Method, device, computer equipment and readable storage medium for moving part path planning

Abstract

The embodiment of the present application provides a method, device, computer equipment and readable storage medium for moving part path planning, the method comprising: obtaining multiple target moving parts, and determining the starting node and target node of each target moving part; selecting multiple target intermediate nodes based on the path cost of each intermediate node relative to the starting node and the target node, and generating the target path of the target moving part according to the multiple target intermediate nodes; determining the node arrival time of the target moving part when passing through multiple target intermediate nodes based on the sub-path cost and movement speed contained in the target path; marking the node arrival time of each target intermediate node in the initial time sequence map to obtain the target time sequence map; performing time conflict detection according to the node arrival time to obtain the detection result; performing moving part path planning based on the detection result to obtain the moving part path planning result. In this way, while optimizing the paths of multiple moving parts, potential collisions between moving parts can be effectively avoided.

Description

Technical Field

[0001] The present application relates to the technical field of path planning, and in particular to a mover path planning method, device, computer equipment and readable storage medium. Background Art

[0002] In the magnetic levitation planar conveying system, the mover (also called the suspension slider or load) is a device suspended on the guide rail by magnetic force. It contains magnetic materials inside, and the guide rail generates a magnetic field. By changing the magnetic field distribution on the guide rail, the direction and speed of the mover on the guide rail can be controlled to avoid collision between the mover and other objects (such as other movers, fixed obstacles, etc.), while optimizing the movement trajectory of the mover.

[0003] In the related art, the depth-first search algorithm (DFS) or the Dijkstra algorithm can be used to perform path planning for multiple movers. Although these methods can help find and plan paths, it is often difficult to determine the optimal path trajectory, and potential collisions between the movers cannot be effectively avoided during the path planning process. Summary of the invention

[0004] The main purpose of the embodiments of the present application is to propose a mover path planning method, device, computer equipment and readable storage medium, which can effectively avoid potential collisions between movers while optimizing the paths of multiple movers.

[0005] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application proposes a mover path planning method, the method comprising:

[0006] Acquire multiple target movers, and determine a start node and a target node of each target mover from a preset initial time sequence map, wherein the initial time sequence map includes multiple intermediate nodes between the start node and the target node;

[0007] For each of the target movers, multiple target intermediate nodes are selected based on the path costs of each of the intermediate nodes relative to the start node and the target node, and a target path of the target mover is generated according to the multiple target intermediate nodes;

[0008] For each of the target movers, the moving speed of the target mover is obtained, and based on the sub-path costs between the target intermediate nodes included in the target path and the moving speed, the node arrival time when the target mover passes through multiple target intermediate nodes is determined;

[0009] Marking the node arrival time for each target intermediate node in the initial time series map to obtain a target time series map;

[0010] For each of the target intermediate nodes, a time conflict detection is performed according to the node arrival time to obtain a detection result;

[0011] The mover path planning is performed based on the detection result to obtain the mover path planning result.

[0012] Accordingly, a second aspect of an embodiment of the present application provides a mover path planning device, the device comprising:

[0013] An acquisition module, used to acquire a plurality of target movers, and determine a start node and a target node of each of the target movers from a preset initial time sequence map, wherein the initial time sequence map includes a plurality of intermediate nodes between the start node and the target node;

[0014] A generation module, for selecting, for each of the target movers, a plurality of target intermediate nodes based on the path costs of the intermediate nodes relative to the start node and the target node, respectively, and generating a target path of the target mover according to the plurality of target intermediate nodes;

[0015] A determination module, for obtaining the movement speed of each target mover, and determining the node arrival time when the target mover passes through multiple target intermediate nodes based on the sub-path cost between the target intermediate nodes included in the target path and the movement speed;

[0016] A marking module, used for marking the node arrival time of each target intermediate node in the initial time sequence map to obtain a target time sequence map;

[0017] A detection module, used for detecting time conflicts for each target intermediate node according to the node arrival time, and obtaining a detection result;

[0018] A planning module is used to perform mover path planning based on the detection result to obtain a mover path planning result.

[0019] In some embodiments, the planning module is further used to:

[0020] When the detection result indicates that there is a conflict in arrival times of multiple nodes included in the target intermediate node, determining the target intermediate node as a conflicting node;

[0021] Acquire the arrival time of the conflicting node of the conflicting node as the conflicting time, and determine the travel priorities of the plurality of target movers corresponding to the conflicting time;

[0022] Based on the travel priority, a mover path planning is performed on the target mover to obtain a mover path planning result.

[0023] In some embodiments, the target mover includes a first target mover and a second target mover, the travel priority of the first target mover is a first priority, and the travel priority of the second target mover is a second priority; the planning module is further used to:

[0024] Determining a target path corresponding to the second target mover based on the order of the first priority and the second priority;

[0025] Based on the target time series map, obtaining the node arrival time of the second target mover at each target intermediate node in the corresponding target path;

[0026] Based on the node arrival time and in combination with the target timing map, a mover path planning is performed on the second target mover to obtain a mover path planning result.

[0027] In some embodiments, the generating module is further used to:

[0028] For each of the target movers, determining a plurality of adjacent nodes adjacent to the starting node;

[0029] Calculating a path cost of each adjacent node relative to the start node and the target node, and determining a first target intermediate node from the plurality of adjacent nodes based on the plurality of path costs;

[0030] Taking the first target intermediate node as a starting point, determining a plurality of adjacent nodes adjacent to the target intermediate node, calculating a path cost of each adjacent node relative to the starting node and the target node, and determining a next target intermediate node from the plurality of adjacent nodes adjacent to the target intermediate node based on the plurality of path costs;

[0031] Repeat the steps of determining a plurality of adjacent nodes adjacent to the target intermediate node, calculating a path cost of each adjacent node relative to the start node and the target node, and determining a next target intermediate node from the plurality of adjacent nodes adjacent to the target intermediate node based on the plurality of path costs, until the next target intermediate node is determined to be the target node, so as to obtain a plurality of target intermediate nodes between the start node and the target node;

[0032] A target path of the target mover is generated based on the plurality of target intermediate nodes.

[0033] In some embodiments, the generating module is further used to:

[0034] Calculating respectively a first path cost from each of the adjacent nodes to the starting node, and a second path cost from each of the adjacent nodes to the target node;

[0035] For each of the adjacent nodes, the sum of the first path cost and the second path cost is used as the path cost of the adjacent node relative to the start node and the target node.

[0036] In some embodiments, the generating module is further used to:

[0037] storing the plurality of path costs corresponding to the plurality of adjacent nodes into an open cost list, and sequentially sorting the path costs in the open cost list to obtain a sequential sorting result;

[0038] Based on the sequential sorting result, the adjacent node corresponding to the shortest path cost is determined as the target intermediate node.

[0039] In some embodiments, the mover path planning device further includes an updating module, which is used to:

[0040] When each of the target movers starts to move according to the mover path planning result, for each of the target movers, a first distance between the target mover and at least one target mover located in front is detected in real time;

[0041] When the first distance between the target mover and the target mover located in front is less than a preset threshold, the target mover located in front is regarded as an obstacle mover, and a moving mover path is planned for the target mover based on the obstacle mover to obtain an updated target path of the target mover.

[0042] Correspondingly, the third aspect embodiment of the present application proposes a computer device, which includes a memory and a processor, the memory stores a computer program, and the processor implements the mover path planning method described in any one of the first aspect embodiments of the present application when executing the computer program.

[0043] Correspondingly, the fourth aspect embodiment of the present application proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the mover path planning method described in any one of the first aspect embodiments of the present application.

