An automatic guiding vehicle driving path determination method, device, equipment and medium

Abstract

The application provides an automatic guided vehicle driving path determination method, device, equipment and medium, wherein an initial path cost of at least one optional path is determined to obtain a first target driving path of a preceding vehicle; an initial sub-path cost of at least one sub-path contained in the first target driving path is increased by a preset multiple to obtain a target sub-path cost; for each optional path, a target path cost of the optional path is determined according to the initial sub-path cost of at least one sub-path contained in the optional path and the target sub-path cost of each sub-path contained in the first target driving path; and a second target driving path of a following vehicle is determined according to the target path cost of each optional path, wherein the following vehicle is a vehicle whose departure time is later than that of the preceding vehicle. By using the above method, it is ensured that the automatic guided vehicle can normally drive according to the driving path, and the time consumed by the automatic guided vehicle during driving is reduced.

Description

Technical Field

[0001] This invention relates to the field of automated guided vehicle (AGV) scheduling, and more specifically, to a method, apparatus, device, and medium for determining the travel path of AGVs. Background Technology

[0002] Automated Guided Vehicles (AGVs) are transportation vehicles equipped with electromagnetic or optical automatic guidance devices, controlled by computers, characterized by wheeled movement, self-powered or power conversion devices, and capable of automatically traveling along a prescribed guidance path. They generally have multiple functions such as safety protection and transfer.

[0003] AGV scheduling refers to the functions of task management, equipment management, and traffic management in a system with multiple AGVs, enabling all AGVs to complete tasks rationally. Task allocation in the AGV scheduling system assigns tasks to specific AGVs for execution according to certain principles; and generates paths for all specified AGVs so that they can complete the assigned tasks.

[0004] Existing AGV path planning is static; it generates the shortest path upon departure and then follows that path until the task's destination. However, the inventors discovered that this method of vehicle scheduling can lead to congestion due to vehicles ahead traveling slower than those behind, preventing AGVs from following their designated paths. Alternatively, multiple AGVs may queue when passing through busy areas, further increasing the time required for their journey. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide an automatic guidance vehicle driving path determination method, device, equipment and medium to ensure that the automatic guidance vehicle can drive normally according to the driving path, while reducing the time required for the automatic guidance vehicle to drive.

[0006] In a first aspect, embodiments of this application provide an automatic guidance method for determining a vehicle's driving path, the method comprising:

[0007] A first target driving path for the prior automated guided vehicle is determined based on the initial path cost of at least one alternative path, wherein each of the alternative paths has the same start and end point, and only one automated guided vehicle is allowed to pass through the same location in each of the alternative paths at the same time.

[0008] The target sub-path cost is obtained by increasing the initial sub-route cost of at least one sub-path contained in the first target driving path by a preset multiple.

[0009] For each of the optional paths, the target path cost of the optional path is determined based on the initial sub-path cost of at least one sub-path contained in the optional path and the target sub-path cost of each of the sub-paths contained in the first target driving path.

[0010] A second target travel path for the subsequent automated guided vehicle is determined based on the target path cost of each of the optional paths, wherein the subsequent automated guided vehicle is an automated guided vehicle whose departure time is later than that of the preceding automated guided vehicle.

[0011] Optionally, before determining a first target driving path for the automatically guided vehicle based on the initial path cost of at least one alternative path, the method further includes:

[0012] For each of the optional paths, the initial path cost of the optional path is determined based on the initial sub-path cost of at least one sub-path contained in the optional path and the inflection point cost of the optional path, wherein the inflection point cost of the optional path is obtained based on the number of inflection points in the optional path and the inflection point cost pre-configured for each of the inflection points.

[0013] Optionally, determining the target path cost of each of the optional paths based on the initial sub-path cost of at least one sub-path included in the optional path and the target sub-path cost of each of the sub-paths included in the first target travel path includes:

[0014] For each of the optional paths, the target path cost is determined based on the sub-path cost of at least one repeated sub-path that overlaps with the first target travel path and the sub-path cost of at least one non-repeated sub-path that does not overlap with the first target travel path. The sub-path cost of each repeated sub-path is the target sub-path cost, and the sub-path cost of each non-repeated sub-path is the initial sub-path cost.

