Map information generation, path planning method and device

Abstract

The application discloses a map information generation method and device, and relates to the technical field of logistics. A specific embodiment of the method comprises the following steps: dividing a target map into a plurality of grids via a map editor to obtain a grid map; determining a full-load walking area in the grid map; and setting an empty-load height limit attribute for a first specified edge of each grid in the full-load walking area to obtain first map information. The embodiment generates map information that can effectively guide a carrying robot and avoid the carrying robot from entering the full-load walking area when the carrying robot is empty to cause injury to an operator, thereby ensuring production safety.

Description

Technical Field

[0001] This application relates to the field of computer technology, specifically to the field of logistics technology, and in particular to a method and apparatus for generating map information and planning routes. Background Technology

[0002] In special line-side handling scenarios, using AGVs (Automated Guided Vehicles) for production handling can save firmware costs and is flexible and portable.

[0003] In the current production area, the operator's seating position is fixed. In front of the operator is a movable workbench, which must be lifted by an AGV to move, and the movement direction is the direction indicated by the production line, moving only one grid at a time. For example, there are a total of 16 movable workbenches and 4 transport AGVs on site, therefore the AGVs need to be reused. However, during the AGV's movement based on map information, if an AGV enters the area of ​​a movable workbench while unloaded, such as passing under the workbench, it could easily cause injury to the operator. Summary of the Invention

[0004] This application provides a map information generation, route planning method, apparatus, device, and storage medium.

[0005] According to the first aspect, embodiments of this application provide a map information generation method, the method comprising: dividing a target map into multiple grids via a map editor to obtain a grid map; determining a fully loaded walking area in the grid map; setting an unloaded height limit attribute on a first designated edge of each grid in the fully loaded walking area to obtain first map information.

[0006] According to a second aspect, embodiments of this application provide a path planning method, the method comprising: obtaining a path planning request; in response to determining that the current transport robot is in an empty state, generating a first target movement path of the current transport robot in a target map based on first map information, a starting position and an ending position, wherein the first map information is first map information obtained by the method described in any implementation of the first aspect above.

[0007] According to a third aspect, embodiments of this application provide a map information generation apparatus, the apparatus comprising: a grid division module configured to divide a target map into multiple grids via a map editor to obtain a grid map; a first determination module configured to determine a fully loaded walking area in the grid map; and a first setting module configured to set an unloaded height limit attribute on a first designated edge of each grid in the fully loaded walking area to obtain first map information.

[0008] According to a fourth aspect, embodiments of this application provide a path planning apparatus, the apparatus comprising: an acquisition request module configured to acquire a path planning request; and a first generation module configured to, in response to determining that the current transport robot is in an empty state, generate a first target movement path of the current transport robot in a target map based on first map information, a starting position, and a ending position.

[0009] According to a fifth aspect, embodiments of this application provide an electronic device including one or more processors; a storage device having one or more programs stored thereon, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement a map information generation method as described in any embodiment of the first or second aspect.

[0010] According to a sixth aspect, embodiments of this application provide a computer-readable medium having a computer program stored thereon that, when executed by a processor, implements a map information generation method as described in any embodiment of the first or second aspect.

[0011] This application obtains a grid map by dividing the target map into multiple grids using a map editor; in the grid map, a fully loaded walking area is determined; and an unloaded height limit attribute is set on the first designated edge of each grid in the fully loaded walking area to obtain the first map information. This generates map information that can effectively guide the handling robot, prevent the handling robot from entering the fully loaded walking area when unloaded, thus avoiding injury to the operator and ensuring production safety.

[0012] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0013] Figure 1 This is an exemplary system architecture diagram to which this application can be applied;

[0014] Figure 2 This is a flowchart of one embodiment of the map information generation method according to this application;

[0015] Figure 3 This is a schematic diagram of an application scenario of the map information generation method according to this application;

[0016] Figure 4 This is a schematic diagram illustrating another application scenario of the map information generation method according to this application;

[0017] Figure 5 This is a flowchart of yet another embodiment of the map information generation method according to this application;

[0018] Figure 6 This is a schematic diagram of another application scenario of the map information generation method according to this application;

[0019] Figure 7 This is a flowchart of one embodiment of the path planning method according to this application;

[0020] Figure 8 This is a schematic diagram of one embodiment of the map information generation apparatus according to this application;

[0021] Figure 9 This is a schematic diagram of one embodiment of the path planning device according to this application;

[0022] Figure 10 This is a schematic diagram of the structure of a computer system suitable for implementing the server embodiments of this application. Detailed Implementation

[0023] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of this application, including various details to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] Figure 1 An exemplary system architecture 100 is shown, in which the map information generation method of this application can be applied.