[0044] The embodiment of the present application obtains multiple target movers and determines the starting node and target node of each target mover from a preset initial timing map, wherein the initial timing map includes multiple intermediate nodes between the starting node and the target node; for each target mover, multiple target intermediate nodes are selected based on the path cost of each intermediate node relative to the starting node and the target node, and the target path of the target mover is generated according to the multiple target intermediate nodes; for each target mover, the movement speed of the target mover is obtained, and the node arrival time when the target mover passes through multiple target intermediate nodes is determined based on the sub-path cost and movement speed between the target intermediate nodes included in the target path; the node arrival time is marked for each target intermediate node in the initial timing map to obtain the target timing map; for each target intermediate node, time conflict detection is performed according to the node arrival time to obtain the detection result; based on the detection result, the mover path planning is performed to obtain the mover path planning result. In this way, by calculating the path cost of each intermediate node corresponding to the starting node and the target node, the intermediate node with the smallest path cost is selected as the target intermediate node, so as to generate the optimal target path according to the multiple target intermediate nodes corresponding to the target mover. Moreover, after obtaining the optimal target path, a target timing map can be generated based on the node arrival time of each target mover at each target intermediate node, so as to quickly perform conflict detection between target movers based on the time dimension, and effectively avoid potential collisions between movers. In summary, the present application can effectively avoid potential collisions between movers while optimizing the paths of multiple movers. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the architecture of the mover path planning system provided in an embodiment of the present application;

[0046] Figure 2 is a flow chart of a mover path planning method provided in an embodiment of the present application;

[0047] Figure 3 It is a schematic diagram of the functional modules of the mover path planning device provided in an embodiment of the present application;

[0048] Figure 4 It is a schematic diagram of the hardware structure of the computer device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0050] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0052] In the magnetic levitation planar conveying system, the mover (also called the suspension slider or load) is a device suspended on the guide rail by magnetic force. It contains magnetic materials inside, and the guide rail generates a magnetic field. By changing the magnetic field distribution on the guide rail, the direction and speed of the mover on the guide rail can be controlled to avoid collision between the mover and other objects (such as other movers, fixed obstacles, etc.), while optimizing the movement trajectory of the mover.

[0053] In the related art, the depth-first search algorithm or the Dijkstra algorithm can be used to perform path planning for multiple movers. Among them, the depth-first search is an algorithm for traversing or searching a tree or graph, which can traverse the nodes of the tree along the depth of the tree, search the branches of the tree as deeply as possible, and when the edges where the node is located have been explored or do not meet the conditions, the search will backtrack to the starting node of the edge where the node was found. A major feature of the DFS algorithm is its blind search feature, that is, it does not consider the shortest path from the starting point to the target point, but explores each path as deeply as possible. This method can effectively find the path from the starting point to the target point in some cases, but due to its blindness, it is often difficult to determine the optimal path trajectory, and fails to effectively avoid potential collisions between various moving bodies during the path planning process.

[0054] The Dijkstra algorithm is an algorithm for finding the shortest path from a point in a graph to all other points. The Dijkstra algorithm can adopt a greedy strategy, starting from the starting node and gradually expanding to all other nodes to generate a shortest path tree. In this way, the Dijkstra algorithm can ensure that the path found is the shortest, but its main disadvantage is that the calculation amount is large during path planning, and potential collisions between moving objects cannot be avoided.

[0055] Although DFS and Di jkstra algorithms are widely used in path planning, they still have shortcomings in determining the optimal path trajectory and avoiding potential collisions between moving bodies.

[0056] Based on this, the embodiments of the present application provide a mover path planning method, device, computer equipment and readable storage medium, which can effectively avoid potential collisions between movers while optimizing the paths of multiple movers.

[0057] The mover path planning method, device, computer equipment and readable storage medium provided in the embodiments of the present application are specifically illustrated through the following embodiments. First, the mover path planning system in the embodiments of the present application is described.

[0058] Please refer to Figure 1 In some implementations, an embodiment of the present application provides a mover path planning system, and the mover path planning system includes a terminal 11 and a server 12.

[0059] Exemplarily, the terminal 11 may be a mobile robot or other intelligent device for performing specific mover path planning tasks. The terminal 11 may detect the surrounding environment through a sensor (such as a laser sensor), obtain multiple target movers, and perform a calculation of the node arrival time based on the path cost and the motion speed. In addition, the terminal 11 may obtain the speed of each target mover in real time, and detect the distance between the target movers.

[0060] Specifically, the server 12 may be a central processing unit responsible for storing the initial time-series map, processing complex computing tasks, and coordinating the operations of each terminal 11. The server 12 may store map data, execute path planning algorithms, perform time conflict detection, calculate path costs, and other computing-intensive tasks.

[0061] The mover path planning method in the embodiment of the present application can be illustrated by the following embodiment.

[0062] It should be noted that in each specific implementation of the present application, when it comes to the need to perform relevant processing based on data related to user identity or characteristics such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first. Moreover, the collection, use, and processing of these data will comply with relevant laws, regulations, and standards. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or separate consent will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the user's separate permission or separate consent, the necessary user-related data for enabling the normal operation of the embodiment of the present application will be obtained.

[0063] In the embodiment of the present application, the dimensions of the mover path planning device are described, and the mover path planning device can be specifically integrated into a computer device. Figure 2 , Figure 2This is a flow chart of the steps of the mover path planning method provided in the embodiment of the present application. In the embodiment of the present application, the mover path planning device is specifically integrated on a terminal or a server as an example. When the processor on the terminal or the server executes the program instructions corresponding to the mover path planning method, the specific process is as follows:

[0064] Step 101, obtaining a plurality of target movers, and determining a start node and a target node of each target mover from a preset initial time sequence map, wherein the initial time sequence map includes a plurality of intermediate nodes between the start node and the target node.

[0065] In some implementations, the start node and the target node of the target mover may be acquired, and a plurality of intermediate nodes between the start node and the target node may be determined, so as to facilitate subsequent calculation of the path cost of each target mover.

[0066] The target mover may be an entity in the magnetic levitation planar motion system, such as a robot, an intelligent car or other autonomous mobile devices, and the target mover may move from a starting node to a target node through a series of actions.

[0067] The initial time sequence map may be a grid map including the relationship between the start node, the target node and the intermediate nodes, and is used to plan the path of the target mover. For example, the initial time sequence map may be a warehouse logistics map, a magnetic levitation plane motion system map, and the like.

[0068] The starting node may be the starting position of the target mover, and the starting nodes of each target mover may be the same or different.

[0069] The target node may be a target position that the target mover needs to reach, and the target nodes of each target mover may be the same or different.

[0070] The intermediate nodes may be multiple nodes connecting the starting node and the target node, and are used to guide the movement of the target mover. Specifically, the intermediate nodes are non-obstructive nodes between the starting node and the target node, and the target mover may start from the starting node and reach the target node through multiple intermediate nodes.

[0071] It is understandable that in order to simplify the path planning algorithm, the entire space where the target mover moves can be discretized into a finite number of cells. For example, the starting node, the target node, and the intermediate nodes can be cells in the initial time map, thereby reducing the complexity of the calculation and improving the efficiency of planning and conflict detection.

[0072] Exemplarily, when it is necessary to plan the moving path of the target mover from the warehouse entrance to the shelf area, if the starting node of the target mover is the warehouse entrance, the target node is the shelf area, and the barrier-free area between the warehouse entrance and the shelf area can be a plurality of intermediate nodes of fixed unit size, the target mover can start from the warehouse entrance and reach the shelf area through the barrier-free area in the middle. Furthermore, there are multiple intermediate nodes, for example, the target mover can start from the warehouse entrance and reach the shelf area through the intermediate nodes A1, A2, A3, A4, and A5, or it can start from the warehouse entrance and reach the shelf area through the intermediate nodes B1, B2, B3, B4, B5, B6, and B7. Therefore, it is necessary to plan the path of the target mover later to determine the shortest path from the warehouse entrance to the shelf area.

