AMR anti-lock method and device based on path planning, equipment and storage medium

Abstract

The application relates to the technical field of industrial robots and discloses an AMR anti-locking method and device based on path planning, equipment and a storage medium, the method comprising the following steps: acquiring a plurality of planned paths applied by a target AMR; performing collision detection on the plurality of planned paths and occupied paths to obtain the collision direction of the plurality of planned paths and the occupied paths; judging whether there is a deadlock between the plurality of planned paths and the occupied paths based on the collision direction; determining the target planned path corresponding to the target AMR according to the judgment result, and controlling the target AMR to run based on the target planned path. Since the plurality of planned paths to be traveled by the current AMR and the occupied paths are detected, whether there is a deadlock phenomenon is judged based on the collision direction, and the target planned path is executed according to the judgment result, so that the behavior of the vehicle is determined in advance, the vehicle is prevented from being trapped in a deadlock conflict in a complex area in a manner of early detection and occupation, and the passing efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and in particular to an AMR anti-deadlock method, device, equipment, and storage medium based on path planning. Background Technology

[0002] Currently, AMRs (Autonomous Mobile Robots) are gradually being widely used in industrial scenarios such as handling, sorting, and storage. As enterprises increase their level of automation, their performance requirements for the traffic management module of multi-AMR systems are increasing. The increase in the number of AMRs in the same scenario and the frequent occurrence of complex scenarios greatly challenge the system's ability to resolve deadlocks.

[0003] Existing technologies, such as prioritization and one-way lines, can solve deadlock problems in simple graphs. In certain special scenarios, setting blocks can also prevent deadlock by limiting the number of vehicles entering an area based on factors like vehicle status and path. However, setting too many blocks can affect the traffic efficiency of the AMR system and is not suitable for complex and intersecting routes.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is related technology. Summary of the Invention

[0005] The main objective of this invention is to provide an AMR anti-deadlock method, apparatus, device, and storage medium based on path planning, aiming to solve the technical problems of difficulty in solving deadlock problems in complex areas and low passage efficiency in the prior art.

[0006] To achieve the above objectives, this invention provides an AMR deadlock prevention method based on path planning, the method comprising the following steps:

[0007] Obtain the multi-segment planning path for the target AMR application;

[0008] Collision detection is performed on the multiple planned paths and the occupied paths to obtain the collision direction between the multiple planned paths and the occupied paths;

[0009] Based on the collision direction, determine whether there is a deadlock between the multiple planned paths and the occupied paths;

[0010] Based on the judgment result, the target planning path corresponding to the target AMR is determined, and the operation of the target AMR is controlled based on the target planning path.

[0011] Optionally, the step of performing collision detection on the multiple planned paths and the occupied paths to obtain the collision direction between the multiple planned paths and the occupied paths includes:

[0012] Obtain the planned path of the segment and the path elements in the occupied path, wherein the path elements include nodes and topological edges;

[0013] The collision region is obtained based on the path elements, and the angle of the collision region is obtained based on the included angle of the topological edges;

[0014] The collision direction between the planned path segment and the occupied path is obtained by measuring the angle of the collision area.

[0015] Optionally, determining whether a deadlock exists between the multiple planned paths and the occupied paths based on the collision direction includes:

[0016] The angle of the collision area is compared with a preset angle to determine whether the collision detection passes.

[0017] When the angle of the collision area is greater than the preset angle, it is determined to be a reverse collision, the collision detection fails, and there is a deadlock between the planned path and the occupied path.

[0018] Optionally, after the step of comparing the angle of the collision area with a preset angle to determine whether the collision detection passes, the method further includes:

[0019] When the angle of the collision area is less than or equal to the preset angle, it is determined to be a collision in the same direction, the collision detection is passed, and there is no deadlock between the planned route and the occupied path.

[0020] Optionally, before the step of obtaining the multi-segment planning path of the target AMR application, the method further includes:

[0021] When the target AMR receives a new driving task, a route planning algorithm is used to plan the route for the target AMR and obtain the planned path for the entire route.

[0022] Based on the driving area of ​​the driving task, the entire planned route is divided into a non-controlled area planned route and a controlled area planned route, resulting in multiple planned routes.

[0023] Optionally, the step of obtaining the multi-segment planning path of the target AMR application includes:

[0024] Determine whether the next planned path of the target AMR belongs to the planned path of the control area;

[0025] If so, then obtain multiple planned paths within the control area.