[0015] Optionally, for each of the optional paths, determining the target path cost of the optional path based on the sub-path cost of at least one repeated sub-path that overlaps with the first target travel path and the sub-path cost of at least one non-repeating sub-path that does not overlap with the first target travel path includes:

[0016] For each optional path, the sum of the sub-path cost of the optional path and at least one repeated sub-path in the first target driving path, the sub-path cost of the optional path and at least one non-repeated sub-path in the first target driving path, and the turning point cost of the optional path is determined as the target path cost of the optional path.

[0017] Optionally, after determining a second target driving path for the subsequently automatically guided vehicle based on the target path cost of each of the optional paths, the method further includes:

[0018] The system controls the preceding automatically guided vehicle to travel along the first target travel path at its departure time, and controls the following automatically guided vehicle to travel along the second target travel path at its departure time.

[0019] Secondly, embodiments of this application provide an automatic vehicle travel path determination device, the device comprising:

[0020] The first target driving path determination module is used to determine the first target driving path of the prior autoguided vehicle based on the initial path cost of at least one optional path, wherein each of the optional paths has the same start and end point, and only one autoguided vehicle is allowed to pass through the same location in each of the optional paths at the same time.

[0021] The target sub-path cost determination module is used to increase the initial sub-route cost of at least one sub-path contained in the first target driving path by a preset multiple to obtain the target sub-path cost;

[0022] The target path cost determination module is used to determine the target path cost of each of the optional paths based on the initial sub-path cost of at least one sub-path contained in the optional path and the target sub-path cost of each of the sub-paths contained in the first target driving path.

[0023] The second target driving path determination module is used to determine the second target driving path of the subsequent automatically guided vehicle based on the target path cost of each of the optional paths, wherein the subsequent automatically guided vehicle is an automatically guided vehicle whose departure time is later than that of the preceding automatically guided vehicle.

[0024] Optionally, the device further includes:

[0025] An initial path cost determination module is used to determine the initial path cost of each optional path for an automatically guided vehicle before determining the first target driving path based on the initial path cost of at least one optional path. This initial path cost is determined based on the initial sub-route cost of at least one sub-path contained in the optional path and the turning point cost of the optional path. The turning point cost of the optional path is obtained based on the number of turning points in the optional path and the turning point cost pre-configured for each turning point.

[0026] Optionally, when the target path cost determination module determines the target path cost of each optional path based on the initial sub-path cost of at least one sub-path contained in the optional path and the target sub-path cost of each sub-path contained in the first target driving path, it is specifically used for:

[0027] For each of the optional paths, the target path cost is determined based on the sub-path cost of at least one repeated sub-path that overlaps with the first target travel path and the sub-path cost of at least one non-repeated sub-path that does not overlap with the first target travel path. The sub-path cost of each repeated sub-path is the target sub-path cost, and the sub-path cost of each non-repeated sub-path is the initial sub-path cost.

[0028] Optionally, when the target path cost determination module determines the target path cost of each optional path based on the sub-path cost of at least one repeated sub-path that overlaps with the first target travel path and the sub-path cost of at least one non-repeating sub-path that does not overlap with the first target travel path, it is specifically used for:

[0029] For each optional path, the sum of the sub-path cost of the optional path and at least one repeated sub-path in the first target driving path, the sub-path cost of the optional path and at least one non-repeated sub-path in the first target driving path, and the turning point cost of the optional path is determined as the target path cost of the optional path.

[0030] Optionally, the device further includes:

[0031] An automatic guided vehicle control module is used to, after determining the second target driving path for the subsequent automatic guided vehicle based on the target path cost of each of the optional paths, control the preceding automatic guided vehicle to travel along the first target driving path at its departure time, and control the subsequent automatic guided vehicle to travel along the second target driving path at its departure time.

[0032] Thirdly, embodiments of this application provide a computer device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the computer device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of the automatic guidance vehicle driving path determination method described in any of the optional embodiments of the first aspect are performed.

[0033] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the automatic vehicle driving path determination method described in any of the optional embodiments of the first aspect.