[0073] In the above manner, by obtaining the starting node and the target node of the target mover in advance and determining the intermediate nodes therebetween, multiple potential moving paths can be provided for the mover, so as to facilitate subsequent rapid planning of the path of the target mover.

[0074] Step 102 : for each target mover, a plurality of target intermediate nodes are selected based on the path costs of each intermediate node relative to the start node and the target node, and a target path of the target mover is generated according to the plurality of target intermediate nodes.

[0075] It can be understood that in order to determine the optimal target path, for each target mover, multiple target intermediate nodes with the shortest path costs from the start node and the target node can be selected one by one, and the target path of the target mover can be constructed by gradually determining the target intermediate nodes.

[0076] The path cost can be the sum of the path distances from the starting node to the intermediate node and from the intermediate node to the target node for each intermediate node. By calculating the path costs of multiple intermediate nodes, the intermediate node with the smallest path cost can be selected as the target intermediate node, so that the target mover can reach the target node in the most efficient way.

[0077] Among them, the target intermediate node can be a node used to construct a target path. Since the target mover needs to pass through multiple intermediate nodes to move from the starting node to the target node, the intermediate node with the smallest path cost from the starting node and the target node can be selected as the target intermediate node, thereby obtaining multiple target intermediate nodes.

[0078] The target path may be a planned path from a starting node to a target node, which is composed of a series of selected target intermediate nodes. The target path is the best route for the target mover from the starting node to the target node.

[0079] Exemplarily, assume that there is an initial time map represented by a grid, which contains obstacle nodes, intermediate nodes, starting nodes and target nodes. Each grid in the initial time map can be traversable (intermediate node) or intraversable (obstacle node). Specifically, the path cost can be calculated for each adjacent intermediate node in the starting node, specifically, the first path cost of each adjacent intermediate node relative to the starting node is calculated, and the second path cost of the adjacent intermediate node relative to the target node is calculated, and the sum of the first path cost and the second path cost is calculated as the total path cost.

[0080] Furthermore, for multiple intermediate nodes adjacent to the starting node, the intermediate node with the smallest total path cost is selected as the target intermediate node. After that, based on multiple intermediate nodes adjacent to the target intermediate node, the path costs of multiple adjacent intermediate nodes are calculated again, and the next target intermediate node is selected based on the path cost, and so on, multiple target intermediate nodes are obtained, and based on the multiple target intermediate nodes, a target path from the starting node to the target node is constructed.

[0081] In this way, the intermediate node with the lowest path cost can be calculated and selected as the target intermediate node to ensure that the target mover can move from the starting node to the target node along the most efficient target path. In this way, not only the accuracy and efficiency of path planning are improved, but also the movement process of the target mover is optimized, significantly improving the movement efficiency of the target mover and the performance of the overall system.

[0082] In some embodiments, in order to more quickly and accurately plan the target path of the target mover, the path cost may be calculated for each intermediate node in the path planning of each target mover, thereby ensuring that the path cost of each selected target intermediate node is minimized. For example, step 102 may include:

[0083] (102.1) For each target mover, determine a plurality of adjacent nodes adjacent to the start node;

[0084] (102.2) calculating a path cost of each adjacent node relative to the start node and the target node, and determining a first target intermediate node from the plurality of adjacent nodes based on the plurality of path costs;

[0085] (102.3) Taking the first target intermediate node as the starting point, determining multiple adjacent nodes adjacent to the target intermediate node, calculating the path cost of each adjacent node relative to the starting node and the target node, and determining the next target intermediate node from the multiple adjacent nodes adjacent to the target intermediate node based on the multiple path costs;

[0086] (102.4) Repeat the steps of determining multiple adjacent nodes adjacent to the target intermediate node, calculating the path cost of each adjacent node relative to the start node and the target node, and determining the next target intermediate node from the multiple adjacent nodes adjacent to the target intermediate node based on the multiple path costs, until the next target intermediate node is determined to be the target node, so as to obtain multiple target intermediate nodes between the start node and the target node;

[0087] (102.5) Generate a target path of a target mover based on multiple target intermediate nodes.

[0088] Among them, the adjacent node can be a node directly connected to the current node (which can be a starting node or a target intermediate node), that is, a node that can be directly moved to from the current node. For the initial time-series map with a grid system, the adjacent node can be a node on the horizontal, vertical or diagonal line of the current node. For example, for the current node, the adjacent nodes can be located at the left node, the right node, the top node, the bottom node and the 4 diagonal nodes of the current node, a total of 8 adjacent nodes.

[0089] Exemplarily, first, the cells adjacent to the start node, that is, multiple adjacent nodes, are determined through the initial time map, and then, for each adjacent node, for example, for adjacent node A, the first path cost from the start node to adjacent node A and the second path cost from adjacent node A to the target node are calculated, and the sum of the first path cost and the second path cost is calculated as the final path cost. Then, based on the path costs of multiple intermediate nodes, the target intermediate node is determined.

[0090] Exemplary, for example, for the starting node, there are the following adjacent nodes: adjacent node a1, adjacent node a2, adjacent node a3, adjacent node a4, adjacent node a5, adjacent node a6, adjacent node a7, adjacent node a8, and the path costs from adjacent node 1 to adjacent node 8 are 5, 6, 6, 5.4, 6.4, 7, 5.4, and 6.4 respectively, then adjacent node A can be determined as the target intermediate node 1.

[0091] Afterwards, multiple adjacent nodes may be determined for the target intermediate node 1. For example, assuming that the adjacent nodes of the target intermediate node 1 are adjacent nodes a6, adjacent nodes a7, adjacent nodes a8, adjacent nodes b1, adjacent nodes b2, adjacent nodes b3, adjacent nodes b4, and adjacent nodes b5. It is understandable that in order to improve the calculation efficiency, the nodes whose path costs have been calculated before may be excluded, for example, adjacent nodes a6, adjacent nodes a7, and adjacent nodes a8 are excluded, and only the path costs of adjacent nodes b1, adjacent nodes b2, adjacent nodes b3, adjacent nodes b4, and adjacent nodes b5 are calculated.

[0092] Furthermore, since the first path cost from the previous target intermediate node to the starting node has been calculated, at this time, the node path cost from each adjacent node to the target intermediate node is directly calculated, and the node path cost is added to the first path cost to obtain the new first path cost of each adjacent node. For example, the node distances of the adjacent nodes b1, b2, b3, b4, and b5 from the target intermediate node 1 can be directly calculated, and the node distances can be added to the distances between the target intermediate node 1 and the adjacent nodes (such as 5 above) to obtain the first path cost. The method for calculating the path cost of each adjacent node is the same as above, that is, the sum of the first path cost and the second path cost of each adjacent node is calculated to obtain the total path cost. Afterwards, based on the path costs of multiple adjacent nodes, the adjacent node with the smallest path cost is selected as the target intermediate node 2, which will not be repeated here.

[0093] It is understandable that the method for determining each target intermediate node is the same as above and will not be described in detail here. Through the above method, multiple target intermediate nodes from the starting node to the target node can be continuously determined, and new target nodes can be continuously expanded until a valid path is found or a certain termination condition is reached (for example, when determining the path cost of the adjacent nodes of the target intermediate node, one of the adjacent nodes is the target node), and multiple target intermediate nodes are obtained.

[0094] Furthermore, since the target intermediate nodes are adjacent to each other, a target path of the target mover can be generated based on multiple target intermediate nodes.

[0095] Through the above method, the path cost can be calculated by using the nodes adjacent to the current node to construct the best path, effectively improving the calculation efficiency and accuracy of path planning.