[0026] Optionally, before the step of performing collision detection on the multiple planned paths and the occupied paths to obtain the collision direction between the multiple planned paths and the occupied paths, the method includes:

[0027] By comparing the remaining distance of the current planned path with the minimum braking distance of the target AMR, it is determined whether the target AMR meets the vehicle application requirements;

[0028] When the remaining distance of the current planned path is less than the minimum braking distance of the target AMR, it is determined that the target AMR meets the vehicle application conditions, and the next planned path is issued to the target AMR.

[0029] Furthermore, to achieve the above objectives, the present invention also proposes an AMR anti-deadlock device based on path planning, the device comprising:

[0030] The path acquisition module is used to obtain the multi-segment planned path of the target AMR application;

[0031] The collision detection module is used to perform collision detection on the multiple planned paths and the occupied paths, and to obtain the collision direction between the multiple planned paths and the occupied paths;

[0032] The deadlock detection module is used to determine whether there is a deadlock between the multiple planned paths and the occupied paths based on the collision direction.

[0033] The operation control module is used to determine the target planning path corresponding to the target AMR based on the judgment result, and control the operation of the target AMR based on the target planning path.

[0034] Furthermore, to achieve the above objectives, the present invention also proposes an AMR anti-deadlock device based on path planning, the device comprising: a memory, a processor, and an AMR anti-deadlock program based on path planning stored in the memory and executable on the processor, the AMR anti-deadlock program based on path planning configured to implement the steps of the AMR anti-deadlock method generation method based on path planning as described above.

[0035] Furthermore, to achieve the above objectives, the present invention also proposes a storage medium storing a path planning-based AMR deadlock prevention program, wherein when the path planning-based AMR deadlock prevention program is executed by a processor, it implements the steps of the path planning-based AMR deadlock prevention method described above.

[0036] This invention acquires multiple planned paths requested by a target AMR, performs collision detection on these planned paths and occupied paths, obtains the collision directions between the planned paths and occupied paths, determines whether a deadlock exists between the planned paths and occupied paths based on the collision directions, determines the target planned path corresponding to the target AMR based on the determination result, and controls the operation of the target AMR based on the target planned path. Because this invention detects the multiple planned paths that the current AMR will travel along and the occupied paths in the current route, determines whether a deadlock exists based on the collision directions, and then executes the target planned path based on the determination result, it pre-determines the vehicle's behavior. By using advance detection and preemption, it avoids vehicles getting stuck in deadlock conflicts in complex areas, thus improving traffic efficiency. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of an AMR anti-deadlock device based on path planning in the hardware operating environment involved in the embodiments of the present invention;

[0038] Figure 2 This is a flowchart illustrating the first embodiment of the AMR deadlock prevention method based on path planning of the present invention;

[0039] Figure 3 This is a flowchart illustrating the second embodiment of the AMR deadlock prevention method based on path planning of the present invention;

[0040] Figure 4 This is a schematic diagram of different collision zone angles in the path planning-based AMR anti-deadlock method of the present invention;

[0041] Figure 5 This is a flowchart illustrating the third embodiment of the AMR deadlock prevention method based on path planning of the present invention;

[0042] Figure 6 This is a flowchart illustrating the specific execution of the AMR anti-deadlock procedure method based on path planning in this invention on a vehicle.

[0043] Figure 7 This is a structural block diagram of the first embodiment of the path planning-based AMR anti-deadlock program device of the present invention.

[0044] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0045] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0046] Reference Figure 1 , Figure 1This is a schematic diagram of the AMR anti-deadlock device structure based on path planning in the hardware operating environment involved in the embodiments of the present invention.

[0047] like Figure 1 As shown, the path planning-based AMR anti-deadlock device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0048] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on path planning-based AMR anti-lock devices and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0049] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and an AMR anti-deadlock program based on path planning.

[0050] exist Figure 1 In the path planning-based AMR anti-deadlock device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and memory 1005 in the path planning-based AMR anti-deadlock device of the present invention can be set in the path planning-based AMR anti-deadlock device. The path planning-based AMR anti-deadlock device calls the path planning-based AMR anti-deadlock program stored in the memory 1005 through the processor 1001 and executes the path planning-based AMR anti-deadlock method provided in the embodiment of the present invention.