[0026] like Figure 1 As shown, system architecture 100 may include terminal devices 101, 102, and 103, a network 104, and a server 105. Network 104 serves as the medium for providing communication links between terminal devices 101, 102, and 103 and server 105. Network 104 may include various connection types, such as wired or wireless communication links, or fiber optic cables, etc.

[0027] Terminal devices 101, 102, and 103 interact with server 105 via network 104 to receive or send messages, etc. Various communication client applications, such as navigation applications and communication applications, can be installed on terminal devices 101, 102, and 103.

[0028] Terminal devices 101, 102, and 103 can be either hardware or software. When terminal devices 101, 102, and 103 are hardware, they can be various electronic devices with displays, including but not limited to mobile phones and laptops. When terminal devices 101, 102, and 103 are software, they can be installed in the electronic devices listed above. They can be implemented as multiple software programs or software modules (e.g., used to provide map information generation services) or as a single software program or software module. No specific limitations are made here.

[0029] Server 105 can be a server that provides various services, such as dividing the target map into multiple grids via a map editor to obtain a grid map; determining the full-load walking area in the grid map; setting the no-load height limit attribute on the first specified edge of each grid in the full-load walking area to obtain the first map information.

[0030] It should be noted that server 105 can be either hardware or software. When server 105 is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or as a single server. When server 105 is software, it can be implemented as multiple software programs or software modules (e.g., used to provide map information generation services), or as a single software program or software module. No specific limitations are made here.

[0031] It should be noted that the map information generation method provided in the embodiments of this disclosure can be executed by server 105, terminal devices 101, 102, and 103, or by server 105 and terminal devices 101, 102, and 103 in cooperation with each other. Accordingly, all parts (e.g., units, sub-units, modules, and sub-modules) of the map information generation device can be entirely located in server 105, entirely located in terminal devices 101, 102, and 103, or separately located in server 105 and terminal devices 101, 102, and 103.

[0032] It should be understood that Figure 1 The number of terminal devices, networks, and servers shown is merely illustrative. Depending on implementation needs, any number of terminal devices, networks, and servers can be included.

[0033] Figure 2 A flowchart 200 illustrates an embodiment of the map information generation method applicable to this application. In this embodiment, the map information generation method includes the following steps:

[0034] Step 201: Divide the target map into multiple grids using a map editor to obtain a grid map.

[0035] In this embodiment, the execution subject (such as...) Figure 1The server 105 or terminal devices 101, 102, 103 shown can divide the target map into multiple grids via a map editor to obtain a grid map. The target map is used to indicate the map of the handling environment of the corresponding handling robot, that is, the map of the area where the handling robot can move.

[0036] Here, the size of the grid is matched to the size of a single movable workstation area.

[0037] Specifically, the transport map is a map of the movable area of ​​the transport robot in a line-side transport scenario. Line-side transport is used to indicate a factory assembly line production mode, where one workstation corresponds to one process, which is carried out sequentially.

[0038] Step 202: In the grid map, identify the fully loaded walking area.

[0039] In this embodiment, after obtaining the grid map, the executing entity can further determine the fully loaded walking area in the grid map.

[0040] The fully loaded travel area is composed of grids corresponding to the movable workstations of each stage in the pre-set production line. Each stage corresponds to one movable workstation, and each grid in the fully loaded travel area corresponds to one movable workstation. The movable workstations corresponding to each grid are different.

[0041] Specifically, the pre-set production line includes: stage 1-stage 2-stage 3-stage 4-stage 5. The full-load travel area is composed of the grid corresponding to the movable workstation area of ​​each stage, and the movable workstation areas corresponding to each stage are adjacent to each other.

[0042] Here, the movable workstation area is the area occupied by a movable workbench.

[0043] Step 203: Set the unloaded height limit attribute for the first designated edge of each grid in the fully loaded walking area to obtain the first map information.