[0034] The technical solution provided in this application includes, but is not limited to, the following beneficial effects:

[0035] A first target travel path for the prior automated guided vehicle is determined based on the initial path cost of at least one alternative path, wherein each alternative path has the same start and end point, and only one automated guided vehicle is allowed to pass through the same location in each alternative path at the same time; through the above steps, a travel path that enables the prior automated guided vehicle to pass through at the fastest speed can be determined.

[0036] The initial sub-path cost of at least one sub-path included in the first target driving path is increased by a preset multiple to obtain the target sub-path cost; for each optional path, the target path cost of the optional path is determined based on the initial sub-path cost of at least one sub-path included in the optional path and the target sub-path cost of each sub-path included in the first target driving path; through the above steps, the path cost of each optional path under the influence of the prior automatic guidance vehicle can be determined.

[0037] A second target driving path for the subsequent automated guided vehicle is determined based on the target path cost of each of the optional paths, wherein the subsequent automated guided vehicle is an automated guided vehicle whose departure time is later than that of the preceding automated guided vehicle; through the above steps, the driving path most suitable for the subsequent automated guided vehicle to travel under the influence of the preceding automated guided vehicle can be determined from all optional paths.

[0038] Using the above method, the first target driving path of the automated guided vehicle (AGV) that departs first is first determined. Then, the sub-path costs of the sub-paths included in the first target driving path are adjusted, and the path cost of each optional path is updated to obtain the target path cost of each optional path under the influence of the preceding vehicle. Then, the second target driving path of the following vehicle is determined based on the target path cost of each optional path, so as to ensure that the AGV can drive normally according to the driving path, while reducing the time required for the AGV to drive.

[0039] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart of an automatic vehicle travel path determination method provided in Embodiment 1 of the present invention is shown;

[0042] Figure 2 A schematic diagram of a specific target sub-path cost determination method provided in Embodiment 1 of the present invention is shown;

[0043] Figure 3 This diagram illustrates a specific target path cost calculation method provided in Embodiment 1 of the present invention.

[0044] Figure 4 This figure shows a schematic diagram of an automatic vehicle travel path determination device provided in Embodiment 2 of the present invention;

[0045] Figure 5 A flowchart of the second type of automatic guided vehicle travel path determination device provided in Embodiment 1 of the present invention is shown;

[0046] Figure 6 The flowchart of the third type of automatic vehicle travel path determination device provided in Embodiment 1 of the present invention is shown;

[0047] Figure 7 A schematic diagram of the structure of a computer device provided in Embodiment 3 of the present invention is shown. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0049] Example 1

[0050] To facilitate understanding of this application, the following is combined with... Figure 1 The flowchart illustrating an automatic vehicle travel path determination method provided in Embodiment 1 of the present invention will be described in detail for Embodiment 1 of this application.

[0051] See Figure 1 As shown, Figure 1 The flowchart illustrates an automatic guidance vehicle travel path determination method according to Embodiment 1 of the present invention, wherein the method includes steps S101 to S104:

[0052] S101: Determine a first target driving path for the prior automated guided vehicle based on the initial path cost of at least one optional path, wherein each of the optional paths has the same start and end point, and only one automated guided vehicle is allowed to pass through the same location in each of the optional paths at the same time.

[0053] Specifically, path cost is a numerical value used to characterize the time required for an automated guided vehicle (AGV) to travel from a starting point to a destination along a certain driving path. Different path costs can be used to describe the different times it takes for an AGV to travel the same path. The magnitude of the path cost is directly proportional to the magnitude of the time required for an AGV to travel from a starting point to a destination along a certain driving path. That is, the higher the path cost of a certain driving path, the longer it takes for an AGV to travel from the starting point to the destination along that driving path. Conversely, the lower the path cost of a certain driving path, the shorter it takes for an AGV to travel from the starting point to the destination along that driving path.

[0054] For each of the optional paths, the optional path consists of at least one sub-path, or it can be understood that the optional path can be divided into multiple sub-paths. In each of the optional paths, each sub-path has the same length and the same sub-path cost. The initial path cost of the optional path is the sum of the initial sub-path costs of at least one sub-path contained in the optional path, and the initial sub-path cost of each sub-path is preset.