[0051] This invention provides an AMR deadlock prevention method based on path planning, referring to... Figure 2, Figure 2 This is a flowchart illustrating the first embodiment of the path planning-based AMR deadlock prevention method of the present invention.

[0052] In this embodiment, the path planning-based AMR deadlock prevention method includes the following steps:

[0053] Step S10: Obtain the multi-segment planning path of the target AMR application.

[0054] It should be noted that the executing entity of the method in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a mobile phone, tablet computer, or personal computer, or other electronic devices capable of performing the same or similar functions. This embodiment does not limit this. The following uses a path planning-based AMR anti-deadlock device (hereinafter referred to as the anti-deadlock device) as an example to describe various embodiments of the path planning-based AMR anti-deadlock method of the present invention.

[0055] Understandably, the target AMR can be a transport vehicle equipped with electromagnetic or optical automatic navigation devices, capable of receiving driving tasks, traveling along prescribed navigation paths, and possessing safety protection and various mobile transport functions.

[0056] It should be understood that a multi-segment planned route can be a set of routes that are first divided into controlled area routes and non-controlled area routes according to the regional terrain of a specific driving map, and then further divided into each unit segment route according to road turning points, intersections, or fixed lengths within different areas.

[0057] In practice, after receiving a driving task, the target AMR completes the route required to execute the driving task based on the different applications for the driving task, and divides the obtained full route into multiple segments according to the set standards and sends them to the target AMR in sequence. The anti-lockdown device obtains these multiple planned routes in sequence.

[0058] Step S20: Perform collision detection on the multiple planned paths and the occupied paths to obtain the collision direction between the multiple planned paths and the occupied paths.

[0059] Understandably, occupied routes can be sections of road that other AMRs or vehicles are currently traveling on in the multi-segment planned routes pre-assigned to the target AMR based on the current travel time, or sections of road that are temporarily inaccessible due to unforeseen accidents or other reasons.

[0060] It should be noted that collision detection can be performed on multiple paths within the controlled area and on occupied paths, or on paths outside the controlled area and on occupied paths.

[0061] In the specific implementation, multiple path segments are treated as a collision area. Collision detection is used to determine whether the multiple routes that the current AMR is about to travel collide with the occupied paths, and the collision angles of the multiple planned paths and the occupied paths are obtained.

[0062] Step S30: Determine whether there is a deadlock between the planned multi-segment paths and the occupied paths based on the collision direction.

[0063] It is understood that the collision direction is the positive angular direction formed by multiple directional paths as one side and occupied paths as the other side.

[0064] It should be noted that deadlock occurs because different AMRs are assigned different tasks, causing one AMR's use of a certain path at the same time to affect other AMRs' use of that path, resulting in problems such as mutual blocking or circular waiting, which prevent the AMRs from continuing to travel normally along the original route.

[0065] Step S40: Determine the target planning path corresponding to the target AMR based on the judgment result, and control the operation of the target AMR based on the target planning path.

[0066] In the specific implementation, when it is determined that there is no deadlock, multiple paths that are pre-issued to the target AMR are issued, and the target AMR is controlled to travel according to these paths; when it is determined that there is a deadlock, it waits until other vehicles have completed the use of the occupied paths, i.e., the collision detection is passed, and then multiple planned paths are issued to the target AMR and it is controlled to travel according to these paths.

[0067] This embodiment obtains multiple planned paths requested by the target AMR, performs collision detection on these planned paths and occupied paths, obtains the collision directions between the planned paths and occupied paths, determines whether a deadlock exists between the planned paths and occupied paths based on the collision directions, determines the target planned path corresponding to the target AMR based on the determination result, and controls the operation of the target AMR based on the target planned path. Compared with the prior art that prevents deadlock by setting a large number of blocks, the above method in this embodiment detects the multiple planned paths that the current AMR will travel on and the occupied paths in the current route, determines whether a deadlock exists based on the collision directions, and then executes the target planned path based on the determination result, thereby pre-determining the vehicle's behavior. By detecting and preempting in advance, it avoids vehicles getting stuck in deadlock conflicts in complex areas, improving traffic efficiency.

[0068] refer to Figure 3 , Figure 3 This is a flowchart illustrating the second embodiment of the AMR deadlock prevention method based on path planning of the present invention.

[0069] Based on the first embodiment described above, in this embodiment, step S20 includes:

[0070] Step S201: Obtain the planned path of the segment and the path elements in the occupied path, wherein the path elements include nodes and topological edges.