[0044] In this embodiment, after determining the fully loaded walking area, the executing entity can set the unloaded height limit attribute for the first designated edge of each grid in the fully loaded walking area to obtain the first map information.

[0045] The first designated edge is used to indicate the edge in the current grid that is perpendicular to the designated direction. The designated direction is used to indicate the direction in which the movable workstation area corresponding to the current grid moves to the next movable workstation area according to the execution order of each stage of the preset pipeline.

[0046] It should be noted that there can be one or two edges perpendicular to the specified direction in the current grid, and this application does not limit this.

[0047] Here, the no-load height limit attribute is used to indicate that the handling robot is not allowed to move when it is unloaded.

[0048] The execution entity can set the no-load height limit attribute for the first designated edge of each grid in either by setting it for each grid individually or by setting it for each grid in batches. This application does not limit this method.

[0049] Specifically, such as Figure 3 As shown, the preset assembly line's stages and their execution order are: Stage 1 - Stage 2 - Stage 3 - Stage 4 - Stage 5. Each stage corresponds to a movable workstation area. The full-load travel area consists of grids 301, 302, 303, 304, and 305 corresponding to the movable workstation areas of each stage. Each movable workstation area corresponds to one grid, and the movable workstation areas corresponding to each grid are different, with the grids corresponding to each movable workstation area being adjacent. The transport robot moves one grid at a time. When fully loaded, the transport robot passes through grids 301, 302, 303, 304, and 305 in sequence. To prevent the transport robot from entering the full-load travel area when unloaded, an unloaded height limit attribute is set on the first designated edge of the grid corresponding to each movable workstation in the full-load travel area, obtaining the first map information. The first designated edge indicates the edge in the current grid that is perpendicular to a designated direction. The designated direction indicates the direction in which the movable workstation area corresponding to the current grid moves to the next movable workstation area according to the execution order of each stage of the preset pipeline. For grid 301, the first designated edge perpendicular to the designated direction is the upper edge of grid 301. Similarly, the first designated edge of grid 302 is the right edge, the first designated edge of grid 303 is the right edge, the first designated edge of grid 304 is the right edge, and the first designated edge of grid 305 is the right edge.

[0050] In some optional methods, setting the unloaded height limit attribute on the first specified edge of each grid in the fully loaded walking area to obtain the first map information includes: setting the unloaded height limit attribute on the first specified edge of each grid in the fully loaded walking area in sequence, and in response to determining that there are first adjacent grids with the first specified edge on the same side, setting the unloaded height limit attribute on the first adjacent grids in batches.

[0051] In this implementation, the executing entity can sequentially set the unloaded height limit attribute for the first specified edge of each grid in the fully loaded walking area. In response to determining that there are first adjacent grids with the first specified edge on the same side, the unloaded height limit attribute is set for the first adjacent grids in batches.

[0052] Specifically, in the fully loaded travel area, if there are 5 adjacent grids where the first specified edge is the right side, the execution subject can select 5 adjacent grids at once and uniformly set the first specified edge of the 5 adjacent grids, i.e., the right side, to the unloaded height limit attribute.

[0053] This implementation method sets the unloaded height limit attribute for the first specified edge of each grid in the fully loaded walking area in sequence. In response to the determination that there is a first adjacent grid with the first specified edge on the same side, the unloaded height limit attribute is set for the first adjacent grid in batches, which effectively improves the efficiency of generating the first map information.

[0054] In some alternative approaches, the method further includes: in response to receiving a path planning request, generating a movement path for the transport robot in a target map based on first map information, second map information, the loading status of the transport robot, its starting position, and its ending position.

[0055] In this implementation, the executing entity can monitor the path planning request input by the user in real time or periodically. The path planning request may include: the starting position, the ending position, and the loading status of the transport robot, such as fully loaded or empty. In response to receiving the path planning request, the entity generates the movement path of the transport robot in the target map based on the first map information, the second map information, the loading status of the transport robot, the starting position, and the ending position.

[0056] This implementation method, in response to a received path planning request, generates a movement path for the handling robot in the target map based on the first map information, the second map information, the loading status of the handling robot, the starting position, and the ending position. This achieves path planning for the handling robot, ensures the walking efficiency of the fully loaded robot, avoids the movement of the unloaded robot in the movable work area, prevents injury to the operator, and ensures safety.

