Route planning method and device, computer equipment and medium
By introducing route point weight calculation and comprehensive optimization methods in AGV route planning, the AGV route is dynamically adjusted, which solves the traffic congestion problem caused by AGV based on the shortest route, and achieves more efficient logistics route planning and production efficiency improvement.
Patent Information
- Application Number
- CN202411591310.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-08
- Publication Date
- 2025-01-21
AI Technical Summary
In industrial scenarios or warehousing and handling scenarios, if all automatic guided vehicles (AGVs) move from the starting point to the end point according to the shortest route, traffic congestion may lead to problems such as non-marking of production beats and delays in delivery.
By obtaining the target task, the first available route and the first way-changing point on it are determined, and the weight of the first way-changing point is determined based on the preset distance and driving time. Combined with the available routes of other guided vehicles in the current map, the first and second weights are comprehensively calculated to determine the second route change point. Then, based on the comparison result of the route time consumption of the second route change point and the initial route time consumption, the target route change point is determined, thereby determining the target route.
Through dynamic route planning, we can effectively avoid crowded road sections, ensure that the target route is the optimal route, improve the efficiency of completing tasks, and avoid traffic congestion and delivery delays.
Smart Images
Figure CN119338368A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of vehicle route planning, and in particular to a route planning method, device, computer equipment and medium. Background Art
[0002] In the current production process, logistics plays a vital role. From raw materials before production to finished products after production, and even semi-finished products during the production process, they all need to be supplied and transferred quickly and accurately to ensure the smooth progress of the production process and prevent any interruptions or delays, thereby improving overall production efficiency. Therefore, it is extremely important to scientifically and rationally plan the material transfer route, especially the core part of the logistics link - route planning.
[0003] In industrial scenarios or more specific warehousing and handling scenarios, if all automated guided vehicles (AGVs) travel from the starting point to the end point according to the shortest route, traffic congestion is likely to occur. Failure to plan routes properly will lead to problems such as production cycle failure and delivery delays. Therefore, designing a reasonable mobile route is an urgent problem to be solved. Summary of the invention
[0004] In view of this, the present invention provides a route planning method, apparatus, computer equipment and medium to solve the problem of unreasonable route planning.
[0005] In a first aspect, the present invention provides a route planning method, the method comprising:
[0006] Acquire a target task, wherein the target task at least includes a target starting point and a target end point of the target guided vehicle;
[0007] Determine a first available route based on the target task, and obtain a first route change point on the first available route;
[0008] Determining a first weight of the first switch point based on the first switch point, a preset distance, and a preset driving duration, and determining a second weight of the first switch point based on available routes of other guide vehicles in a current map;
[0009] integrating the first weight and the second weight to determine a second switching point from the first switching points based on the integrated result;
[0010] The route time taken by the target guided vehicle to travel from the second path switching point to the target destination is obtained, and the target path switching point is determined according to a comparison result between the route time taken by the second path switching point and the initial route time taken by the target guided vehicle, so as to determine the target route based on the target path switching point, wherein the initial route time taken by the target guided vehicle to travel from the second path switching point to the target destination on the first available route, and the target route includes at least one target path switching point.
[0011] In a second aspect, the present invention provides a route planning device, the device comprising:
[0012] A task acquisition module, used to acquire a target task, wherein the target task at least includes a target starting point and a target end point of a target guided vehicle;
[0013] A first switch point determination module, configured to determine a first available route based on the target task, and obtain a first switch point on the first available route;
[0014] a weight calculation module, configured to determine a first weight of the first switch point based on the first switch point, a preset distance, and a preset driving time, and to determine a second weight of the first switch point based on available routes of other guide vehicles in a current map;
[0015] A second switch point determination module, configured to combine the first weight and the second weight to determine a second switch point from the first switch point based on a combined result;
[0016] A target route determination module is used to obtain the route time taken by the target guided vehicle to travel from the second switch point to the target destination, and determine the target switch point based on the comparison result between the route time taken by the second switch point and the initial route time taken, so as to determine the target route based on the target switch point, wherein the initial route time taken is used to characterize the time taken by the target guided vehicle to travel from the second switch point to the target destination on the first available route, and the target route includes at least one target switch point.
[0017] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the route planning method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.
[0018] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the route planning method of the first aspect or any corresponding embodiment thereof.
[0019] The route planning method provided in this embodiment, after obtaining the target task, determines the first available route based on the target task, and obtains the first switch point on the first available route; determines the first weight of the first switch point according to the first switch point, the preset distance and the preset driving time, and determines the second weight of the first switch point based on the available routes of other guide vehicles in the current map; combines the first weight and the second weight to determine the second switch point from the first switch point based on the comprehensive result; obtains the route time of the target guide vehicle from the second switch point to the target end point, and determines the target switch point according to the comparison result between the route time of the second switch point and the initial route time, so as to determine the target route based on the target switch point. This method can perform route planning according to the available routes of other guide vehicles in the current map, so as to determine the available second switch point and effectively avoid the more crowded road sections. After determining the second switch point, by comparing the current route time and the initial route time, it is ensured that the target route is the optimal route, thereby improving the efficiency of completing the task. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0021] Figure 1 is a schematic diagram of a process of a route planning method according to an embodiment of the present invention;
[0022] Figure 2 is a schematic diagram of determining a distance weight according to an embodiment of the present invention;
[0023] Figure 3 is a schematic diagram of a method for determining a second switching point according to an embodiment of the present invention;
[0024] Figure 4 is a schematic diagram of landmark time-consuming calculation according to an embodiment of the present invention;
[0025] Figure 5 is a schematic diagram of determining a target route according to an embodiment of the present invention;
[0026] Figure 6 is a structural block diagram of a route planning device according to an embodiment of the present invention;
[0027] Figure 7 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION
[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.