[0071] It is understandable that the nodes of the path elements can be viewed as a small area. For example, the starting point can be viewed as an area on the path initially occupied by the target AMR, and the topological edges are the directional vehicle travel paths.

[0072] Step S202: Obtain the collision region based on the path elements, and obtain the angle of the collision region based on the angle between the topological edges.

[0073] In the specific implementation, the path elements of the planned segment path are compared with the path elements in the occupied path. The part where the path elements overlap is the collision area. The angle of the collision area is obtained according to the angle between the topological edges in the path elements.

[0074] Step S203: Obtain the collision direction between the planned path segment and the occupied path by using the angle of the collision area.

[0075] It is understandable that since the planned path includes segmented paths in simple uncontrolled areas and multi-segmented paths in complex controlled areas, there is no deadlock in simple uncontrolled areas, but it is necessary to determine whether the pre-issued segmented path has been occupied by other vehicles through collision detection. Step S30 also includes comparing the angle of the collision area with a preset angle to determine whether the collision detection is successful.

[0076] In specific implementation, the angle of the collision area between the planned segment path and the occupied path is obtained based on the angle between the path elements in the pre-issued segment planning path and the path elements in the occupied path. When the angle of the collision area is greater than the preset angle, it is determined to be a reverse collision, the collision detection fails, and there is a deadlock between the planned segment path and the occupied path. When the angle of the collision area is less than or equal to the preset angle, it is determined to be a same-direction collision, the collision detection passes, and there is no deadlock between the planned segment path and the occupied path.

[0077] For example, refer to Figure 4 ， Figure 4This diagram illustrates different collision zone angles, where 90 degrees is set as the preset threshold angle for determining whether a head-on collision occurs. The collision zone angle is defined as an angle less than 180 degrees, and the target driving path of the target AMR is defined as one side of the included angle. Target vehicle 2 is about to enter the control area. The vehicle requests multiple paths. Collision detection reveals that path elements are occupied by vehicles 1 and 3. For vehicle 3, the collision zone angle Angle = a3 is calculated, and since a3 is less than 90 degrees, the collision is considered a head-on collision, and entry is permitted. For vehicle 1, the collision zone angle Angle = a1 is calculated, and since a1 is greater than 90 degrees, the collision is considered a head-on collision.

[0078] Furthermore, if a deadlock exists between the planned path and the occupied path, the target AMR waits until other vehicles complete their use of the occupied path, i.e., the collision detection passes; if there is no deadlock between the planned path and the occupied path, the target AMR is controlled to drive according to the planned path.

[0079] Further, before step S20, the following may be included:

[0080] Step S20': Compare the remaining distance of the current segment's planned path with the minimum braking distance of the target AMR to determine whether the target AMR meets the vehicle application requirements.

[0081] It is understandable that, given a constant coefficient of friction, a vehicle's braking distance primarily depends on its current speed. The minimum braking distance of the target AMR is the braking distance of the target AMR when it is traveling at its minimum speed.

[0082] Step S20”: When the remaining distance of the current segment of the planned path is less than the minimum braking distance of the target AMR, it is determined that the target AMR meets the vehicle application conditions, and the next segment of the planned path is issued to the target AMR.

[0083] In practice, considering that the length of the entire planned path cannot be issued at the starting point of the target AMR's journey, the moment when the remaining distance of the current segment of the planned path is less than the minimum braking distance of the target AMR is considered as the moment when the vehicle application condition is met, i.e., the moment when the target AMR receives the next segment of the planned path.

[0084] This embodiment performs collision detection based on path elements in the multiple planned paths requested by the target AMR and elements in the already occupied paths, obtaining the collision directions of the multiple planned paths and the already occupied paths. It then determines whether a deadlock exists between the planned paths and already occupied paths of other vehicles. If a deadlock exists, it waits until other vehicles complete their use of the occupied paths; otherwise, it issues the requested multiple planned paths and controls the target AMR's movement. Compared to the existing method of limiting the number of blocks, this embodiment more intelligently implements deadlock prevention control for multiple vehicles entering complex areas, avoiding deadlock by pre-emptively pre-allocating resources.

[0085] refer to Figure 5 , Figure 5 This is a flowchart illustrating the third embodiment of the AMR anti-deadlock method based on path planning of the present invention.