[0055] Based on the above description, the optional path with the minimum initial path cost is selected from at least one optional path as the first target driving path for the pre-guided vehicle, so as to ensure that the pre-guided vehicle can travel from the starting point to the destination earlier through the first target driving path.

[0056] S102: Increase the initial sub-route cost of at least one sub-path included in the first target driving path by a preset multiple to obtain the target sub-path cost.

[0057] Specifically, since the first target travel path has been determined as the travel path of the previously automatically guided vehicle, after the previously automatically guided vehicle departs, the first target travel path has a greater path load than other optional paths, and the possibility of congestion is also greater. Therefore, the initial sub-route cost of at least one sub-path contained in the first target travel path is increased by a preset multiple to obtain the target sub-path cost, so as to illustrate that the congestion possibility of the sub-path contained in the first target travel path is greater than that of other sub-paths, which can be used as a reference in subsequent path planning.

[0058] For example, see Figure 2 As shown, Figure 2 This diagram illustrates a specific method for determining the cost of a target sub-path according to Embodiment 1 of the present invention. The selectable paths include path A and path B. Path A includes at least one sub-path, namely sub-paths A1, A2, A3, and A4. Path B includes at least one sub-path, namely sub-paths B1, B2, B3, and B4. A1 and B1 overlap, and A4 and B4 overlap. When the cost of each sub-path is 100, if the first target travel path determined in step S101 is path A, then the costs of sub-paths A1, A2, A3, and A4 included in path A are all increased by a factor of 1.1 to obtain a target sub-path cost of 110.

[0059] S103: For each of the optional paths, the target path cost of the optional path is determined based on the initial sub-path cost of at least one sub-path contained in the optional path and the target sub-path cost of each of the sub-paths contained in the first target driving path.

[0060] Specifically, for each optional path, the path cost of that optional path is the sum of the sub-path costs of the sub-paths contained in that optional path. Since each optional path may have overlapping (repeated) parts, after the sub-path cost of the sub-paths contained in the first target travel path changes, the path cost of the optional path that has overlapping parts with the first target travel path (has the same sub-paths or the sub-paths overlap) will also change.

[0061] Therefore, for each of the optional paths, the target path cost under the influence of the first target driving path is determined based on the initial sub-path cost of the sub-paths whose sub-path costs have not changed and the target sub-path cost of the sub-paths whose sub-path costs have changed to the target sub-path cost.

[0062] S104: Determine a second target driving path for the following automated guided vehicle based on the target path cost of each of the optional paths, wherein the following automated guided vehicle is an automated guided vehicle whose departure time is later than that of the preceding automated guided vehicle.

[0063] Specifically, similar to step S104, in order to avoid the potential impact of the earlier automatically guided vehicle on the later automatically guided vehicle (e.g., the earlier automatically guided vehicle's speed is lower than the later automatically guided vehicle's speed, or the earlier automatically guided vehicle malfunctions and cannot drive, or the road load is too high, and multiple automatically guided vehicles on the same path increase the probability of the above-mentioned unexpected situations), the optional path with the lowest target path cost is selected from at least one optional path as the second target driving path for the later automatically guided vehicle.

[0064] In one feasible implementation, before determining a first target driving path for the automatically guided vehicle based on the initial path cost of at least one alternative path, the method further includes:

[0065] For each of the optional paths, the initial path cost of the optional path is determined based on the initial sub-path cost of at least one sub-path contained in the optional path and the inflection point cost of the optional path, wherein the inflection point cost of the optional path is obtained based on the number of inflection points in the optional path and the inflection point cost pre-configured for each of the inflection points.

[0066] Specifically, inflection point cost is used to characterize the time required for an automated guided vehicle to pass through each inflection point in the path.

[0067] A value is pre-configured for each inflection point, and the value of each inflection point is the same. The inflection point value is multiplied by the inflection point cost, that is, the sum of the inflection point cost values ​​of all inflection points included in the optional path is calculated, and the sum is used as the inflection point cost of the optional path.

[0068] The step of determining the initial path cost of the optional path based on the initial sub-path cost of at least one sub-path included in the optional path and the inflection point cost of the optional path includes:

[0069] The initial path cost of the optional path is obtained by summing the initial sub-path cost of each sub-path contained in the optional path and the turning point cost of the optional path.