[0057] See also Figure 4 , Figure 4 This is a schematic diagram of an application scenario of the map information generation method according to this embodiment.

[0058] exist Figure 4In the application scenario, the execution entity 401 can divide the target map 402, such as the map of the movable area in the line-side handling scenario, into multiple grids through the map editor to obtain the grid map 403. The target map is used to indicate the map of the handling environment of the corresponding handling robot, and the size of the grid matches the size of a single movable workstation area. In the grid map 403, the full-load walking area 404 is determined. The full-load walking area 404 is composed of adjacent grids corresponding to the movable workstation areas of each link in the preset assembly line. One link corresponds to one movable workstation area, and one grid in the full-load walking area corresponds to one movable workstation area. The movable workstation areas corresponding to each grid are different. The no-load height limit attribute 405 is set on the first specified edge of each grid in the full-load walking area 404 to obtain the first map information 406. The first specified edge is used to indicate the edge in the current grid that is perpendicular to the specified direction. The specified direction is used to indicate the direction of movement from the movable workstation area corresponding to the current grid to the next movable workstation area according to the execution order of each link in the preset assembly line.

[0059] The map information generation method disclosed herein divides the target map into multiple grids using a map editor to obtain a grid map; in the grid map, a full-load walking area is determined; and an unloaded height limit attribute is set on the first designated edge of each grid in the full-load walking area to obtain the first map information. This generates map information that can effectively guide the handling robot, prevent the handling robot from entering the full-load walking area when unloaded, thus avoiding injury to the operator and ensuring production safety.

[0060] Further reference Figure 5 It shows Figure 2 The flowchart 500 shows another embodiment of the map information generation method. In this embodiment, the flowchart 500 of the map information generation method may include the following steps:

[0061] Step 501: Divide the target map into multiple grids using a map editor to obtain a grid map.

[0062] In this embodiment, the implementation details and technical effects of step 501 can be found in the description of step 201, and will not be repeated here.

[0063] Step 502: In the grid map, identify the fully loaded walking area.

[0064] In this embodiment, the implementation details and technical effects of step 502 can be found in the description of step 202, and will not be repeated here.

[0065] Step 503: Set the unloaded height limit attribute for the first designated edge of each grid in the fully loaded walking area to obtain the first map information.

[0066] In this embodiment, the implementation details and technical effects of step 503 can be found in the description of step 203, and will not be repeated here.

[0067] Step 504: Determine the unloaded travel area in the grid map.

[0068] In this embodiment, after obtaining the grid map, the executing entity can further determine the unloaded walking area in the grid map.

[0069] In this context, each grid in the unloaded travel zone is adjacent to the fully loaded travel zone.

[0070] Step 505: Set the full load height limit attribute for the second designated edge of each grid in the unloaded walking area to obtain the second map information.

[0071] In this embodiment, after determining the unloaded walking area, the executing entity can set the full load height limit attribute for the second designated edge of each grid in the unloaded walking area to obtain the second map information.

[0072] The second designated edge is used to indicate the edge that is adjacent to the current grid and the full-load walking area.

[0073] Here, the full-load height limit attribute is used to indicate that the handling robot is not allowed to move when fully loaded.

[0074] The method by which the executing entity sets the full load height limit attribute for the second designated edge of the grid corresponding to each movable workstation area can be either to set it for each grid individually or to set it for each grid in batches; this application does not limit this method.

[0075] Specifically, such as Figure 6 As shown, a fully loaded walking area 601 and an empty walking area 602 are defined in the grid map. Each grid in the empty walking area is adjacent to the fully loaded walking area. The empty walking areas include grids 603, 604, and 605. To prevent the transport robot from entering the empty walking area when fully loaded, thus reducing transport efficiency, a full-load height limit attribute is set on the second specified edge of each grid in the empty walking area to obtain the first map information. For example, a full-load height limit attribute is set on the second specified edge of grids 603, 604, and 605. The second specified edge indicates the edge adjacent to the fully loaded walking area for the current grid. For grids 603, 604, and 605, the second specified edge is the top edge of the grid.