[0086] Based on the above embodiments, in this embodiment, before step S10, the following may be included:

[0087] Step S01: When the target AMR receives a new driving task, a route planning algorithm is used to plan the route for the target AMR to obtain the full planned path;

[0088] It is understood that a route planning algorithm is an algorithm that calculates the movement route of a target moving object in a scene based on a specified starting point and certain requirements. The path planning algorithm takes into account the utilization rate of the control area and reduces the utilization rate of the same area by setting weights to avoid too many AMRs waiting in non-control areas. The route planning algorithm used can be a commonly used traditional path planning algorithm, such as Dijkstra's algorithm or A* algorithm. This embodiment does not limit this.

[0089] Step S02: Based on the driving area of ​​the driving task, the entire planned path is divided into a non-control area planned path and a control area planned path to obtain multiple planned paths.

[0090] It should be noted that in the global map, the map is divided into non-controlled areas and controlled areas. Non-controlled areas are simple areas, that is, they mostly contain simple two-way streets and do not contain or contain few intersections where multiple roads in different directions intersect. Controlled areas are complex areas, that is, they mostly contain narrow one-way streets and often contain intersections where multiple roads in different directions intersect.

[0091] In the specific implementation, based on the difference between the controlled area and the non-controlled area within the driving area, the entire planned path obtained by the path planning algorithm is divided into non-controlled area segment planned path and controlled area segment planned path according to different areas. The controlled area segment planned path divided according to different areas can be further divided into multiple segments according to set criteria. The set criteria can be: the maximum length that the AMR can travel in a standard set unit of time, the name of the road in the map, the turning point of the road in the map, etc. This embodiment does not impose any restrictions on these.

[0092] Further, step S10 may include:

[0093] Step S101: Determine whether the next planned path of the target AMR belongs to the planned path of the control area.

[0094] It should be noted that the next planning path of the target AMR can be a planning path in the control area or a planning path in the non-control area. The difference between a planning path in the control area and a planning path in the non-control area lies in whether the pre-issued information to the target AMR is issued in multiple segments or in a single segment.

[0095] In the specific implementation, it is determined whether the next sub-path of the target AMR belongs to the control area. If it does not belong to the control area, the next non-control area sub-path is pre-sent to the target AMR; if it belongs to the control area, multiple paths within the control area are pre-sent to the target AMR.

[0096] Step S102: If yes, then obtain multiple planned paths within the control area.

[0097] It is understandable that the multi-segment planning path is the control area planning path. Next, the multi-segment path is subjected to directional collision detection. This can be regarded as having a time-based global collision table that records the collision situation of each AMR and each segment of the path. When the multi-segment planning path is pre-sent to the target AMR, it is determined whether a collision will occur in the multi-segment path and the angle of the collision.

[0098] This combination Figure 6 This embodiment will be described in detail, please refer to... Figure 6 , Figure 6 This is a flowchart illustrating the specific execution of the AMR anti-lockdown procedure method based on path planning in this invention within a vehicle. Figure 6 As shown, the specific execution process of the path planning-based AMR anti-lock procedure in a vehicle includes the following steps:

[0099] Step 1: The vehicle receives a new mission;

[0100] Step 2: Perform route planning and initialize the already distributed route table and the pre-distributed route table;

[0101] Step 3: Determine if the vehicle meets the application requirements. If yes, proceed to Step 4; otherwise, proceed to Step 9.

[0102] Step 4: Determine if the AMR is about to enter the controlled area. If yes, proceed to step 5; otherwise, proceed to step 6.

[0103] Step 5: Add the AMR's path in the region to the pre-deployment path table, then proceed to Step 7;

[0104] Step 6: Add the next segment of the AMR to the pre-deployment path table, then proceed to Step 7;

[0105] Step 7: Determine if the collision detection passes. If yes, proceed to step 8; otherwise, proceed to step 3.

[0106] Step 8: Store the set of elements in the already distributed path table, clear the pre-distributed path table, and go to step 3;

[0107] Step 9: Check if the issued path table is empty. If yes, proceed to step 10; otherwise, wait and proceed to step 11.

[0108] Step 10: Vehicles proceed in sequence;

[0109] Step 11: Determine if the vehicle has reached the destination. If yes, proceed to step 12; otherwise, proceed to step 3.

[0110] Step 12: Task completed, vehicle-related route information cleared.

