Path reconstruction method, device, storage medium and equipment

Abstract

The present invention discloses a path reconstruction method, device, storage medium and equipment, which relate to the field of industrial control and are used to improve the transportation efficiency of the entire system. The method includes: determining two candidate automated guided vehicles (AGVs) that have a risk of collision, and determining the target reconstruction path of each candidate AGV respectively. Determine the evaluation value of each target reconstructed path respectively to obtain two first evaluation values; the evaluation value is positively correlated with the path index of the reconstructed path; the path index includes at least one of the length, the number of turns and the path overlap. The path overlap is used to characterize the degree to which the reconstructed path is occupied. According to the two first evaluation values, determine the target AGV from the two candidate AGVs, and reconstruct the path of the target AGV. The evaluation value of the target reconstructed path of the target AGV is the maximum value of the two first evaluation values.

Description

Technical Field

[0001] The present invention relates to the field of industrial control, and in particular to a path reconstruction method, device, storage medium and equipment. Background Art

[0002] When an automated guided vehicle (AGV) is driving, it must not only follow a pre-set route but also maintain an appropriate distance from other AGVs, especially at intersections, where there is a greater risk of collision due to limitations in path planning and field of view.

[0003] At present, when there is a risk of collision at an intersection, the AGVs with low priority are allowed to take the initiative to detour according to the AGV priorities arranged in advance. In this way, even if the AGV with low priority is very close to the destination, it will need to detour a long distance, thereby increasing the driving distance of the AGV with low priority, resulting in low transportation efficiency of the entire system. Summary of the invention

[0004] The present invention provides a path reconstruction method, device, storage medium and equipment for improving the transportation efficiency of the entire system.

[0005] In order to achieve the above object, the present invention adopts the following technical scheme:

[0006] In a first aspect, a path reconstruction method is provided. The method includes: determining two candidate automated guided vehicles (AGVs) that are at risk of collision, and determining the target reconstructed path of each candidate AGV respectively. Determine the evaluation value of each target reconstructed path respectively to obtain two first evaluation values; the evaluation value is positively correlated with the path index of the reconstructed path; the path index includes at least one of the length, the number of turns and the path overlap. The path overlap is used to characterize the degree to which the reconstructed path is occupied. According to the two first evaluation values, determine the target AGV from the two candidate AGVs, and reconstruct the path of the target AGV. The evaluation value of the target reconstructed path of the target AGV is the maximum value of the two first evaluation values.

[0007] In this way, when there is a risk of collision between two candidate AGVs at an intersection, the target reconstructed path of each candidate AGV is determined to obtain two target reconstructed paths. The evaluation value of each target reconstructed path is determined separately to obtain two first evaluation values. Among them, the evaluation value is positively correlated with at least one of the length of the reconstructed path, the number of turns and the path overlap. According to the two first evaluation values, the target AGV is determined from the two candidate AGVs, and the path of the target AGV is reconstructed. The evaluation value of the target reconstructed path of the target AGV is the maximum value of the two first evaluation values. In other words, the target reconstructed path determined in the present application has the longest length, the most turns and / or the highest path overlap. This avoids the detour of the AGV that is closest to the destination, has the least number of turns to reach the destination and / or has the lowest path overlap to reach the destination, thereby improving the transportation efficiency of the entire system.

[0008] In one possible implementation, the above-mentioned "determining the target reconstructed path of each candidate AGV" includes: obtaining at least one candidate reconstructed path of the first candidate AGV, and determining the evaluation value of each candidate reconstructed path respectively, to obtain at least one second evaluation value. The first candidate AGV is any one of the two candidate AGVs. The candidate reconstructed path corresponding to the minimum value of at least one second evaluation value is determined as the target reconstructed path of the first candidate AGV. In this way, the target reconstructed path with the shortest length, the least number of turns and / or the lowest path overlap can be determined from at least one candidate reconstructed path.

[0009] In a possible implementation, when the path index includes length, number of turns, and path overlap, the first reconstructed path is a target reconstructed path or a candidate reconstructed path, and an evaluation value of the first reconstructed path is determined: for the first reconstructed path, the evaluation value of the first reconstructed path is determined according to the length of the first reconstructed path, the number of turns of the first reconstructed path, and the path overlap of the first reconstructed path; the first reconstructed path is a target reconstructed path or a candidate reconstructed path. In this way, the path index comprehensively considers the length, number of turns, and path overlap, and can obtain the optimal target reconstructed path or candidate reconstructed path.

[0010] In a possible implementation, the path reconstruction method also includes: determining at least one reference AGV from a plurality of AGVs; the driving path of each reference AGV has a reused section with the first reconstructed path; determining the driving path of at least one reference AGV as at least one reference path; the first reconstructed path is a target reconstructed path or a candidate reconstructed path. Determine the reuse distance of the reused sections of each reference path to obtain at least one reuse distance. Determine the path overlap of the first reconstructed path based on at least one reuse distance; the path overlap of the first reconstructed path is positively correlated with at least one reuse distance. In this way, the path overlap of the first reconstructed path can be determined.

[0011] In a possible implementation, reconstructing the path of the target AGV includes: reconstructing the path of the target AGV according to the target reconstructed path of the target AGV. In this way, the path of the target AGV can be reconstructed according to the optimal path of the target AGV, thereby improving the transportation efficiency of the entire system.

[0012] In a second aspect, a path reconstruction device is provided, comprising: a determination unit, a processing unit and a reconstruction unit. The determination unit is used to determine two candidate automated guided vehicles (AGVs) that have a collision risk. The determination unit is used to determine a target reconstruction path for each candidate AGV.

[0013] The processing unit is further used to determine the evaluation value of each target reconstructed path respectively to obtain two first evaluation values. The evaluation value is positively correlated with the path index of the reconstructed path; the path index includes at least one of the length, the number of turns and the path overlap; the path overlap is used to characterize the degree to which the reconstructed path is occupied. The determination unit is further used to determine the target AGV from the two candidate AGVs based on the two first evaluation values; the evaluation value of the target reconstructed path of the target AGV is the maximum value of the two first evaluation values; the reconstruction unit is used to reconstruct the path of the target AGV.