[0070] For example, if the optional path A includes at least one sub-path A1, A2, A3 and A4, and two turning points X1 and X2, and the turning point cost is pre-configured to be 50, then the turning point cost of path A can be calculated to be 100. When the initial sub-path cost of each sub-path is 100, then the initial path cost of path A can be calculated to be 500.

[0071] Before determining the initial path cost of each optional path based on the initial sub-path cost of at least one sub-path contained in the optional path and the inflection point cost of the optional path, the method further includes:

[0072] The initial sub-path cost C for each sub-path is determined according to the following formula:

[0073] C = L × 1.1 N ;

[0074] Where L is the length of each sub-path, and N is the number of automatically guided vehicles that have not passed through the current sub-path.

[0075] The method further includes:

[0076] Obtain the path start point, at least one path node, and the path end point, and store the path start point, the at least one path node, and the path end point into the database to be searched;

[0077] The point with the minimum path cost between the target search database and the path endpoint is determined as the current point and stored in the search database.

[0078] Get the target points that can be reached from the current point. For each target point, determine whether the target point is the end point of the path. If the target point is the end point of the path, generate an optional path by using the target point as the parent node of the path start point.

[0079] If the target point is not the end point of the path, then determine whether the target point is in the database to be searched. If the target point is not in the database to be searched, then use the target point as the parent node of the path start point to generate an optional path, and add the target point to the database to be searched.

[0080] If the target point is in the database to be searched, calculate the path cost from the target point to the end of the path and the path cost from the current point to the end of the path.

[0081] Determine whether the path cost from the target point to the end point of the path exceeds the path cost from the current point to the end point of the path. If it does, then the current point is set as the parent node of the end point of the path. If it does not, then the target point is set as the parent node of the end point of the path.

[0082] After completing the above processing, determine whether an optional path (including both the path start and the path end) has been found. If so, an optional path has been found. Otherwise, repeat the above search process until an optional path that includes both the path start and the path end is found.

[0083] In one feasible implementation, determining the target path cost of each of the optional paths based on the initial sub-path cost of at least one sub-path included in the optional path and the target sub-path cost of each of the sub-paths included in the first target travel path includes:

[0084] For each of the optional paths, the target path cost is determined based on the sub-path cost of at least one repeated sub-path that overlaps with the first target travel path and the sub-path cost of at least one non-repeated sub-path that does not overlap with the first target travel path. The sub-path cost of each repeated sub-path is the target sub-path cost, and the sub-path cost of each non-repeated sub-path is the initial sub-path cost.

[0085] Specifically, each optional path may have duplicate sub-paths. For each optional path, when the optional path has duplicate sub-paths with the first target driving path, it means that when the automatically guided vehicle travels on these duplicate sub-paths in the first target driving path, it may affect the automatically guided vehicle in the following path. In this case, the sub-path cost of the duplicate sub-path is updated to the target sub-path cost processed by step S102. The non-duplicate sub-paths are not affected by the travel of the automatically guided vehicle in the preceding path, so the sub-path cost of the non-duplicate sub-paths is not adjusted, and the target path cost is still calculated based on the initial sub-path cost.

[0086] In a feasible implementation, determining the target path cost of each optional path based on the sub-path cost of at least one repeated sub-path that overlaps with the first target travel path and the sub-path cost of at least one non-repeating sub-path that does not overlap with the first target travel path for each optional path includes:

[0087] For each optional path, the sum of the sub-path cost of the optional path and at least one repeated sub-path in the first target driving path, the sub-path cost of the optional path and at least one non-repeated sub-path in the first target driving path, and the turning point cost of the optional path is determined as the target path cost of the optional path.

[0088] Specifically, for example, see Figure 3 As shown, Figure 3 This diagram illustrates a specific target path cost calculation method provided in Embodiment 1 of the present invention. The selectable paths include path A and path B. Path A includes at least one sub-path, namely sub-paths A1, A2, A3, and A4, and turning points X1 and X2. Path B includes at least one sub-path, namely sub-paths B1, B2, B3, and B4, and turning points Y1 and Y2. Sub-paths A1 and B1 are repeated. The initial sub-path cost of each sub-path is 100, and the turning point cost is 50. Therefore, the initial path cost of path A is 500, and the initial path cost of path B is 500. After determining that the first target travel path is path A, the target sub-path cost is increased to 110. Thus, the target path cost of path A is 540, and the target path cost of path B is 510.