[0096] It is understandable that in order to efficiently determine the shortest path from the start node to the target node, the paths of the intermediate nodes from the start node and the target node can be considered at the same time to obtain the path costs, so as to efficiently and accurately obtain multiple path costs. For example, "calculating multiple path costs of multiple adjacent nodes relative to the start node and the target node" in (102.2) can include:

[0097] (102.2.a1) Calculate the first path cost of each adjacent node from the start node and the second path cost of each adjacent node from the target node respectively;

[0098] (102.2.a2) For each adjacent node, the sum of the first path cost and the second path cost is taken as the path cost of the adjacent node relative to the start node and the target node.

[0099] Among them, the first path cost can be the path cost from the starting node to the current adjacent node. The first path cost can be calculated based on the distance from the starting node to the current adjacent node. Since the initial time series map is composed of multiple cells of the same size, the first path cost can be quickly calculated based on the distance between the cells.

[0100] The second path cost may be a path cost from a current adjacent node to a target node, and the second path cost may be calculated based on a distance from a current adjacent node to the target node.

[0101] Specifically, for each adjacent node, the actual cost g(n) from the start node to the adjacent node and the estimated cost h(n) from the adjacent node to the target node can be calculated. Then, the path cost is calculated by the formula f(n)=g(n)+h(n), where f(n) represents the path cost.

[0102] In the above manner, the first path cost from the start node to the adjacent node and the second path cost from the adjacent node to the target node can be comprehensively considered to calculate the path cost, so as to improve the efficiency and accuracy of path planning.

[0103] It is understandable that in the process of path planning, a large number of intermediate node path costs need to be stored so that the intermediate node with the shortest path cost can be directly selected as the target intermediate node based on the path cost. This may result in low efficiency in retrieving the shortest path cost. Therefore, in order to improve the efficiency of retrieving the shortest path cost, an open cost list and a closed cost list can be created, and the path costs in the open cost list and the closed cost list can be sorted to quickly determine the shortest path cost. For example, "determining the target intermediate node based on multiple path costs" in (102.2) may include:

[0104] (102.2.b1) storing multiple path costs corresponding to multiple adjacent nodes into an open cost list, and sequentially sorting the path costs in the open cost list to obtain a sequential sorting result;

[0105] (102.2.b2) Based on the sequential sorting results, the adjacent node corresponding to the shortest path cost is determined as the target intermediate node.

[0106] The open cost list may be a collection or list for storing the path costs of multiple adjacent nodes that have been traversed. Exemplarily, determining the path costs of multiple adjacent nodes of each starting node or each target intermediate node is considered as a round. For each round, multiple path costs may be stored in the open cost list, and the smallest path cost may be selected from the path costs of the round and placed in the closed cost list.

[0107] The sequential sorting result may be a set obtained by sorting the path costs in order based on the open cost list to ensure that the element with the smallest path cost is at the top of the list. It is understandable that the reverse sorting result may also be obtained by sorting the path costs in reverse order based on the open cost list.

[0108] Furthermore, in order to efficiently select the next node to be expanded from the open cost list, that is, to select the target intermediate node, the path costs can be sorted in order in the open cost list, so that each time the next target intermediate node is selected, an element can be directly popped from the first place in the list (that is, the adjacent node with the lowest path cost). Exemplarily, for the adjacent nodes a1 and a2 of the target intermediate node 1, the path costs are 5 and 6 respectively. At this time, the adjacent node a1 is placed at the first place in the open cost list, so that the adjacent node a1 is directly determined as the target intermediate node 2. After that, the target intermediate node 2 and the corresponding path cost are stored in the closed cost set.

[0109] Furthermore, for the adjacent nodes b1 and b2 of the target intermediate node 2, the path costs are 8 and 8.4 respectively. At this time, the adjacent node a2 and the corresponding path cost are pushed down, and the adjacent node b1 is placed at the top of the open cost list, so that the adjacent node b1 can be directly determined as the target intermediate node 3. After that, the target intermediate node 3 and the corresponding path cost are stored in the closed cost set, and the cycle continues.

[0110] It is understandable that since the sorting operation requires a high computational cost, and in the process of path planning, elements in the open cost list are frequently inserted, deleted, and retrieved, when the open cost list is large, the computational cost consumed will be very high. Therefore, in order to improve the efficiency of the mover path planning, the open cost list and the closed cost list can be generated based on the heap queue of the Python collection. Specifically, the heap queue of the Python collection can maintain the sorting state of the elements, so that the minimum path cost is at the top, and the minimum path cost can be quickly retrieved.

[0111] Through the above methods, the node storage and selection process can be optimized, and the efficiency of path planning can be improved. Especially when processing large lists, it can significantly reduce the computing cost and speed up the process of finding the shortest cost path.

[0112] Step 103, for each target mover, obtain the moving speed of the target mover, and determine the node arrival time when the target mover passes through multiple target intermediate nodes based on the sub-path cost and moving speed between the target intermediate nodes included in the target path.

[0113] It is understandable that since the path planning of each target mover is carried out separately, when multiple target movers are running at the same time, there is a possibility of target mover collision. Therefore, it is necessary to perform collision detection after the target path of each target mover is generated, and to readjust the mover path that may collide.

[0114] The movement speed may be the distance moved by the target mover in unit time.

[0115] The subpath cost may be the cost of the target mover moving from one target intermediate node to another target intermediate node, that is, the distance the target mover moves from one target intermediate node to another target intermediate node.

[0116] The node arrival time may be the time when the target mover is expected to arrive at each target intermediate node in the corresponding target path.

[0117] For example, when the subpath cost from the start node to the target intermediate node 1 is 5 meters, the subpath cost from the target intermediate node 1 to the target node is 3 meters, and the target mover's moving speed is 1 meter / second, then the target mover's time from the start node to the target intermediate node 1 is 5 seconds, and the time from the target intermediate node 1 to the target node is 3 seconds. If the target mover is set to be located at the start node at 12:00:00, then the node arrival time of the target mover passing the target intermediate node 1 is 12:00:05, and the node arrival time of the target mover passing the target node is 12:00:08.

[0118] It can be understood that the node arrival time of each target intermediate node of each target moving subpath can be calculated by the above method. For details, please refer to the above and will not be repeated here.

[0119] Through the above method, the movement speed, subpath cost and node arrival time of the target mover can be accurately calculated to facilitate the subsequent generation of the target timing map.

[0120] Step 104: Mark the node arrival time for each target intermediate node in the initial time series map to obtain a target time series map.

[0121] It can be understood that in order to quickly detect whether each target mover will collide, for each target mover, the starting node, target intermediate node, and target node included in the target mover can be marked with the node arrival time of the target mover in the initial timing map, so as to facilitate subsequent time conflict detection of each target intermediate node.

[0122] Among them, the target timing map can be a visual map that combines the motion path of the target mover and the node arrival time. The target timing map marks the starting node, at least one target intermediate node and the target node of the target mover on the target path, as well as the node arrival time of the target mover at the starting node, at least one target intermediate node and the target node. It is understandable that when at least two target movers are marked with the same node arrival time in the same target intermediate node, the target movers will collide at the target intermediate node at the node arrival time.

[0123] Furthermore, the target intermediate node is marked with the mover code of the target mover and the node arrival time, so as to quickly determine the time trajectory of the movement of each target mover, and can also quickly determine the specific target mover that will collide. A target intermediate node may be marked with the mover codes and node arrival times of multiple target movers. Exemplarily, the mover code can be numbers such as 1, 2, 3, or English letters such as A, B, C. As long as the target movers can be correctly distinguished, this application does not make specific restrictions.

[0124] Exemplarily, when the target time series map shows that target mover 1 passes through target intermediate node A at 12:00:08, and target mover 2 also passes through target intermediate node A at 12:00:08, target mover 1 and target mover 2 collide at 12:00:08.