[0076] In some optional methods, a full load height limit attribute is set on the second specified edge of each grid in the empty walking area to obtain second map information, including: setting the full load height limit attribute on the second specified edge of each grid in the empty walking area in sequence, and in response to determining that there are second adjacent grids with the second specified edge on the same side, setting the full load height limit attribute on the second adjacent grids in batches.

[0077] In this implementation, the execution entity can sequentially set the full load height limit attribute for the second specified edge of each grid in the blank walking area, and in response to determining that there are second adjacent grids with the second specified edge on the same side, set the full load height limit attribute for the second adjacent grids in batches.

[0078] Specifically, in the unloaded travel area, if there are 3 adjacent grids where the second specified edge is the upper edge, the execution subject can select 3 adjacent grids at once and uniformly set the second specified edge of the 3 adjacent grids, i.e. the upper edge, to the full load height limit attribute.

[0079] This implementation method sets the full load height limit attribute for the second specified edge of each grid in the blank walking area in sequence. In response to the determination that there are second adjacent grids with the second specified edge on the same side, the full load height limit attribute is set for the second adjacent grids in batches, which effectively improves the efficiency of generating second map information.

[0080] from Figure 5 It can be seen from this that, with Figure 2 Compared to the corresponding embodiments, the process 500 of the map information generation method in this embodiment reflects the following: in the grid map, an empty walking area is determined, and each grid in the empty walking area is adjacent to the full-load walking area; a full-load height limit attribute is set on the second designated edge of each grid in the empty walking area to obtain the second map information. The second designated edge is used to indicate the edge of the current grid adjacent to the full-load walking area. This method generates map information that can effectively guide the handling robot and prevent the handling robot from entering the empty walking area when fully loaded, thereby reducing the handling rate.

[0081] Further reference Figure 7 This illustrates a flow 700 of an embodiment of a path planning method. In this embodiment, the flow 700 of the path planning method may include the following steps:

[0082] Step 701: Obtain the path planning request.

[0083] In this embodiment, the executing entity may obtain the user's input path planning request via wired or wireless means.

[0084] The path planning request includes: the current carrying status of the transport robot, the starting position, and the ending position.

[0085] The aforementioned wireless connection methods may include, but are not limited to, 3G / 4G connection, WiFi connection, Bluetooth connection, WiMAX connection, Zigbee connection, UWB (ultra wideband) connection, and other currently known or future wireless connection methods.

[0086] Step 702: In response to determining that the current transport robot is in an empty state, a first target movement path for the current transport robot is generated in the target map based on the first map information, the starting position, and the ending position.

[0087] In this embodiment, the executing entity can determine the current carrying status of the transport robot. If the current carrying status of the transport robot is empty, the first target movement path of the current transport robot is generated in the target map according to the first map information, the starting position and the ending position.

[0088] The first map information is as follows: Figure 2 The first map information obtained by the method described in the corresponding embodiment will not be repeated here.

[0089] In some alternative approaches, the method further includes: in response to determining that the current transport robot is in a fully loaded state, generating a second target movement path for the current transport robot in a target map based on second map information, a start position, and an end position.

[0090] In this implementation, the executing entity can determine the current carrying status of the transport robot. If the current carrying status of the transport robot is fully loaded, then the second target movement path of the current transport robot is generated in the target map based on the second map information, the starting position and the ending position.

[0091] The second map information is generated in the following way: in the grid map, an empty walking area is determined, and each grid in the empty walking area is adjacent to the fully loaded walking area; a full load height limit attribute is set on the second designated edge of each grid in the empty walking area to obtain the second map information. The second designated edge is used to indicate the edge of the current grid that is adjacent to the fully loaded walking area.

[0092] It should be noted that the full load height limit attribute can be set for the second specified edge of each grid in the unloaded walking area one by one or in batches. This application does not limit this.

[0093] Specifically, in response to determining that there are second adjacent grids with the second specified edge on the same side, the full load height limit attribute is set for the second adjacent grids in batches.

[0094] This implementation method, in response to determining that the current carrying state of the handling robot is fully loaded, generates a second target movement path for the current handling robot in the target map based on the second map information, the starting position, and the ending position. This achieves path planning for the fully loaded handling robot, avoiding the fully loaded handling robot from entering the empty walking area and reducing handling efficiency.