[0089] In one feasible implementation, after determining a second target driving path for the subsequently automatically guided vehicle based on the target path cost of each of the optional paths, the method further includes:

[0090] The system controls the preceding automatically guided vehicle to travel along the first target travel path at its departure time, and controls the following automatically guided vehicle to travel along the second target travel path at its departure time.

[0091] Specifically, after determining the second target driving path for the subsequent automatically guided vehicles based on the target path cost of each of the optional paths, automatic vehicle scheduling begins, controlling the preceding automatically guided vehicles to travel along the first target driving path at their departure time, and controlling the subsequent automatically guided vehicles to travel along the second target driving path at their departure time.

[0092] After controlling the preceding automated guided vehicle to travel along the first target travel path at its departure time and controlling the following automated guided vehicle to travel along the second target travel path at its departure time, the position of the preceding automated guided vehicle in the first target travel path can be monitored in real time. The sub-path cost of the sub-paths that the preceding automated guided vehicle has already traveled will be reduced by a preset percentage, and then the path cost of each optional path will be recalculated based on the reduced sub-path cost.

[0093] If a long-term congestion is detected on an optional route during the automatic guidance of vehicles (the automatic guidance vehicle cannot travel for a period of time exceeding a preset threshold), the cost of each sub-path of that optional route will be increased by a preset multiple (e.g., 10 times).

[0094] Example 2

[0095] See Figure 4 As shown, Figure 4 A schematic diagram of an automatic vehicle travel path determination device according to Embodiment 2 of the present invention is shown, wherein the device includes:

[0096] The first target driving path determination module 401 is used to determine the first target driving path of the prior autoguided vehicle based on the initial path cost of at least one optional path, wherein each of the optional paths has the same start and end point, and only one autoguided vehicle is allowed to pass through the same location in each optional path at the same time.

[0097] The target sub-path cost determination module 402 is used to increase the initial sub-route cost of at least one sub-path contained in the first target driving path by a preset multiple to obtain the target sub-path cost;

[0098] The target path cost determination module 403 is used to determine the target path cost of each of the optional paths based on the initial sub-path cost of at least one sub-path contained in the optional path and the target sub-path cost of each of the sub-paths contained in the first target driving path.

[0099] The second target driving path determination module 404 is used to determine the second target driving path of the following automatically guided vehicle based on the target path cost of each of the optional paths, wherein the following automatically guided vehicle is an automatically guided vehicle whose departure time is later than that of the preceding automatically guided vehicle.

[0100] In one feasible implementation plan, see Figure 5 As shown, Figure 5 A flowchart of a second type of automatically guided vehicle travel path determination device provided in Embodiment 1 of the present invention is shown, wherein the device further includes:

[0101] The initial path cost determination module 501 is used to determine the initial path cost of each optional path for the automatically guided vehicle before determining the first target driving path based on the initial path cost of at least one optional path. This initial path cost is determined based on the initial sub-route cost of at least one sub-path contained in the optional path and the turning point cost of the optional path. The turning point cost of the optional path is obtained based on the number of turning points in the optional path and the turning point cost pre-configured for each turning point.

[0102] In one feasible implementation, the target path cost determination module, when determining the target path cost of each optional path based on the initial sub-path cost of at least one sub-path contained in the optional path and the target sub-path cost of each sub-path contained in the first target driving path, is specifically used for:

[0103] For each of the optional paths, the target path cost is determined based on the sub-path cost of at least one repeated sub-path that overlaps with the first target travel path and the sub-path cost of at least one non-repeated sub-path that does not overlap with the first target travel path. The sub-path cost of each repeated sub-path is the target sub-path cost, and the sub-path cost of each non-repeated sub-path is the initial sub-path cost.