[0111] This embodiment, when the target AMR receives a new driving task, considers the utilization of the control area and uses a path planning algorithm to plan the entire route. Based on the specific map, the entire planned route is divided into multiple sub-planned routes. Before the target AMR moves, it is determined whether the next sub-path belongs to the control area. If it does not belong to the control area, the next non-control area sub-path is pre-issued to the target AMR. If it belongs to the control area, the next multiple control area sub-paths are pre-issued to the target AMR. Collision detection with direction is performed based on the pre-issued sub-planned routes to the target AMR. Based on the collision results, the target planned route corresponding to the target AMR is determined, and the target AMR is controlled to run. Compared with the existing technology, which has poor deadlock solutions for complex scenarios such as spatially intersecting paths and narrow paths, this embodiment adopts a regional control method with multi-segment path issuance, effectively achieving prevention of deadlock within the region and efficient passage of AMRs.

[0112] Furthermore, this embodiment of the invention also proposes a storage medium storing a path planning-based AMR deadlock prevention program, which, when executed by a processor, implements the steps of the path planning-based AMR deadlock prevention method described above.

[0113] refer to Figure 7 ， Figure 7 This is a structural block diagram of the first embodiment of the AMR anti-deadlock device based on path planning of the present invention.

[0114] like Figure 7 As shown, the path planning-based AMR anti-deadlock device proposed in this embodiment of the invention includes:

[0115] The path acquisition module 701 is used to acquire the multi-segment planned path of the target AMR application;

[0116] The collision detection module 702 is used to perform collision detection on the multiple planned paths and the occupied paths, and to obtain the collision direction between the multiple planned paths and the occupied paths;

[0117] The deadlock detection module 703 is used to determine whether there is a deadlock between the multiple planned paths and the occupied paths based on the collision direction.

[0118] The operation control module 704 is used to determine the target planning path corresponding to the target AMR based on the judgment result, and control the operation of the target AMR based on the target planning path.

[0119] This embodiment obtains multiple planned paths requested by the target AMR, performs collision detection on these planned paths and occupied paths, obtains the collision directions between the planned paths and occupied paths, determines whether a deadlock exists between the planned paths and occupied paths based on the collision directions, determines the target planned path corresponding to the target AMR based on the determination result, and controls the operation of the target AMR based on the target planned path. Compared with the prior art that prevents deadlock by setting a large number of blocks, the above method in this embodiment detects the multiple planned paths that the current AMR will travel on and the occupied paths in the current route, determines whether a deadlock exists based on the collision directions, and then executes the target planned path based on the determination result, thereby pre-determining the vehicle's behavior. By detecting and preempting in advance, it avoids vehicles getting stuck in deadlock conflicts in complex areas, improving traffic efficiency.

[0120] Other embodiments or specific implementations of the path planning-based AMR anti-deadlock device of the present invention can be referred to the above-described method embodiments, and will not be repeated here.

[0121] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0122] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0123] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0124] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A path planning based AMR anti-lock method, characterized in that, The method includes: Obtain multiple planned paths for the target AMR application. The multiple planned paths are control area planned paths obtained by dividing the entire planned path based on the driving task according to the driving area. The control area is an area on the map with intersecting paths or narrow one-way streets. Collision detection is performed on the multiple planned paths and the occupied paths to obtain the collision direction between the multiple planned paths and the occupied paths. This includes: obtaining path elements in the multiple planned paths and the occupied paths, where each path element includes nodes and topological edges; obtaining a collision region based on the path elements, and obtaining the angle of the collision region based on the included angle of the topological edges, wherein the collision region is the overlapping portion between the path elements of the multiple planned paths and the path elements of the occupied paths; and obtaining the collision direction between the multiple planned paths and the occupied paths through the angle of the collision region. Based on the collision direction, determine whether there is a deadlock between the multiple planned paths and the occupied paths; The target planned path corresponding to the target AMR is determined based on the judgment result, and the operation of the target AMR is controlled based on the target planned path, including: when there is a deadlock between the multiple planned paths and the occupied path, the target AMR waits until other vehicles complete the use of the occupied path; when there is no deadlock between the multiple planned paths and the occupied path, the operation of the target AMR is issued and controlled according to the multiple planned paths. Prior to the step of obtaining the multi-segment planning path of the target AMR application, the method further includes: When the target AMR receives a new driving task, a route planning algorithm is used to plan the route for the target AMR and obtain the planned path for the entire route. Based on the driving area of ​​the driving task, the entire planned route is divided into a non-controlled area planned route and a controlled area planned route, resulting in multiple planned routes. Determine whether the next planned path of the target AMR belongs to the planned path of the control area; If it does not belong to the target AMR, the next non-control area segment path will be pre-sent to the target AMR. If it belongs to the target AMR, the next multi-segment control area sub-path will be pre-issued to the target AMR.