[0014] In a possible implementation, the determination unit is specifically used to: obtain at least one candidate reconstructed path of the first candidate AGV, and respectively determine the evaluation value of each candidate reconstructed path to obtain at least one second evaluation value; the first candidate AGV is any one of the two candidate AGVs. The candidate reconstructed path corresponding to the minimum value of the at least one second evaluation value is determined as the target reconstructed path of the first candidate AGV.

[0015] In a possible implementation, when the path indicators include length, number of turns and path overlap, the determination unit is also used to determine, for a first reconstructed path, an evaluation value of the first reconstructed path based on the length of the first reconstructed path, the number of turns of the first reconstructed path and the path overlap of the first reconstructed path; the first reconstructed path is a target reconstructed path or a candidate reconstructed path.

[0016] In a possible implementation, the determination unit is further used to determine at least one reference AGV from a plurality of AGVs; the driving path of each reference AGV has a reused section with the first reconstructed path; the determination unit is further used to determine the driving path of at least one reference AGV as at least one reference path; the first reconstructed path is a target reconstructed path or a candidate reconstructed path. The processing unit is further used to determine the reuse distance of the reused sections of each reference path to obtain at least one reuse distance; the determination unit is further used to determine the path overlap of the first reconstructed path based on the at least one reuse distance; the path overlap of the first reconstructed path is positively correlated with the at least one reuse distance.

[0017] In a possible implementation manner, the reconstruction unit is specifically configured to reconstruct the path of the target AGV according to the target reconstruction path of the target AGV.

[0018] In a third aspect, an electronic device is provided, comprising: a processor, a memory and a communication interface; wherein the communication interface is used for communication between the communication device and other devices or networks; the memory is used to store one or more programs, the one or more programs including computer execution instructions, and when the electronic device is running, the processor executes the computer execution instructions stored in the memory to enable the electronic device to perform the path reconstruction method as in the first aspect.

[0019] In a fourth aspect, a computer-readable storage medium is provided, in which instructions are stored. When the instructions are executed, the path reconstruction method of the first aspect is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of a path reconstruction system provided by an embodiment of the present invention;

[0021] Figure 2 One of the flowcharts of a path reconstruction method provided by an embodiment of the present invention;

[0022] Figure 3 A second flow chart of a path reconstruction method provided by an embodiment of the present invention;

[0023] Figure 4 One of the schematic diagrams of an AGV driving path provided by an embodiment of the present invention;

[0024] Figure 5 A second schematic diagram of an AGV driving path provided by an embodiment of the present invention;

[0025] Figure 6 A third flowchart of a path reconstruction method provided by an embodiment of the present invention;

[0026] Figure 7 A fourth flowchart of a path reconstruction method provided by an embodiment of the present invention;

[0027] Figure 8 A schematic diagram of the structure of a path reconstruction device provided by an embodiment of the present invention;

[0028] Fig. 9 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0029] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in some embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments provided by the present disclosure, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present disclosure.

[0030] Unless the context requires otherwise, throughout the specification and claims, the term "comprise" and other forms thereof, such as the third person singular form "comprises" and the present participle form "comprising", are to be interpreted as open, inclusive, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "example", "specific example" or "some examples" and the like are intended to indicate that specific features, structures, materials or characteristics associated with the embodiment or example are included in at least one embodiment or example of the present disclosure. The schematic representation of the above terms does not necessarily refer to the same embodiment or example. In addition, the specific features, structures, materials or characteristics may be included in any one or more embodiments or examples in any appropriate manner.

[0031] Unless the context requires otherwise, throughout the specification and claims, the term "include" and its other forms, such as the third person singular form "include" and the present participle form "include", are interpreted as open and inclusive, that is, "including, but not limited to". That is, "include" or "include" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples" or "some examples" are intended to indicate that specific features, structures, materials or characteristics related to the embodiment or example are included in at least one embodiment or example of the present disclosure. The schematic representation of the above terms does not necessarily refer to the same embodiment or example. In addition, the specific features, structures, materials or characteristics described may be included in any one or more embodiments or examples in any appropriate manner.

[0032] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "plurality" means two or more.

[0033] In the description of the present invention, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. "And / or" in this article is only a way to describe the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0034] As used herein, the term "if" is optionally interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined that" or "if [a stated condition or event] is detected" are optionally interpreted to mean "upon determining that" or "in response to determining that" or "upon detecting [a stated condition or event]" or "in response to detecting [a stated condition or event]," depending on the context.

[0035] The use of "adapted to" or "configured to" herein is meant to be open and inclusive language that does not exclude devices adapted or configured to perform additional tasks or steps.

[0036] Additionally, the use of “based on” is meant to be open and inclusive, as a process, step, calculation, or other action “based on” one or more stated conditions or values ​​may, in practice, be based on additional conditions or values ​​beyond those stated.

[0037] The inventive concept of the present invention is introduced below:

[0038] With the increasing perfection and rapid development of fifth generation mobile communication technology (5G), laser radar, optical sensing and other technologies, after continuous testing and debugging in the test area, AGV has also rapidly iterated from single-machine intelligent mode to collaborative scheduling mode. During the driving process of AGV, it must not only follow the pre-set route, but also maintain an appropriate distance from other AGVs, especially at intersections, where there is a greater risk of collision due to the limitations of path planning and vision.

[0039] At present, when there is a risk of collision at an intersection, the AGVs with low priority are allowed to take the initiative to detour according to the AGV priorities arranged in advance. In this way, even if the AGV with low priority is very close to the destination, it will need to detour a long distance, thereby increasing the driving distance of the AGV with low priority, resulting in low transportation efficiency of the entire system.