[0104] In one feasible implementation, the target path cost determination module, when determining the target path cost of each optional path based on the sub-path cost of at least one repeated sub-path that overlaps with the first target travel path and the sub-path cost of at least one non-repeating sub-path that does not overlap with the first target travel path, is specifically used for:

[0105] For each optional path, the sum of the sub-path cost of the optional path and at least one repeated sub-path in the first target driving path, the sub-path cost of the optional path and at least one non-repeated sub-path in the first target driving path, and the turning point cost of the optional path is determined as the target path cost of the optional path.

[0106] In one feasible implementation plan, see Figure 6 As shown, Figure 6 The flowchart of the third type of automatic guided vehicle travel path determination device provided in Embodiment 1 of the present invention is shown, wherein the device further includes:

[0107] The automatic guided vehicle control module 601 is used to control the preceding automatic guided vehicle to travel along the first target travel path at its departure time, and to control the following automatic guided vehicle to travel along the second target travel path at its departure time, after determining the second target travel path of the subsequent automatic guided vehicle based on the target path cost of each of the optional paths.

[0108] Example 3

[0109] Based on the same application concept, see [link / reference] Figure 7 As shown, Figure 7 A schematic diagram of the structure of a computer device provided in Embodiment 3 of the present invention is shown, wherein, as Figure 7 As shown, the computer device 700 provided in Embodiment 3 of this application includes:

[0110] The computer device 700 includes a processor 701, a memory 702, and a bus 703. The memory 702 stores machine-readable instructions that can be executed by the processor 701. When the computer device 700 is running, the processor 701 communicates with the memory 702 through the bus 703. When the machine-readable instructions are executed by the processor 701, the steps of the automatic guided vehicle driving path determination method shown in Embodiment 1 are performed.

[0111] Example 4

[0112] Based on the same concept, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, performs the steps of the automatic guided vehicle driving path determination method described in any of the above embodiments.

[0113] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and apparatus described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0114] The computer program product for determining the driving path of an automatically guided vehicle provided in this embodiment of the invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0115] The automatic vehicle path determination device provided in this embodiment of the invention can be specific hardware on the device or software or firmware installed on the device. The system provided in this embodiment of the invention has the same implementation principle and technical effects as the aforementioned method embodiments. For the sake of brevity, any parts not mentioned in the system embodiments can be referred to the corresponding content in the aforementioned method embodiments. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can all be referred to the corresponding processes in the above method embodiments, and will not be repeated here.

[0116] In the embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0117] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0118] In addition, the functional units in the embodiments provided by the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0119] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0120] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0121] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. All should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for automatically guiding vehicles to determine their travel path, characterized in that, The method includes: A first target driving path for the prior automated guided vehicle is determined based on the initial path cost of at least one alternative path, wherein each of the alternative paths has the same start and end point, and only one automated guided vehicle is allowed to pass through the same location in each of the alternative paths at the same time. The target sub-path cost is obtained by increasing the initial sub-route cost of at least one sub-path contained in the first target driving path by a preset multiple. For each of the optional paths, the target path cost of the optional path is determined based on the initial sub-path cost of at least one sub-path contained in the optional path and the target sub-path cost of each of the sub-paths contained in the first target driving path. A second target driving path for the subsequent automated guided vehicle is determined based on the target path cost of each of the optional paths, wherein the subsequent automated guided vehicle is an automated guided vehicle whose departure time is later than that of the preceding automated guided vehicle. The system controls the preceding automatically guided vehicle to travel along the first target travel path at its departure time, and controls the following automatically guided vehicle to travel along the second target travel path at its departure time. The position of the previously automatically guided vehicle in the first target driving path is monitored in real time, and the sub-path cost of the sub-path that the previously automatically guided vehicle has already traveled is reduced by a preset percentage. The path cost of each optional path is recalculated based on the reduced sub-path cost. If congestion is detected on an optional route during the automatic guidance of the vehicle and the duration of the congestion exceeds a preset threshold, the cost of each sub-path of that optional route will be increased by a preset multiple.

2. The method according to claim 1, characterized in that, Before determining a first target driving path for the automatically guided vehicle based on the initial path cost of at least one alternative path, the method further includes: For each of the optional paths, the initial path cost of the optional path is determined based on the initial sub-path cost of at least one sub-path contained in the optional path and the inflection point cost of the optional path, wherein the inflection point cost of the optional path is obtained based on the number of inflection points in the optional path and the inflection point cost pre-configured for each of the inflection points.