[0095] In some alternative approaches, a first target movement path for the current transport robot is generated in the target map based on the first map information, the starting position, and the ending position, including: generating a first initial movement path for the current transport robot in the target map based on the first map information, the starting position, and the ending position; and, in response to determining that there are multiple first initial movement paths, determining the first initial movement path with the fewest movement grids as the first target movement path.

[0096] In this implementation, the executing entity can first generate the first initial movement path of the current transport robot in the target map based on the first map information, the starting position and the ending position. If there are multiple first initial movement paths, the number of movement grids corresponding to each of the multiple first initial movement paths is compared, and the first initial movement path with the fewest movement grids is determined as the first target movement path.

[0097] This implementation generates the initial movement path of the current handling robot in the target map based on the first map information, the starting position, and the ending position. In response to the determination that there are multiple first initial movement paths, the first initial movement path with the fewest movement grids is determined as the first target movement path, which effectively improves the effectiveness of the determined target movement path.

[0098] In some alternative approaches, a target movement path for the current transport robot is generated in the target map based on the second map information, the starting position, and the ending position. This includes: generating a second initial movement path for the current transport robot in the target map based on the second map information, the starting position, and the ending position; and, in response to determining that there are multiple second initial movement paths, determining the second initial movement path with the fewest movement grids as the second target movement path.

[0099] In this implementation, the executing entity can first generate the initial movement path of the current transport robot in the target map based on the second map information, the starting position and the ending position. If there are multiple initial movement paths, the number of movement grids corresponding to each second initial movement path in the multiple initial movement paths is compared, and the second initial movement path with the fewest movement grids is determined as the second target movement path.

[0100] This implementation generates the initial movement path of the current transport robot in the target map based on the second map information, the starting position, and the ending position. In response to the determination that there are multiple second initial movement paths, the second initial movement path with the fewest movement distance grids is determined as the second target movement path, which effectively improves the effectiveness of the determined second target movement path.

[0101] from Figure 7As can be seen from the process flow 700 of the path planning method in this embodiment, the path planning request is obtained. In response to determining that the current transport robot is in an empty state, the first target movement path of the current transport robot is generated in the target map based on the first map information, the starting position and the ending position. This realizes the path planning of the empty transport robot, avoids the empty transport robot from entering the fully loaded walking area, avoids injury to the operator, and ensures production safety.

[0102] Further reference Figure 8 As an implementation of the methods shown in the above figures, this application provides an embodiment of a map information generation device, which is similar to... Figure 2 Corresponding to the method embodiments shown, this device can be specifically applied to various electronic devices.

[0103] like Figure 8 As shown, the map information generation device 800 of this embodiment includes: a grid division module 801, a first determination module 802, and a first setting module 803.

[0104] The grid division module 801 can be configured to divide the target map into multiple grids via a map editor to obtain a grid map.

[0105] The first determining module 802 can be configured to determine the fully loaded walking area in a grid map.

[0106] The first setting module 803 can be configured to set the unloaded height limit attribute for the first specified edge of each grid in the fully loaded walking area to obtain the first map information.

[0107] In some optional embodiments of this invention, the device further includes: a second determining module configured to determine an empty walking area in a grid map; and a second setting module configured to set a full load height limit attribute on a second designated edge of each grid in the empty walking area to obtain second map information, wherein the second designated edge is used to indicate the edge of the current grid adjacent to the full load walking area.

[0108] In some optional embodiments of this example, the first setting module is further configured to: sequentially set the unloaded height limit attribute for the first designated edge of each grid in the fully loaded walking area, and in response to determining that there are first adjacent grids with the first designated edge as the same side edge, batch set the unloaded height limit attribute for the first adjacent grids.

[0109] In some optional embodiments of this example, the second setting module is further configured to: sequentially set the full load height limit attribute for the second specified edge of each grid in the blank walking area, and in response to determining that there are second adjacent grids with the second specified edge as the same side edge, batch set the full load height limit attribute for the second adjacent grids.

[0110] In some optional embodiments of this invention, the apparatus further includes a path planning module configured to generate a movement path for the transport robot in a target map in response to receiving a path planning request, based on first map information, second map information, the loading status of the transport robot, its starting position, and its ending position.