[0040] In view of the above problems, the present invention provides a path reconstruction method, device, storage medium and equipment. In the case of determining two candidate AGVs with a risk of collision, the method determines the target reconstruction path of each candidate AGV respectively to obtain two target reconstruction paths. Further, the evaluation value of each target reconstruction path is determined respectively to obtain two first evaluation values. Among them, the evaluation value is positively correlated with the path index of the reconstructed path; the path index includes at least one of the length, the number of turns and the path overlap. The path overlap is used to characterize the degree of occupation of the reconstructed path. Subsequently, according to the two first evaluation values, the target AGV is determined from the two candidate AGVs, and the path of the target AGV is reconstructed. The evaluation value of the target reconstructed path of the target AGV is the maximum value of the two first evaluation values. In this way, the AGV corresponding to the maximum value of the two first evaluation values ​​is allowed to reconstruct the path. That is, the AGV with the longest length of the reconstructed path and / or the most turns and / or the largest path overlap is allowed to reconstruct the path. In other words, the AGV that is very close to the destination does not need to detour, which improves the transportation efficiency of the entire system.

[0041] Based on the above inventive concept, the path reconstruction method provided by the embodiment of the present invention can be applied to a path reconstruction system. The path reconstruction system 10 includes an electronic device 11, a plurality of AGVs ( Figure 1 AGV1 and AGV2 are shown as examples. In actual applications, there may be more AGVs. The electronic device 11 may be connected to the multiple AGVs in a wireless manner.

[0042] The electronic device 11 may be a server or other device that implements the determination method of the present invention, which is not limited in this application. For example, the electronic device 11 may be a mobile terminal or a personal computer (PC), a tablet computer, a laptop computer, etc. used by a user.

[0043] The electronic device 11 can obtain the paths of multiple AGVs. The electronic device 11 can include a storage module. The storage module is used to store the path of each AGV. The electronic device 11 can also include a communication module. The communication module is used to communicate with the AGV.

[0044] The system architecture and business scenarios described in the embodiments of the present invention are intended to more clearly illustrate the technical solutions of the embodiments of the present invention, and do not constitute a limitation on the technical solutions provided by the embodiments of the present invention. A person of ordinary skill in the art can appreciate that with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present invention are equally applicable to similar technical problems.

[0045] The path reconstruction method provided by the embodiment of the present invention is described below. Among them, the actions, terms, etc. involved in the various embodiments of the present invention can refer to each other without limitation. The message name or parameter name in the message exchanged between the various devices in the embodiment of the present invention is only an example, and other names can also be used in the specific implementation without limitation.

[0046] A path reconstruction method provided by an embodiment of the present invention can improve the transportation efficiency of the entire system. Figure 2 As shown, the method includes the following S201-S205.

[0047] S201. The electronic device determines two candidate automated guided vehicles (AGVs) that have a risk of collision.

[0048] As a possible implementation method, when the driving directions of two candidate AGVs converge at the same intersection and the distance between the two candidate AGVs is less than or equal to a first threshold, the electronic device determines that there is a risk of collision between the two candidate AGVs.

[0049] In some embodiments, when two candidate AGVs are traveling toward each other and the distance between the two candidate AGVs is less than or equal to a first threshold, the electronic device determines that there is a risk of collision between the two candidate AGVs. Exemplarily, the first threshold is two unit distances.

[0050] For the specific implementation of this step, please refer to the subsequent description of the embodiment of the present invention, which will not be repeated here.

[0051] S202: The electronic device determines a target reconstruction path for each candidate AGV respectively.

[0052] As a possible implementation method, the electronic device obtains at least one candidate reconstructed path for each candidate AGV, and obtains the length corresponding to at least one candidate reconstructed path for each candidate AGV. Further, the electronic device uses the candidate reconstructed path with the shortest length among at least one candidate reconstructed path for each candidate AGV as the target reconstructed path for each candidate AGV. Then, the electronic device obtains two target reconstructed paths.

[0053] In some embodiments, the electronic device obtains at least one candidate reconstructed path for each candidate AGV, and obtains the length, number of turns, and path overlap corresponding to at least one candidate reconstructed path for each candidate AGV. Further, the electronic device determines the evaluation value corresponding to at least one candidate reconstructed path for each candidate AGV to obtain at least one third evaluation value.

[0054] The evaluation value is positively correlated with the path index of the reconstructed path; the path index includes at least one of the length, the number of turns, and the path overlap. The path overlap is used to characterize the degree to which the reconstructed path is occupied.

[0055] Subsequently, the electronic device determines the candidate reconstructed path corresponding to the minimum value of at least one third evaluation value of each candidate AGV as the target reconstructed path of each candidate AGV. Finally, the electronic device obtains two target paths.

[0056] It should be noted that the path overlap is the degree of overlap between the path of the candidate AGV and the paths of all normally traveling AGVs in the preset area.

[0057] For the specific implementation of this step, please refer to the subsequent description of the embodiment of the present invention, which will not be repeated here.

[0058] S203: The electronic device determines the evaluation value of each target reconstruction path respectively to obtain two first evaluation values.

[0059] As a possible implementation method, after obtaining two target reconstruction paths, the electronic device obtains an evaluation value of each reconstruction path to obtain two first evaluation values.

[0060] S204: The electronic device determines a target AGV from two candidate AGVs according to the two first evaluation values.

[0061] The evaluation value of the target reconstructed path of the target AGV is the maximum value of the two first evaluation values.

[0062] As a possible implementation method, the electronic device determines the magnitude of the two first evaluation values, thereby determining the candidate AGV corresponding to the largest first evaluation value of the two first evaluation values ​​as the target AGV.

[0063] Exemplarily, the electronic device obtains two first evaluation values ​​11 and 10, and determines the magnitude of the two first evaluation values ​​11 and 10, so as to determine that the candidate AGV corresponding to the first evaluation value 11 is the target AGV.

[0064] S205: The electronic device reconstructs the path of the target AGV.

[0065] As a possible implementation method, the electronic device reconstructs the path of the target AGV according to the target reconstruction path of the target AGV.

