is a conflict with the predicted path of the other mobile robots; If so, adjust the next planned path segment according to the conflict situation, and run according to the adjusted next planned path segment; The adjustment of the next planned path segment according to the conflict situation includes: According to the conflict situation, obtain the judgment results of the other mobile robots regarding path conflicts; Based on the conflict situation and the judgment result, it is determined whether the next planned path segment and the other planned path segments form a deadlock; wherein, the condition for determining that a deadlock has formed is that the predicted path segments of the mobile robots have both detected the other mobile robot, that is, both mobile robots have detected a path conflict. If so, select avoidance points on the map and calculate the new next planned path based on the avoidance points.

2. The path planning method according to claim 1, characterized in that, The conflict scenario includes predictions of the time and location of the conflict; The adjustment of the next planned path segment according to the conflict situation includes: Adjust the running speed in the next planned path segment according to the predicted time and location of the conflict.

3. The path planning method according to claim 1, characterized in that, The process of selecting avoidance points on the map includes: Based on the device capability values, a set of selectable points is filtered out from the map; Points marked as immovable and occupied by devices are excluded from the set of available points, and / or points on other planned path segments and points covered by the outlines of devices during the operation of other mobile robots. Avoidance points are selected from the remaining points in the available point set.

4. The path planning method according to claim 3, characterized in that, The process of filtering the available point set in the map based on device capability values ​​includes: Based on the device capability values, a first set of selectable points is selected from the map; Obtain the deadlock duration between the next planned path segment and the other planned path segments; A second set of optional points is selected from the first set of optional points based on the deadlock duration.

5. The path planning method according to claim 3 or 4, characterized in that, The step of selecting avoidance points from the remaining points in the selectable point set includes: Calculate the additional path length added by using all remaining points in the selectable point set as avoidance points; The point with the shortest path length is selected as the avoidance point.

6. The path planning method according to claim 5, characterized in that, Selecting the point with the shortest path length as the avoidance point includes: Sort all remaining points in the selectable point set in ascending order of path length; The point at the top of the sorted list is taken as the first avoidance point; Obtain the first planned path segment from the end point of the current planned path segment to the first avoidance point; Obtain the second planned path segment from the first avoidance point to the terminal of the next planned path segment; The first planned path segment and the second planned path segment are combined to form the new next planned path segment; Detect whether the new next planned path segment forms a deadlock with the other planned path segments; If not, then the first avoidance point is determined as the target avoidance point; If so, select the next sorted point as the second avoidance point and replan the path.

7. A path planning method, characterized in that, The path planning method is applied to a path planning system, wherein the path planning system includes a control platform, a first mobile robot, and a second mobile robot; the path planning method includes: The control platform sets a first planned path segment based on the first mobile robot and a second planned path segment based on the second mobile robot; wherein, both the first planned path segment and the second planned path segment are predicted path segments determined according to the next running task, and the first mobile robot and the second mobile robot are still in the process of running the current planned path segment; The control platform determines whether the first mobile robot and the second mobile robot conflict based on the first planned path segment and the second planned path segment. If so, the control platform adjusts the first planned path segment according to the conflict situation and sets the third planned path segment for the first mobile robot; The control platform sends the third planned path segment to the first mobile robot and the second planned path segment to the second mobile robot; The first mobile robot operates according to the third planned path segment; The second mobile robot operates according to the second planned path segment; The control platform adjusts the first planned path segment according to the conflict situation and sets a third planned path segment for the first mobile robot, including: The control platform obtains the judgment result regarding path conflict according to the conflict situation; The control platform determines whether the first planned path segment and the second planned path segment form a deadlock based on the conflict situation and the judgment result; wherein, the condition for determining that a deadlock has formed is that the predicted path segments of the mobile robots have both detected the other mobile robot, that is, both mobile robots have detected a path conflict. If so, the control platform filters out avoidance points in the map and calculates the third planned path segment of the first mobile robot based on the avoidance points.

8. A path planning device, characterized in that, The path planning device includes a processor and a memory, the memory storing program data, and the processor executing the program data to implement the path planning method as described in any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store program data, which, when executed by a processor, is used to implement the path planning method according to any one of claims 1-7.

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