[0125] By creating a target timing map, the system can quickly identify potential collision nodes, collision times, and collision target movers to avoid collisions between target movers during actual operation, thereby optimizing the operating efficiency of the entire system.

[0126] Step 105: For each target intermediate node, a time conflict detection is performed according to the node arrival time to obtain a detection result.

[0127] In some embodiments, in order to avoid collisions between target movers, time conflict detection can be performed for each target intermediate node on the target timing map according to the node arrival time marked by the target intermediate node to obtain a detection result, so as to further achieve efficient optimization of the path.

[0128] The detection result may be a result obtained by performing a time collision detection on each target intermediate node based on the target time series map, and the detection result may be that a collision of the target movers has occurred or that no collision of the target movers has occurred.

[0129] Exemplarily, the detection result may specifically display the target intermediate node where the collision is expected to occur, the collision time when the collision occurs, the target mover where the collision occurs, and so on.

[0130] For example, when the node arrival time of target mover A reaching the target intermediate node 1 is 13:56:08, and the node arrival time of target mover B reaching the target intermediate node 1 is 13:56:08, the detection result is that a time conflict occurs between target mover A and target mover B, and further processing is required.

[0131] In some embodiments, when detecting time conflicts based on the target timing map, the primary time field for detection can be selected, and the secondary time field can be detected if the primary time field is detected to be the same, and the tertiary time field can be detected if the secondary time field is detected to be the same. For example, for the node arrival time 12:16:26, 12 can be used as the primary time field, 16 as the secondary time field, and 26 as the tertiary time field; in the latter, 26 can be used as the primary time field, 16 as the secondary time field, 12 as the tertiary time field, and so on, and the node arrival time of the corresponding target intermediate node can be detected in sequence according to the time field, the secondary time field, and the tertiary time field.

[0132] For example, when the target mover A arrives at the target intermediate node 1, the node arrival time is 11:56:08, and the target mover B arrives at the target intermediate node 1, the node arrival time is 12:05:16. First, detect the first-level time field. If 11 and 12 are different, it can be quickly determined that there is no time conflict between the target mover A and the target mover B.

[0133] It is understandable that the system will simultaneously perform conflict detection on the entire target timing map and generate detection results. The detection results may include the target intermediate nodes where collision (conflict) is expected to occur, the specific conflict time, and the conflicting target movers, so that technicians can view them easily.

[0134] In this way, the system can timely and accurately identify and report potential collision conflicts, improve the reliability of the planned path, and facilitate the subsequent re-planning of the path of the target mover that is predicted to have a conflict.

[0135] Step 106 , performing mover path planning based on the detection result to obtain a mover path planning result.

[0136] It is understandable that when the detection result indicates that the target paths of the target movers do not conflict, the originally planned target path can be used as the mover path planning result. When the detection result indicates that the target paths of the target movers conflict, mover path planning can be performed to avoid collisions during the movement of the target movers.

[0137] In some embodiments, when the prediction result indicates that at least two target movers collide, the target mover with a higher travel priority can be ordered to move first and the target mover with a lower travel priority can be ordered to wait and move later according to the travel priority of the target movers, so as to avoid collision between the target movers.

[0138] In some embodiments, when the prediction result indicates that at least two target movers collide, the time window of the two target movers that collided can be obtained, and based on the travel priority, the speed of the target mover with a higher travel priority can be increased, or the speed of the target mover with a lower travel priority can be slowed down to avoid a collision between the target movers.

[0139] Through the above method, time conflicts can be resolved in time after the movers conflict, making the system more flexible and able to adapt to changing environments and needs.

[0140] In some embodiments, in order to effectively avoid collisions between target movers, the target routes of target movers predicted to collide may be replanned based on the travel priority of each target mover to ensure the rationality of the optimized target path. For example, step 106 may include:

[0141] (106.1) When the detection result indicates that there is a conflict in the arrival times of multiple nodes included in the target intermediate node, the target intermediate node is determined as a conflicting node;

[0142] (106.2) obtaining the arrival time of the conflicting node of the conflicting node as the conflicting time, and determining the travel priority of the multiple target movers corresponding to the conflicting time;

[0143] (106.3) Perform mover path planning on the target mover based on the travel priority to obtain a mover path planning result.

[0144] Among them, the conflict node can be on the target timing map. If a target intermediate node has multiple target movers expected to arrive at the same time, such as multiple target movers arriving at the target intermediate node A at 12:00:00, then the target intermediate node A is a conflict node.

[0145] The conflict moment may refer to a specific time point on the target time series map when multiple target movers are expected to arrive at the conflict node at the same time. For example, if multiple target movers arrive at the target intermediate node A at 12:00:00, then 12:00:00 is the conflict moment.

[0146] The travel priority may be a priority assigned to each target mover, and the travel priority is used to determine the target mover that has priority when the target movers collide. For example, a target mover with a high travel priority is usually allowed to pass through the conflicting node first, while a target mover with a low travel priority needs to wait or adjust the target route.

[0147] Among them, the mover path planning result can be the result obtained by re-planning the path of the target mover based on the detection result and the travel priority. The planned mover path can effectively avoid collisions between target movers.

[0148] For example, assuming that the target time series map is detected, the time when target mover A arrives at target intermediate node 1 is 12:00:00, and the time when target mover B arrives at target intermediate node 1 is 12:00:00, then the conflict node can be determined to be target intermediate node 1, and the conflict time is 12:00:00. After that, the travel priority of target mover A and target mover B can be determined. If the travel priority of target mover A is 1 and the travel priority of target mover B is 2, then based on the travel priority, the mover path of target mover A can be planned first, and then the mover path of target mover B can be planned to obtain the mover path planning result.

[0149] In some embodiments, the time window of the target mover can be planned based on the travel priority to obtain the mover path planning result. Specifically, when two target movers conflict, the target mover with a high travel priority can be made to maintain the original movement speed based on the travel priority, and the movement speed of the target mover with a low travel priority can be adjusted to the first speed. Furthermore, the first time for the target mover with a high travel priority to reach the next target intermediate node of the conflicting node can be obtained through the target timing map, and the target mover with a low priority can be made to reduce its speed so that the target mover with a low priority reaches the conflicting node at the first time, so as to avoid collisions between target movers while ensuring that the original path of the target mover with a low travel priority is not affected as much as possible.

[0150] It can be understood that when adjusting the movement speed of the target mover with a low travel priority, planning can be carried out in combination with the node arrival time marked on the target timing map to avoid collisions between the target movers. At the same time, planning directly based on the node arrival time can improve the efficiency of planning.

[0151] Through the above method, collisions between target movers can be effectively avoided while maintaining the optimized target path as much as possible, thereby improving the flexibility of mover path planning.

[0152] It can be understood that the target mover includes a first target mover and a second target mover, the travel priority of the first target mover is the first priority, the travel priority of the second target mover is the second priority, and the first priority is prior to the second priority; the first target mover and the second target mover are not limited to two target movers, but can also include multiple target movers, and this method is also applicable to the conflict planning of multiple target movers. Take the case where there are two conflicting target movers as an example. When a conflict occurs between target movers, global replanning may require a large amount of computing resources. Therefore, after confirming the conflicting target intermediate node and the conflict moment, the target time series map can be used to quickly consider the position and movement of the target mover at different time points, as well as the existence and movement of other target movers, so as to minimize the conflict and find the optimal solution. For example, (106.3) can include:

[0153] (106.3.1) determining a target path corresponding to the second target mover based on the order of the first priority and the second priority;

[0154] (106.3.2) based on the target timing map, obtaining the node arrival time of each target intermediate node of the second target mover in the corresponding target path;

[0155] (106.3.3) Based on the node arrival time and in combination with the target timing map, the second target mover is planned for the mover path to obtain the mover path planning result.