[0066] For the specific implementation of this step, please refer to the subsequent description of the embodiment of the present invention, which will not be repeated here.

[0067] A path reconstruction method is provided in an embodiment of the present invention. The method comprises: when there is a risk of collision between two candidate AGVs at an intersection, determining the target reconstructed path of each candidate AGV to obtain two target reconstructed paths. Determine the evaluation value of each target reconstructed path respectively to obtain two first evaluation values. Among them, the evaluation value is positively correlated with at least one of the length of the reconstructed path, the number of turns and the path overlap. According to the two first evaluation values, determine the target AGV from the two candidate AGVs, and reconstruct the path of the target AGV. The evaluation value of the target reconstructed path of the target AGV is the maximum value of the two first evaluation values. In other words, the target reconstructed path determined in the present application has the longest length, the most turns and / or the highest path overlap. Thereby avoiding the detour of the AGV that is closest to the destination, has the least number of turns to reach the destination and / or has the lowest path overlap to reach the destination, thereby improving the transportation efficiency of the entire system.

[0068] In one design, in order to determine whether two candidate AGVs have a collision risk, such as Figure 3 As shown, S201 provided in the embodiment of the present invention specifically includes the following S2011-S2014.

[0069] S2011. The electronic device obtains the positions of all normally running AGVs in a preset area and the driving direction of each normally running AGV.

[0070] Exemplary, combined Figure 4 , the electronic device obtains the positions and driving directions of AGV1, AGV2, and AGV3 in the preset area respectively.

[0071] For the convenience of explanation, the driving path of the AGV in the embodiment of the present invention is an ideal planning path. Figure 6 As shown in the figure, the route is the path that the AGV can travel. The rectangle represents the location of the shelf. The path between every two intersections is equal and is recorded as 1 unit distance.

[0072] S2012: The electronic device determines whether the distance between the positions of the first normally traveling AGV and the second normally traveling AGV is less than or equal to two unit distances and whether the driving directions of the first normally traveling AGV and the second normally traveling AGV converge at one point.

[0073] The first normally-running AGV and the second normally-running AGV are any two AGVs of all normally-running AGVs.

[0074] As a possible implementation method, the electronic device calculates the distance between the positions of any two normally running AGVs, and calculates whether the driving directions of the any two normally running AGVs converge at one point. Further, the electronic device obtains the distance between the positions of the two normally running AGVs, and obtains the result of whether the driving directions of the any two normally running AGVs converge at one point. Subsequently, the electronic device determines whether the positions of any two normally running AGVs are less than or equal to two unit distances and whether the driving directions of the any two normally running AGVs converge at one point.

[0075] Exemplary, combined Figure 4 , the electronic device calculates the distance between AGV1 and AGV2 respectively, and calculates whether the driving direction of AGV1 and the driving direction of AGV2 converge at one point. Correspondingly, the electronic device obtains the distance between AGV1 and AGV3, and calculates whether the driving direction of AGV1 and the driving direction of AGV3 converge at one point. And, the electronic device obtains the distance between AGV2 and AGV3, and calculates whether the driving direction of AGV2 and the driving direction of AGV3 converge at one point. Further, the electronic device obtains that the distance between AGV1 and AGV2 is 2, and the driving direction of AGV1 and the driving direction of AGV2 converge at one point; the distance between AGV1 and AGV3 is 3, and the driving direction of AGV1 and the driving direction of AGV3 do not converge at one point; the distance between AGV2 and AGV3 is 3, and the driving direction of AGV2 and the driving direction of AGV3 converge at one point. Subsequently, the electronic device determines whether the positions of any two normally traveling AGVs are less than or equal to two unit distances and whether the driving directions of any two normally traveling AGVs converge at one point.

[0076] S2013: When the distance between the positions of the first normally traveling AGV and the second normally traveling AGV is less than or equal to two unit distances and the driving directions of the first normally traveling AGV and the second normally traveling AGV converge at one point, the electronic device determines that there is a risk of collision between the first normally traveling AGV and the second normally traveling AGV.

[0077] Exemplary, combined Figure 4 When the distance between the positions of AGV1 and AGV2 is less than or equal to two unit distances and the driving directions of the first normally traveling AGV and the second normally traveling AGV converge at one point, the electronic device determines that there is a collision risk between AGV1 and AGV2.

[0078] In order to better understand the standard for judging whether there is a collision risk between the first normally traveling AGV and the second normally traveling AGV in the embodiment of the present invention, the standard for judging the collision risk is described here.

[0079] Combination Figure 5 In a, the different driving directions of AGV4 and AGV5 have different collision risks, which are summarized in Table 1.

[0080] Table 1

[0081]

[0082] Combination Figure 5 In b, the different driving directions of AGV6 and AGV7 have different collision risks, which are summarized in Table 2.

[0083] Table 2

[0084]

[0085]

[0086] From the analysis of Table 1 and Table 2, it can be seen that when the distance between two AGVs is less than or equal to two unit distances, and the driving directions of the two AGVs converge at the same point, the two AGVs have the risk of collision at the intersection. When the distance between the two AGVs is greater than two unit distances, considering that the distance between the two AGVs is too far, the collision risk of the two AGVs is not considered.

[0087] S2014: The electronic device determines the first normally-running AGV and the second normally-running AGV as two candidate AGVs with a collision risk.

[0088] Exemplary, combined Figure 4 , the electronic device determines AGV1 and AGV2 as two candidate AGVs with a collision risk.

[0089] In one design, in order to be able to determine the target reconstruction path, such as Figure 6 As shown, S202 provided in this embodiment of the present invention specifically includes the following S2021-S2023.

[0090] S2021. The electronic device obtains at least one candidate reconstructed path of the first candidate AGV.

[0091] The first candidate AGV is any one of the two candidate AGVs.

[0092] As a possible implementation method, the electronic device calculates all the original reconstructed paths for the first candidate AGV to reach the destination. Further, the electronic device obtains the length of all the original reconstructed paths, and sorts each original reconstructed path from short to long according to the length of all the original reconstructed paths. Subsequently, the electronic device determines the top N original reconstructed paths as candidate reconstructed paths. N is greater than or equal to 1.