[0111] Further reference Figure 9 As an implementation of the methods shown in the above figures, this application provides an embodiment of a path planning device, which is similar to... Figure 7 Corresponding to the method embodiments shown, this device can be specifically applied to various electronic devices.

[0112] like Figure 9 As shown, the path planning device 900 of this embodiment includes: an acquisition module 901 and a generation module 902.

[0113] Among them, the request acquisition module 901 can be configured to acquire path planning requests.

[0114] The first generation module 902 can be configured to generate a first target movement path for the current transport robot in the target map based on the first map information, the starting position, and the ending position, in response to determining that the current transport robot is in an empty state.

[0115] In some optional embodiments of this example, the device further includes a second generation module, which can be configured to generate a second target movement path for the current transport robot in a target map based on second map information, a start position, and an end position in response to determining that the current transport robot is in a fully loaded state.

[0116] In some optional embodiments of this example, the first generation module is further configured to generate a first initial movement path for the current transport robot in the target map based on the first map information, the starting position, and the ending position; in response to determining that there are multiple first initial movement paths, the first initial movement path with the fewest movement grids is determined as the first target movement path.

[0117] In some optional embodiments of this example, the second generation module is further configured to generate a second initial movement path for the current transport robot in the target map based on the second map information, the starting position, and the ending position; in response to determining that there are multiple second initial movement paths, the second initial movement path with the fewest movement grids is determined as the second target movement path.

[0118] According to embodiments of this application, this application also provides an electronic device and a readable storage medium.

[0119] like Figure 10The diagram shown is a block diagram of an electronic device using a map information generation method according to an embodiment of this application.

[0120] 1000 is a block diagram of an electronic device for a map information generation method according to embodiments of this application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or claimed herein.

[0121] like Figure 10 As shown, the electronic device includes one or more processors 1001, a memory 1002, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components are interconnected via different buses and can be mounted on a common motherboard or otherwise as required. The processors can process instructions executed within the electronic device, including instructions stored in or on memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In other embodiments, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple electronic devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 10 Take processor 1001 as an example.

[0122] The memory 1002 is the non-transitory computer-readable storage medium provided in this application. The memory stores instructions executable by at least one processor to cause the at least one processor to perform the map information generation method provided in this application. The non-transitory computer-readable storage medium of this application stores computer instructions for causing a computer to perform the map information generation method provided in this application.

[0123] Memory 1002, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the map information generation method in the embodiments of this application (e.g., attached...). Figure 8The information division grid module 801, the first determination module 802, and the first setting module 803 are shown. The processor 1001 executes various functional applications and data processing of the server by running non-transient software programs, instructions, and modules stored in the memory 1002, thereby realizing the map information generation method in the above method embodiment.

[0124] The memory 1002 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the use of the map information generating electronic device. Furthermore, the memory 1002 may include high-speed random access memory and may also include non-transient memory, such as at least one disk storage device, flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 1002 may optionally include memory remotely located relative to the processor 1001, and these remote memories can be connected to the map information generating electronic device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0125] The electronic device for the map information generation method may further include an input device 1003 and an output device 1004. The processor 1001, memory 1002, input device 1003, and output device 1004 can be connected via a bus or other means. Figure 10 Taking the example of a connection between China and Israel via a bus.

[0126] Input device 1003 can receive input numerical or character information, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 1004 may include a display device, auxiliary lighting device (e.g., LED), and haptic feedback device (e.g., vibration motor). The display device may include, but is not limited to, a liquid crystal display (LCD), a light-emitting diode (LED) display, and a plasma display. In some embodiments, the display device may be a touchscreen.

[0127] Various implementations of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, application-specific integrated circuits (ASICs), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include: implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transferring data and instructions to the storage system, the at least one input device, and the at least one output device.

[0128] These computational programs (also referred to as programs, software, software applications, or code) include machine instructions for a programmable processor and can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. As used herein, the terms “machine-readable medium” and “computer-readable medium” refer to any computer program product, device, and / or apparatus (e.g., disk, optical disk, memory, programmable logic device (PLD)) used to provide machine instructions and / or data to a programmable processor, including machine-readable media that receive machine instructions as machine-readable signals. The term “machine-readable signal” refers to any signal used to provide machine instructions and / or data to a programmable processor.