[0156] The first target mover may be the target mover that is considered first in path planning. When a path conflict occurs, the first target mover has priority planning rights and priority traveling rights.

[0157] Among them, the first priority can be the priority assigned to the first target mover, which is used to determine its action order relative to other target movers when a conflict occurs. The first priority indicates that the corresponding first target mover has a higher priority than other target movers.

[0158] The second target mover may be a target mover that is expected to conflict with the first target mover during path planning, and the path planning priority of the second target mover after the conflict occurs is lower than that of the first target mover.

[0159] The second priority may be a priority assigned to the second target mover, which is used to determine its action order relative to other target movers when a conflict occurs, and the second priority has a lower priority than the first priority. Similarly, the third priority has a lower priority than the first priority and the second priority, and so on.

[0160] It is understandable that in addition to querying the node arrival time of each target intermediate node in the corresponding target path of the second target mover, the time when the second target mover is at the starting node and the target node can also be queried, which can be obtained directly by querying the target timing map. For example, by querying the target timing map, the node arrival time of the starting node, the target node and each target intermediate node of the second target mover can be obtained as the starting node (arrival time 11:59:50), the target intermediate node A (arrival time 11:59:55), the target intermediate node B (arrival time 12:00:00), and the target node (arrival time 12:00:05).

[0161] In some embodiments, the second target mover can be planned for path planning based on the node arrival time and the node arrival time of other target movers marked on the target timing map at the target intermediate node of the second target mover, so as to ensure that the second target mover does not collide with other target movers as much as possible, while making local adjustments to the target path corresponding to the second target mover to improve the travel efficiency of the second target mover.

[0162] Specifically, (106.3.3) may include any one of (106.3.3a), (106.3.3b), and (106.3.3c). In different scenarios, any one of (106.3.3a), (106.3.3b), and (106.3.3c) may be selected to avoid conflicts, as follows:

[0163] (106.3.3a) When the conflict time does not conflict with the node arrival time of other target nodes in the previous order node, and no other target movers pass through the conflict node at the subsequent order time, set the second target mover to be at the previous order node at the conflict time and at the conflict node at the subsequent order time; perform mover path planning on the remaining path of the second target mover based on the original target path to obtain a mover path planning result; wherein the subsequent order time is located after the conflict time;

[0164] (106.3.3b) Alternatively, when the conflicting moment conflicts with the node arrival moment of other target nodes in the previous order node, and no other target movers pass through the conflicting node at the subsequent order time, determine the first target intermediate node with the smallest path cost with the previous order node and the conflicting node respectively; set the second target mover to move to the first target intermediate node at the conflicting moment, and move to the conflicting node at the subsequent order time; perform mover path planning on the remaining path of the second target mover based on the original target path, and obtain the mover path planning result;

[0165] (106.3.3c) Alternatively, when a conflict occurs in a preceding node at a conflicting time with an arrival time of another target node, and another target mover passes through the conflicting node at a subsequent time, the preceding node is used as the first starting node, and a second target intermediate node is selected based on the path cost of each intermediate node relative to the first starting node and the target node; a second target path of the second target mover is generated based on multiple second target intermediate nodes; and a mover path planning is performed on the second target mover based on the original target path and the second target path to obtain a mover path planning result.

[0166] The conflict node may be a target intermediate node that at least two target movers are expected to pass through at the same time according to the original target path. For example, if the first target mover and the second target mover both pass through the target intermediate node A at 12:00:00, then the target intermediate node A is the conflict node, and 12:00:00 is the conflict time.

[0167] The preceding node may be a node on the target path of the second target mover that is located before the conflicting node. For example, on the target path of target mover 1, target mover 1 first needs to pass through target intermediate node A and then through conflicting node B. At this time, target intermediate node A is the preceding node of conflicting node B.

[0168] The preceding time may be the time when the second target mover is expected to arrive at the preceding node. For example, on the target path of target mover 1, target mover 1 first needs to pass through target intermediate node A at 12:00:00, and pass through the next target intermediate node of target intermediate node A at 12:00:05 and generate a conflict between target movers. At this time, 12:00:00 is the preceding time of 12:00:05.

[0169] Among them, the post-sequence time can be the time when the second target mover reaches the next target intermediate node after the conflict moment. For example, the conflict moment is 12:00:00, at which time the second target mover is located at the target intermediate node A. The second target mover will move to the target intermediate node B next time, and the time to arrive at the target intermediate node B is 12:00:05, then 12:00:05 is the post-sequence time.

[0170] The first target intermediate node may be a target intermediate node for resolving conflicts. The second target mover may be planned to be located at the target intermediate node at the time of conflict, so as to avoid conflict with the first target mover at the time of conflict.

[0171] Among them, the first starting node can be a target intermediate node used as a new starting node when replanning the path to avoid conflict between the first target mover and the second target mover at the conflict moment. The first starting node can be a preceding node.

[0172] The second target intermediate node may be a target intermediate node corresponding to a new target path obtained when the path of the second target mover is replanned. For example, when the second target mover uses the preceding node as the starting node and plans based on the path cost to obtain a path between the starting node and the target node, the multiple target intermediate nodes of the obtained path are all second target intermediate nodes.

[0173] Exemplarily, when the first target mover and the second target mover both pass through the conflict node A at 12:00:00, since the travel priority of the first target mover is higher than that of the second target mover, the travel route of the first target mover may not be adjusted, and only the travel route of the second target mover may be adjusted, so as to avoid the second target mover from passing through the conflict node B at 12:00:00 and make local adjustments to the second target mover as much as possible.

[0174] Exemplarily, according to the target timing map, the target path corresponding to the second target mover includes: starting node (arrival time 11:59:50), target intermediate node A (arrival time 11:59:55), conflict node B (arrival time 12:00:00), target node (arrival time 12:00:05), then the conflict node B is the conflict node, the target intermediate node A is the preceding node, 11:59:55 is the preceding time, 12:00:00 is the conflict time, and 12:00:05 is the post-sequence time.

[0175] For the technical solution of (106.3.2a), when the first target mover will conflict with the second target mover at 12:00:00, the target timing map can be used to confirm whether there are other target movers passing through the target intermediate node A at 12:00:00. If no other target movers pass through, and no other target movers pass through the conflicting node B at 12:00:05, the second target mover is set to be located at the target intermediate node A at 12:00:00 and at the conflicting node B at 12:00:05. After that, this modification is integrated with the original target path to obtain the starting node (arrival time 11:59:50), target intermediate node A (arrival time 11:59:55), target intermediate node A (arrival time 12:00:00), conflicting node B (arrival time 12:00:05), and target node (arrival time 12:00:10).

[0176] For the technical solution of (106.3.2b), when the first target mover will conflict with the second target mover at 12:00:00, the target timing map can be used to confirm that if at 12:00:00, the target intermediate node A has other target movers passing through it, and the conflict node B has no other target movers passing through it at 12:00:05, then the first target intermediate node C with the smallest path cost with the previous node and the conflict node is determined, and the second target mover is located at the first target intermediate node C at 12:00:00 and at the conflict node B at 12:00:05. After that, this modification is integrated with the original target path to obtain the starting node (arrival time 11:59:50), the target intermediate node A (arrival time 11:59:55), the first target intermediate node C (arrival time 12:00:00), the conflict node B (arrival time 12:00:05), and the target node (arrival time 12:00:10).

[0177] For the technical solution of (106.3.2c), when the first target mover will conflict with the second target mover at 12:00:00, the target timing map can be used to confirm that if other target movers pass through the target intermediate node A at 12:00:00, and other target movers pass through the conflicting node B at 12:00:05, the path of the next second target mover can be re-planned. For example, the target intermediate node A can be used as the planning starting point to re-plan the path between the previous starting point and the target node. The planning method is the same as the planning by calculating the path cost above. Multiple second target intermediate nodes with the smallest path cost with the target intermediate node A and the conflicting node are determined. Based on the multiple second target intermediate nodes, a second target path is generated, and the second target path is spliced ​​with the target path before the target intermediate node A to obtain the mover path planning result.