[0093] Exemplarily, the electronic device uses Dijkstra's algorithm, breadth-first-search (BFS) algorithm or A* algorithm to calculate 20 original reconstructed paths for the first candidate AGV to reach the destination. Further, the electronic device obtains the length of the 20 original reconstructed paths, and sorts them according to the length of each original reconstructed path based on the length of the 20 original reconstructed paths. Subsequently, the electronic device determines the first 5 original reconstructed paths as candidate reconstructed paths.

[0094] S2022: The electronic device determines an evaluation value of each candidate reconstruction path respectively to obtain at least one second evaluation value.

[0095] As a possible implementation manner, the electronic device obtains the length of each candidate reconstruction path, and sets the length of each candidate reconstruction path as the evaluation value of each candidate reconstruction path, to obtain at least one second evaluation value.

[0096] Exemplarily, the electronic device obtains the lengths of five candidate reconstruction paths: 6, 5, 5, 4, and 3, and determines the length of each candidate reconstruction path as an evaluation value of each candidate reconstruction path, to obtain five second evaluation values: 6, 5, 5, 4, and 3.

[0097] In some embodiments, the electronic device obtains the number of turns of each candidate reconstruction path, and determines the number of turns of each candidate reconstruction path as an evaluation value of each candidate reconstruction path, to obtain at least one second evaluation value.

[0098] In some other embodiments, the electronic device obtains the path overlap of each candidate reconstruction path, and determines the path overlap of each candidate reconstruction path as an evaluation value of each candidate reconstruction path to obtain at least one second evaluation value.

[0099] As another possible implementation method, the electronic device obtains the length, number of turns and path overlap of N candidate reconstructed paths, and obtains an evaluation value of each candidate reconstructed path based on the length, number of turns and path overlap of each candidate reconstructed path.

[0100] In some embodiments, the electronic device obtains the lengths, the number of turns, and the path overlap of the N candidate reconstructed paths, and multiplies the length, the number of turns, and the path overlap of the first reconstructed path to obtain second evaluation values ​​of the N candidate reconstructed paths.

[0101] Exemplarily, the electronic device obtains 3 candidate reconstruction paths. Among them, the length of the first candidate reconstruction path is 5, the number of turns is 3, and the path overlap is 3; the length of the second candidate reconstruction path is 6, the number of turns is 2, and the path overlap is 2; the length of the third candidate reconstruction path is 4, the number of turns is 0, and the path overlap is 3. Further, the electronic device multiplies the length of the first candidate reconstruction path 5, the number of turns 3, and the path overlap 3, and obtains an evaluation value of the first candidate reconstruction path of 45. Accordingly, the electronic device calculates the evaluation value of the second candidate reconstruction path to be 24 and calculates the average value of the third candidate reconstruction path to be 0.

[0102] For the specific implementation of this step, please refer to the subsequent description of the embodiment of the present invention, which will not be repeated here.

[0103] S2023. The electronic device determines the candidate reconstructed path corresponding to the minimum value of at least one second evaluation value as the target reconstructed path of the first candidate AGV.

[0104] As a possible implementation manner, the electronic device determines the size of at least one second evaluation value, and determines the candidate reconstructed path corresponding to the minimum value of the at least one second evaluation value as the target reconstructed path of the first candidate AGV.

[0105] In one design, in order to obtain the optimal target reconstructed path or candidate reconstructed path, when the path indicators include length, number of turns and path overlap, the first reconstructed path is the target reconstructed path or the candidate reconstructed path, and the evaluation value of the first reconstructed path is determined, which also includes the following S206.

[0106] S206: For the first reconstructed path, the electronic device determines an evaluation value of the first reconstructed path according to the length of the first reconstructed path, the number of turns of the first reconstructed path, and the path overlap of the first reconstructed path.

[0107] The first reconstruction path is a target reconstruction path or a candidate reconstruction path.

[0108] As a possible implementation method, the electronic device obtains the length, number of turns, and path overlap of the first reconstructed path, and respectively multiplies the length of the first reconstructed path by a first preset weight, the number of turns by a second preset weight, and the path overlap by a second preset weight to obtain the weighted length, number of turns, and path overlap of the first reconstructed path. The weighted length, number of turns, and path overlap of the first reconstructed path are multiplied to obtain an evaluation value of the first reconstructed path.

[0109] Exemplarily, for example, the first preset weight is 60%, the second preset weight is 20%, and the third preset weight is 20%. The electronic device determines two target reconstruction paths. Among them, the length of the first target reconstruction path is 5, the number of turns is 2, and the path overlap is 3; the length of the second target reconstruction path is 6, the number of turns is 2, and the path overlap is 2. Further, the electronic device weights the length of the first target reconstruction path of 5, the number of turns is 2, and the path overlap is 3, and obtains the weighted length of the first target reconstruction path of 3, the number of turns is 0.4, and the path overlap is 0.6, and the length of the second target reconstruction path is 6, the number of turns is 2, and the path overlap is 2. Weighted processing, the weighted length of the second target reconstruction path is 3.6, the number of turns is 0.4, and the path overlap is 0.4. Subsequently, the electronic device determines that the evaluation value of the first target reconstruction path is 0.72, and determines that the evaluation value of the second target reconstruction path is 0.576.

[0110] It should be noted that the first preset weight, the second preset weight and the third preset weight are stored in the storage module in advance by the operation and maintenance personnel. The first preset weight, the second preset weight and the third preset weight can be set to different values ​​according to actual requirements.

[0111] In some embodiments, the electronic device obtains the length, the number of turns, and the path overlap of the first reconstructed path, and multiplies the length, the number of turns, and the path overlap of the first reconstructed path to obtain an evaluation value of the first reconstructed path.

[0112] In other embodiments, the electronic device adds the length, the number of turns, and the path overlap of the first reconstructed path to obtain an evaluation value of the first reconstructed path.