3. The method according to claim 1, characterized in that, For each of the optional paths, the target path cost of the optional path is determined based on the initial sub-path cost of at least one sub-path contained in the optional path and the target sub-path cost of each of the sub-paths contained in the first target travel path, including: For each of the optional paths, the target path cost is determined based on the sub-path cost of at least one repeated sub-path that overlaps with the first target travel path and the sub-path cost of at least one non-repeated sub-path that does not overlap with the first target travel path. The sub-path cost of each repeated sub-path is the target sub-path cost, and the sub-path cost of each non-repeated sub-path is the initial sub-path cost.

4. The method according to claim 3, characterized in that, For each of the optional paths, the target path cost of the optional path is determined based on the sub-path cost of at least one repeated sub-path that overlaps with the first target travel path and the sub-path cost of at least one non-repeated sub-path that does not overlap with the first target travel path. This includes: For each optional path, the sum of the sub-path cost of the optional path and at least one repeated sub-path in the first target driving path, the sub-path cost of the optional path and at least one non-repeated sub-path in the first target driving path, and the turning point cost of the optional path is determined as the target path cost of the optional path.

5. An automatic vehicle path determination device, characterized in that, The device includes: The first target driving path determination module is used to determine the first target driving path of the prior autoguided vehicle based on the initial path cost of at least one optional path, wherein each of the optional paths has the same start and end point, and only one autoguided vehicle is allowed to pass through the same location in each of the optional paths at the same time. The target sub-path cost determination module is used to increase the initial sub-route cost of at least one sub-path contained in the first target driving path by a preset multiple to obtain the target sub-path cost; The target path cost determination module is used to determine the target path cost of each of the optional paths based on the initial sub-path cost of at least one sub-path contained in the optional path and the target sub-path cost of each of the sub-paths contained in the first target driving path. The second target driving path determination module is used to determine the second target driving path of the subsequent automatically guided vehicle based on the target path cost of each of the optional paths, wherein the subsequent automatically guided vehicle is an automatically guided vehicle whose departure time is later than that of the preceding automatically guided vehicle. An automated guided vehicle control module is used to control the preceding automated guided vehicle to travel along the first target travel path at its departure time, and to control the following automated guided vehicle to travel along the second target travel path at its departure time; to monitor the position of the preceding automated guided vehicle in the first target travel path in real time, reduce the sub-path cost of the sub-paths already traveled by the preceding automated guided vehicle by a preset percentage, and recalculate the path cost of each optional path based on the reduced sub-path cost; if congestion is detected on an optional path during the driving of the automated guided vehicle and the congestion duration exceeds a preset threshold, the sub-path cost of each sub-path of that optional path is increased by a preset multiple.

6. The apparatus according to claim 5, characterized in that, The device further includes: An initial path cost determination module is used to determine the initial path cost of each optional path for an automatically guided vehicle before determining the first target driving path based on the initial path cost of at least one optional path. This initial path cost is determined based on the initial sub-route cost of at least one sub-path contained in the optional path and the turning point cost of the optional path. The turning point cost of the optional path is obtained based on the number of turning points in the optional path and the turning point cost pre-configured for each turning point.

7. The apparatus according to claim 5, characterized in that, When the target path cost determination module determines the target path cost of each optional path based on the initial sub-path cost of at least one sub-path contained in the optional path and the target sub-path cost of each sub-path contained in the first target driving path, it is specifically used for: For each of the optional paths, the target path cost is determined based on the sub-path cost of at least one repeated sub-path that overlaps with the first target travel path and the sub-path cost of at least one non-repeated sub-path that does not overlap with the first target travel path. The sub-path cost of each repeated sub-path is the target sub-path cost, and the sub-path cost of each non-repeated sub-path is the initial sub-path cost.

8. A computer device, characterized in that, include: The computer device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the computer device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of the automatic guided vehicle driving path determination method as described in any one of claims 1 to 4.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the automatic guidance vehicle driving path determination method as described in any one of claims 1 to 4.

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