[0178] Specifically, the above is only an example of path planning. In the actual planning process, other target movers can still avoid conflicts based on the node arrival times marked on the target timing map. It is only necessary to ensure that local adjustments are made as much as possible to save computing resources.

[0179] It can be understood that by determining the preceding node of the conflicting node and the time to reach the preceding node, and obtaining the arrival time of each node on the target time map, and selecting the path of the target mover in combination with the path cost, the travel efficiency and planning accuracy of the mover can be improved as much as possible while avoiding conflicts. By flexibly adjusting the path of the second target mover, collisions can be effectively avoided in the event of a conflict, so that multiple target movers can reach their respective target nodes safely and efficiently.

[0180] In some embodiments, during the movement of the target movers, a certain target mover may suddenly fail. At this time, if the target movers behind fail to avoid it in time, it may cause a collision or damage to the equipment. Therefore, it is necessary to detect the movement of the target movers in real time to avoid the normal movement of each target mover. For example, after step 106, it may also include:

[0181] (A.1) After each target mover starts to move according to the mover path planning result, for each target mover, a first distance between the target mover and at least one target mover located in front is detected in real time;

[0182] (A.2) When a first distance between a target mover and a target mover located in front is less than a preset threshold, the target mover located in front is regarded as an obstacle mover, and a moving mover path is planned for the target mover based on the obstacle mover to obtain an updated target path of the target mover.

[0183] The first distance may be the distance between the target mover and other target movers located on the target path based on the target path, or the first distance may be the distance between other target movers located directly in front of the target mover in the direction of travel.

[0184] The preset threshold may be a distance threshold, and when the first distance between the target mover and the target mover directly in front of it is less than the preset threshold, it is considered that there is a collision risk, and the subsequent target path of the target mover needs to be adjusted. For example, the preset threshold may be set to 0.5 meters.

[0185] The obstacle mover may be a target mover that fails or is predicted to fail in the travel path.

[0186] The updating of the target path may be to adjust the moving path of the target mover when an obstacle mover is detected ahead to avoid collision with the obstacle mover, and the adjusted path is the updated target path of the target mover.

[0187] Exemplarily, the preset threshold is set to 1 meter, and there are target movers A, target movers B and target movers C, wherein the order of movement of each target mover is target mover A, target mover B and target mover C, respectively, and target mover A and target mover B are directly in front of target mover C. The distance between target mover C and target mover A is 10 meters, and the distance between target mover C and target mover B is 5 meters. When the target mover is moving, through real-time detection, it is detected that the first distance with target mover A is less than 1 meter. At this time, target mover A is used as an obstacle mover, and the mover path planning of target mover C is re-performed to obtain the updated target path of target mover C. The specific path planning of target mover C based on the path cost can be referred to above, which will not be repeated here.

[0188] In some embodiments, the obstacle mover can also be determined in combination with the target timing map. For example, if in the target timing map, there is a target mover that does not arrive at the corresponding target intermediate node at the marked node arrival time, then the target mover can be determined as an obstacle mover, and based on the obstacle mover, the paths of other target movers that subsequently pass through the target intermediate node can be replanned, and so on.

[0189] It is understandable that by setting preset thresholds, real-time detection, dynamic path planning and other methods, the risk of collision between target movers can be effectively avoided to ensure the safety and reliability of operation. At the same time, combined with information such as the target time series map, the system can intelligently determine the obstacle mover and then perform path planning to ensure that each target mover in the system can operate safely.

[0190] The embodiment of the present application obtains multiple target movers and determines the starting node and target node of each target mover from a preset initial timing map, wherein the initial timing map includes multiple intermediate nodes between the starting node and the target node; for each target mover, multiple target intermediate nodes are selected based on the path cost of each intermediate node relative to the starting node and the target node, and the target path of the target mover is generated according to the multiple target intermediate nodes; for each target mover, the movement speed of the target mover is obtained, and the node arrival time when the target mover passes through multiple target intermediate nodes is determined based on the sub-path cost and movement speed between the target intermediate nodes included in the target path; the node arrival time is marked for each target intermediate node in the initial timing map to obtain the target timing map; for each target intermediate node, time conflict detection is performed according to the node arrival time to obtain the detection result; based on the detection result, the mover path planning is performed to obtain the mover path planning result. In this way, by calculating the path cost of each intermediate node corresponding to the starting node and the target node, the intermediate node with the smallest path cost is selected as the target intermediate node, so as to generate the optimal target path according to the multiple target intermediate nodes corresponding to the target mover. Moreover, after obtaining the optimal target path, a target timing map can be generated based on the node arrival time of each target mover at each target intermediate node, so as to quickly perform conflict detection between target movers based on the time dimension, and effectively avoid potential collisions between movers. In summary, the present application can effectively avoid potential collisions between movers while optimizing the paths of multiple movers.

[0191] See also Figure 3 The embodiment of the present application further provides a mover path planning device, which can implement the above mover path planning method, and the mover path planning device includes:

[0192] An acquisition module 31 is used to acquire a plurality of target movers and determine a start node and a target node of each target mover from a preset initial time sequence map, wherein the initial time sequence map includes a plurality of intermediate nodes between the start node and the target node;

[0193] A generating module 32, for selecting, for each target mover, a plurality of target intermediate nodes based on the path costs of each intermediate node relative to the start node and the target node, and generating a target path of the target mover according to the plurality of target intermediate nodes;

[0194] The determination module 33 is used to obtain the movement speed of each target mover for each target mover, and determine the node arrival time when the target mover passes through multiple target intermediate nodes based on the sub-path cost and movement speed between the target intermediate nodes included in the target path;

[0195] A marking module 34 is used to mark the node arrival time of each target intermediate node in the initial time series map to obtain a target time series map;

[0196] The detection module 35 is used to detect the time conflict for each target intermediate node according to the node arrival time and obtain the detection result;

[0197] The planning module 36 is used to perform mover path planning based on the detection result to obtain a mover path planning result.

[0198] It can be understood that the mover path planning device obtains multiple target movers and determines the starting node and target node of each target mover from a preset initial time sequence map, wherein the initial time sequence map includes multiple intermediate nodes between the starting node and the target node; for each target mover, multiple target intermediate nodes are selected based on the path cost of each intermediate node relative to the starting node and the target node, and the target path of the target mover is generated according to the multiple target intermediate nodes; for each target mover, the movement speed of the target mover is obtained, and the node arrival time when the target mover passes through multiple target intermediate nodes is determined based on the sub-path cost and movement speed between the target intermediate nodes included in the target path; the node arrival time is marked for each target intermediate node in the initial time sequence map to obtain the target time sequence map; for each target intermediate node, time conflict detection is performed according to the node arrival time to obtain the detection result; based on the detection result, the mover path planning is performed to obtain the mover path planning result. In this way, by calculating the path cost of each intermediate node corresponding to the starting node and the target node, the intermediate node with the smallest path cost is selected as the target intermediate node, so as to generate the optimal target path according to the multiple target intermediate nodes corresponding to the target mover. Moreover, after obtaining the optimal target path, a target timing map can be generated based on the node arrival time of each target mover at each target intermediate node, so as to quickly perform conflict detection between target movers based on the time dimension, and effectively avoid potential collisions between movers. In summary, the present application can effectively avoid potential collisions between movers while optimizing the paths of multiple movers.

[0199] The specific implementation of the mover path planning device is basically the same as the specific implementation of the mover path planning method described above, and will not be repeated here. On the premise of meeting the requirements of the embodiment of the present application, the mover path planning device can also be provided with other functional modules to implement the mover path planning method in the above embodiment.