[0113] It should be noted that, when the path indicators include length, number of turns and path overlap, and the first reconstructed path is the target reconstructed path, the electronic device determines the evaluation value of each target reconstructed path to obtain two first evaluation values. If the two first evaluation values ​​are equal, the electronic device sequentially determines the length, number of turns and path overlap in the two target reconstructed paths, thereby determining the target AGV from the two candidate AGVs.

[0114] Specifically, the electronic device first determines whether the lengths of the two target reconstructed paths are equal. If they are not equal, the electronic device determines the candidate AGV corresponding to the target reconstructed path with the longest length as the target AGV. If they are equal, the electronic device then determines whether the number of turns of the two target reconstructed paths is equal. If they are not equal, the electronic device determines the candidate AGV corresponding to the target reconstructed path with the most turns as the target AGV. If they are equal, the electronic device then determines whether the path overlap of the two target reconstructed paths is equal. If they are not equal, the electronic device determines the candidate AGV corresponding to the target reconstructed path with the highest path overlap as the target AGV. If they are equal, the electronic device randomly selects one from the two candidate AGVs as the target AGV.

[0115] It can be understood that, when the electronic device uses the first reconstructed path as the target reconstructed path, the first evaluation value is determined according to the length of the target reconstructed path, the number of turns of the target reconstructed path, and the path overlap of the target reconstructed path. When the electronic device uses the first reconstructed path as the candidate reconstructed path, the second evaluation value is determined according to the length of the candidate reconstructed path, the number of turns of the candidate reconstructed path, and the path overlap of the candidate reconstructed path.

[0116] In one design, to determine the path overlap, e.g. Figure 7 As shown, a path reconstruction method provided by an embodiment of the present invention also includes the following S207-S2010.

[0117] S207: The electronic device determines at least one reference AGV from the plurality of AGVs.

[0118] The driving path of each reference AGV has a reused section with the first reconstructed path.

[0119] As a possible implementation method, the electronic device obtains all normally traveling AGVs in a preset area, and then obtains the current driving path of each normally traveling AGV. The electronic device determines whether each current driving path has a reused section with the first reconstructed path, and determines that the AGV corresponding to the current driving path with a reused section with the first reconstructed path is the reference AGV.

[0120] It should be noted that the preset area is the area where the candidate AGV travels, and the preset area may be stored in the storage module in advance by the operation and maintenance personnel.

[0121] S208. The electronic device determines the driving path of at least one reference AGV as at least one reference path.

[0122] The first reconstruction path is a target reconstruction path or a candidate reconstruction path.

[0123] S209: The electronic device determines the multiplexing distances of the multiplexing sections of each reference path to obtain at least one multiplexing distance.

[0124] As a possible implementation manner, the electronic device determines the multiplexing distance between each reference path and the first reconstructed path according to the multiplexing sections of each reference path and the first reconstructed path.

[0125] Exemplarily, the electronic device obtains three reference paths, and calculates the multiplexing distance between each reference path and the first reconstructed path one by one, and obtains three multiplexing distances: 5, 3, and 3.

[0126] S2010. The electronic device determines a path overlap of a first reconstructed path according to at least one multiplexing distance.

[0127] The path overlap of the first reconstructed path is positively correlated with at least one multiplexing distance.

[0128] As a possible implementation method, the electronic device multiplies at least one multiplexing distance to obtain the product of at least one multiplexing distance, and determines the product as the path overlap of the first reconstructed path. In some embodiments, the electronic device adds at least one multiplexing distance to obtain the sum of at least one multiplexing distance, and determines the sum as the path overlap of the first reconstructed path.

[0129] Exemplarily, the electronic device obtains three reuse distances: 5, 3, and 3, and adds the three reuse distances: 5+3+3, and obtains the sum of the three reuse distances: 11. Further, the electronic device determines that the path overlap of the first reconstructed path is 11.

[0130] In another case, the electronic device obtains a reference path. Further, the electronic device obtains a section where the first reconstructed path overlaps with all reference paths. Subsequently, the electronic device calculates that the first reconstructed path and all reference paths have a reused section, obtains a reused unit distance between the first reconstructed path and all reference paths, and then obtains the path overlap degree of the first candidate reconstructed path.

[0131] Exemplarily, the electronic device obtains the first reconstructed path and obtains three reference paths in a preset area. Further, the electronic device obtains that three 2 sections of the first reconstructed path are reused by the three reference paths, and the number of overlapping sections is 2, so the path overlap degree of the first candidate reconstructed path is 2.

[0132] In one design, in order to improve the transportation efficiency of the system, an embodiment of the present invention provides a path reconstruction method, and step S205 of the embodiment of the present invention specifically includes the following S2051.

[0133] S2051. The electronic device reconstructs the path of the target AGV according to the target reconstruction path of the target AGV.

[0134] It can be understood that the target reconstructed path of the target AGV is the path with the shortest length, the least number of turns and / or the lowest path overlap among all the candidate reconstructed paths of the target AGV. The target AGV travels along the target reconstructed path and can reach the destination in the shortest time, thereby improving the transportation efficiency of the system. The above mainly introduces the scheme provided by the embodiment of the present invention from the perspective of the method. In order to achieve the above functions, the electronic device includes a hardware structure and / or software module corresponding to each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiment disclosed in this article, the embodiment of the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiment of the present invention.

[0135] The embodiment of the present invention can divide the functional modules of the above-mentioned device according to the above-mentioned method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of software functional modules. Optionally, the division of modules in the embodiment of the present invention is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0136] Figure 8 FIG. 1 is a schematic diagram of the structure of a path reconstruction device provided by an embodiment of the present invention. Figure 8 As shown, the path reconstruction device 30 may be located in the above electronic device. The path reconstruction device 30 includes: a determination unit 301 , a processing unit 302 and a reconstruction unit 303 .

[0137] The determination unit 301 is used to determine two candidate automated guided vehicles AGVs that have a collision risk. Figure 2 , the determination unit 301 can be used to execute S201.