[0129] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0130] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0131] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other.

[0132] According to the technical solution of the embodiments of this application, map information is generated that can effectively guide the handling robot, prevent the handling robot from entering the fully loaded walking area when it is unloaded, thereby causing injury to the operator and ensuring production safety.

[0133] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this application can be achieved, and this is not limited herein.

[0134] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for generating map information, the method comprising: dividing a target map into a plurality of grids via a map editor, to obtain a grid map, wherein the target map is used to indicate a map of an environment for a corresponding carrying robot, and a size of the grid matches a size of a single movable station area; determining a full-load walking area in the grid map, wherein the full-load walking area is composed of grids corresponding to movable station areas of each link in a preset pipeline, one link corresponds to one movable station area, one grid in the full-load walking area corresponds to one movable station area, and movable station areas corresponding to each grid are different; setting an empty-load height limit attribute to a first designated edge of each grid in the full-load walking area, to obtain first map information, wherein the first designated edge is used to indicate an edge in a current grid that is perpendicular to a designated direction, the designated direction is used to indicate a direction from a movable station area corresponding to a current grid to a next movable station area according to an execution order of each link in a preset pipeline, and the empty-load height limit attribute is used to indicate that the carrying robot is not allowed to walk when empty.

2. The method of claim 1, further comprising: determining an empty-load walking area in the grid map, wherein each grid in the empty-load walking area is adjacent to the full-load walking area; setting a full-load height limit attribute to a second designated edge of each grid in the empty-load walking area, to obtain second map information, wherein the second designated edge is used to indicate an edge of a current grid that is adjacent to the full-load walking area, and the full-load height limit attribute is used to indicate that the carrying robot is not allowed to walk when full.

3. The method of claim 1, wherein, The setting of the empty-load height limit attribute to the first designated edge of each grid in the full-load walking area comprises: setting the empty-load height limit attribute to the first designated edge of each grid in the full-load walking area in turn, and in response to determining that there is a first adjacent grid with a first designated edge that is a same-side edge, setting the empty-load height limit attribute to the first adjacent grid in bulk.

4. The method of claim 2, wherein, The setting of the full-load height limit attribute to the second designated edge of each grid in the empty-load walking area comprises: setting the full-load height limit attribute to the second designated edge of each grid in the empty-load walking area in turn, and in response to determining that there is a second adjacent grid with a second designated edge that is a same-side edge, setting the full-load height limit attribute to the second adjacent grid in bulk.

5. A path planning method, the method comprising: obtaining a path planning request, the path planning request comprising: a carrying state of a current carrying robot, a starting position, and an end position; in response to determining that the carrying state of the current carrying robot is an empty-load state, generating a first target movement path of the current carrying robot in a target map based on first map information, the starting position, and the end position, wherein the first map information is first map information obtained by the method of any one of claims 1 or 3.

6. The method of claim 5, further comprising: In response to determining that the carrying state of the current carrying robot is the full load state, a second target movement path of the current carrying robot in a target map is generated based on second map information, a start position and an end position, the second map information being generated in the following manner: in the grid map, a light load walking area is determined, each grid in the light load walking area being adjacent to a full load walking area; A full load height limit attribute is set for a second specified edge of each grid in the light load walking area, the second specified edge being used to indicate an edge of a current grid adjacent to the full load walking area, to obtain the second map information.

7. The method of claim 5, wherein, The first target movement path of the current carrying robot in the target map is generated based on the first map information, the start position and the end position, including: A first initial movement path of the current carrying robot in the target map is generated according to the first map information, the start position and the end position; In response to determining that the first initial movement path is multiple, the first initial movement path with the least number of movement grids is determined as the first target movement path.

8. The method of claim 6, wherein, The second target movement path of the current carrying robot in the target map is generated based on the second map information, the start position and the end position, including: A second initial movement path of the current carrying robot in the target map is generated according to the second map information, the start position and the end position; In response to determining that the second initial movement path is multiple, the second initial movement path with the least number of movement grids is determined as the second target movement path.

9. An electronic device, comprising: including: at least one processor; and a memory connected in communication with the at least one processor; wherein the memory stores computer instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.

10. A non-transitory computer-readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to enable the computer to perform the method of any one of claims 1-8.

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