2. The path planning based AMR anti deadlock method of claim 1, wherein, The step of determining whether a deadlock exists between the multiple planned paths and the already occupied paths based on the collision direction includes: The angle of the collision area is compared with a preset angle to determine whether the collision detection passes. When the angle of the collision area is greater than the preset angle, it is determined to be a reverse collision, the collision detection fails, and there is a deadlock between the multi-segment planned path and the occupied path.

3. The path planning based AMR anti deadlock method of claim 2, wherein, After the step of comparing the angle of the collision area with a preset angle to determine whether the collision detection passes, the method further includes: When the angle of the collision area is less than or equal to the preset angle, it is determined to be a collision in the same direction, the collision detection is passed, and there is no deadlock between the multi-segment planned path and the occupied path.

4. The path planning based AMR anti deadlock method of claim 1, wherein, Before the step of performing collision detection on the multiple planned paths and the occupied paths to obtain the collision direction between the multiple planned paths and the occupied paths, the method includes: By comparing the remaining distance of the current planned path with the minimum braking distance of the target AMR, it is determined whether the target AMR meets the vehicle application requirements; When the remaining distance of the current planned path is less than the minimum braking distance of the target AMR, the target AMR is determined to meet the vehicle application conditions, and the next planned path is issued to the target AMR.

5. A path planning based AMR anti deadlock device, characterized in that, The device includes: The path acquisition module is used to acquire multiple planned paths for the target AMR application. The multiple planned paths are control area planned paths obtained by dividing the entire line of the driving task according to the driving area. The control area is an area in the map with intersecting paths or narrow one-way streets. The collision detection module is used to perform collision detection on the multiple planned paths and the occupied paths, and obtain the collision direction between the multiple planned paths and the occupied paths. The collision direction is either a same-direction collision or a reverse collision. The reverse collision is used to characterize the existence of a deadlock. The collision detection module is further configured to acquire path elements in the multi-segment planned path and the occupied path, wherein the path elements include nodes and topological edges; obtain a collision region based on the path elements, and obtain the angle of the collision region based on the included angle of the topological edges, wherein the collision region is the part where there is overlap between the path elements of the multi-segment planned path and the path elements of the occupied path; and obtain the collision direction between the multi-segment planned path and the occupied path through the angle of the collision region. The deadlock detection module is used to determine whether there is a deadlock between the multiple planned paths and the occupied paths based on the collision direction. The operation control module is used to determine the target planning path corresponding to the target AMR based on the judgment result, and control the operation of the target AMR based on the target planning path; The operation control module is also used to, when there is a deadlock between the multiple planned paths and the occupied paths, make the target AMR wait until other vehicles complete the use of the occupied paths; and when there is no deadlock between the multiple planned paths and the occupied paths, issue and control the target AMR to run according to the multiple planned paths. The path acquisition module is further configured to, when the target AMR receives a new driving task, use a route planning algorithm to plan a route for the target AMR to obtain a full-line planned path; based on the driving area of ​​the driving task, divide the full-line planned path into a non-control area planned path and a control area planned path to obtain multiple planned paths; determine whether the next planned path segment of the target AMR belongs to the control area planned path; if not, pre-send the next non-control area sub-path segment to the target AMR; if it does, pre-send the next multiple control area sub-path segments to the target AMR.

6. A path planning based AMR anti deadlock device, characterized in that, The device includes: a memory, a processor, and a path planning-based AMR deadlock prevention program stored in the memory and executable on the processor, the path planning-based AMR deadlock prevention program being configured to implement the steps of the path planning-based AMR deadlock prevention method as described in any one of claims 1 to 4.

7. A storage medium, characterized by The storage medium stores an AMR anti-deadlock program based on path planning, which, when executed by a processor, implements the steps of the AMR anti-deadlock method based on path planning as described in any one of claims 1 to 4.

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