[0138] The determination unit 301 is used to determine the target reconstruction path of each candidate AGV. Figure 2 , the determination unit 301 can be used to execute S202.

[0139] The processing unit 302 is further used to determine the evaluation value of each target reconstructed path respectively, and obtain two first evaluation values; the evaluation value is positively correlated with the path index of the reconstructed path; the path index includes at least one of the length, the number of turns and the path overlap; the path overlap is used to characterize the degree to which the reconstructed path is occupied. Figure 2 , the processing unit 302 can be used to execute S203.

[0140] The determination unit 301 is further configured to determine a target AGV from two candidate AGVs according to the two first evaluation values; the evaluation value of the target reconstructed path of the target AGV is the maximum value of the two first evaluation values. Figure 2 , the determination unit 301 can be used to execute S204.

[0141] The reconstruction unit 303 is used to reconstruct the path of the target AGV. Figure 2 , the reconstruction unit 303 can be used to execute S205.

[0142] Optionally, the determination unit 301 is specifically used to: obtain at least one candidate reconstructed path of the first candidate AGV, and determine the evaluation value of each candidate reconstructed path respectively to obtain at least one second evaluation value; the first candidate AGV is any one of the two candidate AGVs; and the candidate reconstructed path corresponding to the minimum value of the at least one second evaluation value is determined as the target reconstructed path of the first candidate AGV. Figure 6 , the determination unit 301 can be used to execute S2021-S2023.

[0143] Optionally, when the path indicators include length, number of turns and path overlap, the determination unit 301 is also used to determine the evaluation value of the first reconstructed path based on the length of the first reconstructed path, the number of turns of the first reconstructed path and the path overlap of the first reconstructed path; the first reconstructed path is the target reconstructed path or the candidate reconstructed path.

[0144] Optionally, the determination unit 301 is further configured to determine at least one reference AGV from the plurality of AGVs; the driving path of each reference AGV has a reused section with the first reconstructed path. Figure 7 , the acquisition unit 304 can be used to execute S207.

[0145] The determination unit 301 is further configured to determine the driving path of at least one reference AGV as at least one reference path; the first reconstructed path is a target reconstructed path or a candidate reconstructed path. Figure 7 , the acquisition unit 304 can be used to execute S208.

[0146] The processing unit 302 is further configured to determine the reuse distance of the reused sections of each reference path to obtain at least one reuse distance. Figure 7 , the processing unit 302 can be used to execute S209.

[0147] The determining unit 301 is further configured to determine the path overlap of the first reconstructed path according to at least one reuse distance; the path overlap of the first reconstructed path is positively correlated with the at least one reuse distance. Figure 7 , the determination unit 301 can be used to execute S2010.

[0148] Optionally, the reconstruction unit 303 is specifically configured to reconstruct the path of the target AGV according to the target reconstructed path of the target AGV.

[0149] In the case of implementing the functions of the above-mentioned integrated modules in the form of hardware, the embodiment of the present invention provides a possible structural diagram of the electronic device involved in the above-mentioned embodiment. Fig. 9 As shown, the electronic device 40 includes a processor 401, a memory 402 and a bus 403. The processor 401 and the memory 402 may be connected via the bus 403.

[0150] The processor 401 is the control center of the communication device, which can be a processor or a general term for multiple processing elements. For example, the processor 401 can be a general-purpose central processing unit (CPU) or other general-purpose processors. Among them, the general-purpose processor can be a microprocessor or any conventional processor.

[0151] As an embodiment, the processor 401 may include one or more CPUs, such as Fig. 9 CPU 0 and CPU 1 are shown in .

[0152] The memory 402 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0153] As a possible implementation, the memory 402 may exist independently of the processor 401, and the memory 402 may be connected to the processor 401 via a bus 403, and is used to store instructions or program codes. When the processor 401 calls and executes the instructions or program codes stored in the memory 402, the sensor determination method provided in the embodiment of the present invention can be implemented.

[0154] In another possible implementation, the memory 402 may also be integrated with the processor 401 .

[0155] The bus 403 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig. 9 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0156] It should be pointed out that Fig. 9 The structure shown does not constitute a limitation on the electronic device 40. Fig. 9 In addition to the components shown, the electronic device 40 may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0157] As an example, combining Figure 8 The functions implemented by the determination unit 301 and the processing unit 303 in the path reconstruction device 30 are similar to those Fig. 9 The function of processor 401 in is the same.

[0158] Optionally, the electronic device 40 provided by the embodiment of the present invention may further include a communication interface 404 .

[0159] The communication interface 404 is used to connect with other devices through a communication network. The communication network may be Ethernet, wireless access network, wireless local area network (WLAN), etc. The communication interface 404 may include a receiving unit for receiving data and a sending unit for sending data.

[0160] In one design, in the electronic device provided by an embodiment of the present invention, the communication interface may also be integrated into the processor.

[0161] In another hardware structure of an electronic device provided by an embodiment of the present invention, the electronic device may include a processor and a communication interface. The processor is coupled to the communication interface.

[0162] The functions of the processor may refer to the description of the above processor. In addition, the processor also has a storage function, which may refer to the function of the above memory.

[0163] The communication interface is used to provide data to the processor. The communication interface can be an internal interface of the communication device or an external interface of the communication device.

[0164] It should be pointed out that the above-mentioned another hardware structure does not constitute a limitation on the electronic device. In addition to the above-mentioned another hardware component, the electronic device may include more or fewer components, or a combination of certain components, or different component arrangements.

[0165] Through the description of the above implementation methods, those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above functional units is used as an example. In practical applications, the above functions can be assigned to different functional units as needed, that is, the internal structure of the device can be divided into different functional units to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0166] An embodiment of the present invention further provides a computer-readable storage medium, in which instructions are stored. When a computer executes the instructions, the computer executes each step in the path reconstruction method flow shown in the above method embodiment.

[0167] The embodiment of the present invention further provides a computer program product including instructions, and when the instructions are executed on a computer, the computer is enabled to execute the path reconstruction method in the above method embodiment.