[0200] The embodiment of the present application also provides a computer device, the computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the above-mentioned mover path planning method when executing the computer program. The computer device can be any intelligent terminal including a tablet computer, a vehicle-mounted computer, etc.

[0201] See also Figure 4 , Figure 4 The hardware structure of a computer device according to another embodiment is shown, and the computer device includes:

[0202] The processor 41 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0203] The memory 42 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 42 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 42, and the processor 41 calls and executes the mover path planning method of the embodiment of this application;

[0204] Input / output interface 43, used to implement information input and output;

[0205] The communication interface 44 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WI FI, Bluetooth, etc.);

[0206] A bus 45 that transmits information between the various components of the device (e.g., the processor 41, the memory 42, the input / output interface 43, and the communication interface 44);

[0207] The processor 41 , the memory 42 , the input / output interface 43 and the communication interface 44 are connected to each other in communication within the device via a bus 45 .

[0208] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned mover path planning method is implemented.

[0209] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0210] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0211] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0212] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0213] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0214] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0215] It should be understood that in the present application, "at least one (item)" and "several" refer to one or more, and "plurality" refers to two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0216] In the several embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0217] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0218] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0219] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0220] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A mover path planning method, characterized in that: The method comprises: Acquire multiple target movers, and determine a starting node and a target node of each target mover from a preset initial time sequence map, wherein the initial time sequence map includes multiple intermediate nodes between the starting node and the target node; For each of the target movers, multiple target intermediate nodes with the shortest path cost are selected based on the path cost of each intermediate node relative to the starting node and the target node, and a target path of the target mover is generated based on the multiple target intermediate nodes; wherein the path cost is the sum of the path distances from the starting node to each intermediate node and from each intermediate node to the target node for each intermediate node; the target path is the planned path from the starting node to the target node, and is the best route formed by the selected multiple target intermediate nodes; For each of the target movers, the moving speed of the target mover is obtained, and based on the sub-path costs between the target intermediate nodes included in the target path and the moving speed, the node arrival time when the target mover passes through multiple target intermediate nodes is determined; Marking the node arrival time for each target intermediate node in the initial time series map to obtain a target time series map; For each of the target intermediate nodes, a time conflict detection is performed according to the node arrival time to obtain a detection result; Perform mover path planning based on the detection result to obtain a mover path planning result; The method of performing mover path planning based on the detection result to obtain a mover path planning result includes: when the detection result indicates that there is a conflict in arrival times of multiple nodes included in the target intermediate node, determining the target intermediate node as a conflict node; obtaining the node arrival time of the conflicting node as the conflict time, and determining the travel priorities of the multiple target movers corresponding to the conflict time; performing mover path planning for the target mover based on the travel priority to obtain a mover path planning result.

2. The mover path planning method according to claim 1, characterized in that: The target mover includes a first target mover and a second target mover, the travel priority of the first target mover is a first priority, and the travel priority of the second target mover is a second priority; The performing mover path planning on the target mover based on the travel priority to obtain a mover path planning result includes: Determining a target path corresponding to the second target mover based on the order of the first priority and the second priority; Based on the target time series map, obtaining the node arrival time of the second target mover at each target intermediate node in the corresponding target path; Based on the node arrival time and in combination with the target timing map, a mover path planning is performed on the second target mover to obtain a mover path planning result.

3. The mover path planning method according to claim 1, characterized in that: For each of the target movers, based on the path costs of the intermediate nodes relative to the start node and the target node, a plurality of target intermediate nodes with the shortest path costs are selected, and a target path of the target mover is generated according to the plurality of target intermediate nodes, including: For each of the target movers, determining a plurality of adjacent nodes adjacent to the starting node; Calculating the path cost of each adjacent node relative to the start node and the target node, and determining a first target intermediate node with the shortest path cost from the plurality of adjacent nodes based on the plurality of path costs; Taking the first target intermediate node as a starting point, determining a plurality of adjacent nodes adjacent to the target intermediate node, calculating a path cost of each adjacent node relative to the starting node and the target node, and determining a next target intermediate node with the shortest path cost from the plurality of adjacent nodes adjacent to the target intermediate node based on the plurality of path costs; Repeat the steps of determining a plurality of adjacent nodes adjacent to the target intermediate node, calculating the path cost of each adjacent node relative to the start node and the target node, and determining the next target intermediate node with the shortest path cost from the plurality of adjacent nodes adjacent to the target intermediate node based on the plurality of path costs, until the next target intermediate node is determined to be the target node, so as to obtain a plurality of target intermediate nodes between the start node and the target node; A target path of the target mover is generated based on the plurality of target intermediate nodes.

4. The mover path planning method according to claim 3, characterized in that: The calculating the path cost of each adjacent node relative to the starting node and the target node includes: Calculating respectively a first path cost from each of the adjacent nodes to the starting node, and a second path cost from each of the adjacent nodes to the target node; For each of the adjacent nodes, the sum of the first path cost and the second path cost is used as the path cost of the adjacent node relative to the start node and the target node.

5. The mover path planning method according to claim 3, characterized in that: The determining, based on the plurality of path costs, from the plurality of adjacent nodes, a first target intermediate node having the shortest path cost comprises: storing the plurality of path costs corresponding to the plurality of adjacent nodes into an open cost list, and sequentially sorting the path costs in the open cost list to obtain a sequential sorting result; Based on the sequential sorting result, the adjacent node corresponding to the shortest path cost is determined as the first target intermediate node.

6. The mover path planning method according to claim 1, characterized in that: After performing mover path planning based on the detection result and obtaining the mover path planning result, the method further includes: When each of the target movers starts to move according to the mover path planning result, for each of the target movers, a first distance between the target mover and at least one target mover located in front is detected in real time; When the first distance between the target mover and the target mover located in front is less than a preset threshold, the target mover located in front is regarded as an obstacle mover, and a moving mover path is planned for the target mover based on the obstacle mover to obtain an updated target path of the target mover.

7. A mover path planning device, characterized in that: The device comprises: An acquisition module, used to acquire a plurality of target movers, and determine a starting node and a target node of each of the target movers from a preset initial time sequence map, wherein the initial time sequence map includes a plurality of intermediate nodes between the starting node and the target node; A generation module is used to select multiple target intermediate nodes with the shortest path cost for each target mover based on the path cost of each intermediate node relative to the starting node and the target node, and generate a target path for the target mover based on the multiple target intermediate nodes; wherein the path cost is the sum of the path distances from the starting node to each intermediate node and from each intermediate node to the target node for each intermediate node; the target path is a planned path from the starting node to the target node, and is an optimal route formed by the selected multiple target intermediate nodes; A determination module, for obtaining the movement speed of each target mover, and determining the node arrival time when the target mover passes through multiple target intermediate nodes based on the sub-path cost between the target intermediate nodes included in the target path and the movement speed; A marking module, used for marking the node arrival time of each target intermediate node in the initial time sequence map to obtain a target time sequence map; A detection module, used for detecting time conflicts for each target intermediate node according to the node arrival time, and obtaining a detection result; A planning module is used to perform mover path planning based on the detection result to obtain a mover path planning result; the mover path planning based on the detection result to obtain a mover path planning result includes: when the detection result indicates that there is a conflict in the arrival times of multiple nodes included in the target intermediate node, the target intermediate node is determined as a conflict node; the node arrival time of the conflicting node is obtained as the conflict time, and the travel priorities of the multiple target movers corresponding to the conflict time are determined; the mover path is planned for the target mover based on the travel priority to obtain a mover path planning result.

8. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the mover path planning method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the mover path planning method according to any one of claims 1 to 6 is implemented.

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