[0168] Among them, the computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, and a hard disk. Random Access Memory (RAM), Read-Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), registers, hard disks, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any other form of computer-readable storage medium in a suitable combination of the above, or numerical values ​​in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an Application Specific Integrated Circuit (ASIC). In embodiments of the present invention, computer-readable storage media may be any tangible media that contains or stores a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0169] Since the electronic device, computer-readable storage medium, and computer program product in the embodiments of the present invention can be applied to the above method, the technical effects that can be obtained can also refer to the above method embodiments, and the embodiments of the present invention will not be described in detail here.

[0170] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A path reconstruction method, characterized in that: include: Identify two candidate automated guided vehicles (AGVs) that are at risk of collision, and determine a target reconstruction path for each candidate AGV; Determine the evaluation value of each target reconstructed path respectively to obtain two first evaluation values; the evaluation value is positively correlated with the path index of the reconstructed path; the path index includes at least one of the length, the number of turns and the path overlap; the path overlap is used to characterize the degree to which the reconstructed path is occupied; According to the two first evaluation values, a target AGV is determined from the two candidate AGVs, and a path is reconstructed for the target AGV; the evaluation value of the target reconstructed path of the target AGV is the maximum value of the two first evaluation values.

2. The path reconstruction method according to claim 1, characterized in that: Determining the target reconstruction path of each candidate AGV includes: Acquire at least one candidate reconstructed path of a first candidate AGV, and respectively determine the evaluation value of each candidate reconstructed path to obtain at least one second evaluation value; the first candidate AGV is any one of the two candidate AGVs; The candidate reconstructed path corresponding to the minimum value of the at least one second evaluation value is determined as the target reconstructed path of the first candidate AGV.

3. The path reconstruction method according to claim 2, characterized in that: In a case where the path index includes a length, a number of turns, and a path overlap, the first reconstructed path is the target reconstructed path or the candidate reconstructed path, and determining the evaluation value of the first reconstructed path includes: For a first reconstructed path, the evaluation value of the first reconstructed path is determined according to the length of the first reconstructed path, the number of turns of the first reconstructed path, and the path overlap of the first reconstructed path; the first reconstructed path is the target reconstructed path or the candidate reconstructed path.

4. The path reconstruction method according to any one of claims 2 to 3, characterized in that: The method further comprises: Determine at least one reference AGV from the plurality of AGVs; the driving path of each reference AGV has a reused section with the first reconstructed path; Determine the driving path of the at least one reference AGV as at least one reference path; the first reconstructed path is the target reconstructed path or the candidate reconstructed path; Determine the reuse distance of the reused section of each reference path to obtain at least one reuse distance; The path overlap of the first reconstructed path is determined according to the at least one multiplexing distance; the path overlap of the first reconstructed path is positively correlated with the at least one multiplexing distance.

5. The path reconstruction method according to any one of claims 2-3, characterized in that: Reconstructing the path of the target AGV includes: The target AGV is reconstructed according to the target reconstructed path of the target AGV.

6. A path reconstruction device, characterized in that: include: determination unit, processing unit and reconstruction unit; The determination unit is used to determine two candidate automated guided vehicles AGVs that have a collision risk; The determination unit is further used to determine the target reconstruction path of each candidate AGV respectively; The processing unit is further used to respectively determine the evaluation value of each of the target reconstructed paths to obtain two first evaluation values; the evaluation value is positively correlated with the path index of the reconstructed path; the path index includes at least one of the length, the number of turns and the path overlap; the path overlap is used to characterize the degree to which the reconstructed path is occupied; The determining unit is further configured to determine a target AGV from the two candidate AGVs according to the two first evaluation values; the evaluation value of the target reconstructed path of the target AGV is the maximum value of the two first evaluation values; The reconstruction unit is used to reconstruct the path of the target AGV.

7. The path reconstruction device according to claim 6, characterized in that: The determining unit is specifically configured to: Acquire at least one candidate reconstructed path of a first candidate AGV, and respectively determine the evaluation value of each candidate reconstructed path to obtain at least one second evaluation value; the first candidate AGV is any one of the two candidate AGVs; The candidate reconstructed path corresponding to the minimum value of the at least one second evaluation value is determined as the target reconstructed path of the first candidate AGV.

8. The path reconstruction device according to claim 7, characterized in that: In the case where the path indicators include length, number of turns and path overlap, the determination unit is further used to determine the evaluation value of the first reconstructed path according to the length of the first reconstructed path, the number of turns of the first reconstructed path and the path overlap of the first reconstructed path; the first reconstructed path is the target reconstructed path or the candidate reconstructed path.

9. The path reconstruction device according to any one of claims 7 to 8, characterized in that: The determination unit is further used to determine at least one reference AGV from the plurality of AGVs; the driving path of each reference AGV has a reused section with the first reconstructed path; The determining unit is further configured to determine the driving path of the at least one reference AGV as at least one reference path; the first reconstructed path is the target reconstructed path or the candidate reconstructed path; The processing unit is further used to determine the multiplexing distance of the multiplexing section of each reference path to obtain at least one multiplexing distance; The determining unit is further configured to determine the path overlap of the first reconstructed path according to the at least one multiplexing distance; the path overlap of the first reconstructed path is positively correlated with the at least one multiplexing distance.

10. The path reconstruction device according to any one of claims 7 to 8, characterized in that: The reconstruction unit is specifically configured to reconstruct the path of the target AGV according to the target reconstructed path of the target AGV.

11. An electronic device, characterized in that: include: A processor, a memory and a communication interface; wherein the communication interface is used for the electronic device to communicate with other devices or networks; The memory is used to store one or more programs, which include computer-executable instructions. When the electronic device is running, the processor executes the computer-executable instructions stored in the memory to enable the electronic device to perform the path reconstruction method as described in any one of claims 1 to 5.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed, the path reconstruction method according to any one of claims 1 to 5 is implemented.

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