[0029] AGV (Automated Guided Vehicle) is a transport vehicle equipped with an automatic guided device that can travel along a specified guide route and has safety protection and various transfer functions. The existing AGV scheduling system generally uses an independent module for route planning, and traffic control as another independent module, and there is no connection between the two modules. The route planning module calculates the shortest route based on the distance, and the traffic control module detects intersection points based on the generated shortest route for control. In the warehousing and transportation scenario, if all AGVs only move from the starting point to the end point according to the shortest route, if there are multiple AGVs carrying goods at the same time, route congestion is likely to occur, which will lead to problems such as delivery delays.
[0030] Based on this, an embodiment of the present invention provides a route planning method for AGV route planning, which can dynamically plan a high-efficiency, low-cost logistics route according to the current map situation to meet the corresponding logistics operation requirements. The route planning method provided by the embodiment of the present invention can be used in terminals such as computers and tablets to provide a target route for a target guided vehicle according to task requirements in industrial scenarios.
[0031] According to an embodiment of the present invention, a route planning method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.
[0032] In this embodiment, a route planning method is provided. Figure 1 is a flow chart of a route planning method according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:
[0033] Step S101, obtaining the target task.
[0034] The target task at least includes the target starting point and target end point of the target guided vehicle. The target task of the target guided vehicle is obtained, and the target task is used to guide the target starting point and target end point of the target guided vehicle. The route planning method provided in the embodiment of the present invention can be used in a route planning system. When the target guided vehicle is required to perform a task, the target starting point and target end point of the task in the current map can be input into the route planning system, and each point can be represented in the form of coordinates to represent its position in the current map.
[0035] Step S102: determining a first available route based on the target task, and acquiring a first route switching point on the first available route.
[0036] Perform basic route planning according to the target task to obtain the first available route. When planning the route, you can combine the point occupancy in the current map and use the basic path planning algorithm to plan an available route. The point occupancy is calculated by the traffic control module based on the point occupancy data of all guide vehicles in the whole map and save the calculation results. According to the route of the target guide vehicle and the current point, calculate which map points the target guide vehicle occupies, so as to obtain the point occupancy. The map points occupied by the guide vehicle can include various types, such as points on the route (rotation points, change points), charging points, etc. After planning the available route, determine whether the route direction of the available route conflicts with other routes, whether the points on the route are occupied by other guide vehicles, etc. If there is no conflict between the route direction and other routes, and there is no point occupied, it means that the available route is authorized. The authorized route is defined as the first available route.
[0037] After the first available route is determined, the points on the first available route are screened, and the points that meet the preset conditions are determined as the first route switching points, and the number of first route switching points is at least 1. The first route switching point is the basis for determining the target route, so the preset conditions can meet the following conditions: the target guided vehicle will change direction at this point, and the point is connected to enough other points. The specific content of the preset conditions can be set according to actual needs.
[0038] Step S103, determining a first weight of the first switch point based on the first switch point, the preset distance and the preset driving time, and determining a second weight of the first switch point based on available routes of other guide vehicles in the current map.
[0039] Allocate a first weight to all first switch points, the first weight is an initial weight, the preset distance is used to characterize the distance threshold from the starting point to the first switch point on the first available route, and the preset driving time is used to characterize the driving time threshold of the target guide vehicle from the starting point to the first switch point on the first available route. On the way from the starting point to the first switch point on the first available route, other first switch points and other types of switch points may be passed. For each first switch point, calculate the distance and driving time from the starting point to the first switch point on the first available route, obtain the distance and driving time of each switch point, compare the distance and driving time with the preset distance and preset driving time respectively, and then assign a weight to each first switch point according to the comparison result. For example, the weight can be configured in inverse proportion, if the distance is closer to the preset distance, the weight of the point is higher; if the driving time is closer to the preset driving time, the weight of the point is higher. The weights after the distance comparison and the driving time comparison are synthesized to obtain the first weight of each first switch point.
[0040] Allocate a second weight to all first switch points, and the second weight is determined based on the available routes of other guide vehicles in the current map. By analyzing the available routes of other guide vehicles, if there are other available routes of other guide vehicles that pass through the first switch point, other guide vehicles that cover the first switch point, etc., the weight of the first switch point will be reduced, and the weight of the first switch point will be adjusted according to the set conditions. Finally, the weight under each condition is combined, and the second weight can be obtained by taking the average value.
[0041] Step S104: synthesize the first weight and the second weight to determine a second switch point from the first switch points based on the synthesis result.
[0042] The first weight and the second weight are comprehensively calculated, and the method of comprehensive calculation is not limited. For example, the difference between the first weight and the second weight can be used as the comprehensive result, and the comprehensive results of each first switching point are sorted, and the one with the largest value is selected as the second switching point. The second switching point is the only point selected from the first switching points.
[0043] Step S105, obtaining the route time taken by the target guided vehicle from the second route switching point to the target destination, and determining the target route switching point based on the comparison result between the route time taken at the second route switching point and the initial route time taken, so as to determine the target route based on the target route switching point.
[0044] The initial route time is used to characterize the time it takes for the target guided vehicle to travel from the second switch point to the target destination on the first available route, and the target route includes at least one target switch point.
[0045] This step is used to search for low-cost routes. If there is no way-changing point or way-changing is not supported, low-cost route search will not be performed. If there is a landmark point on the current path that is set as a no-turn-back point, then the landmark point will be added to the list of prohibited landmarks. Path planning is performed based on parameters such as the second way-changing point, the target end point, and the turning angle of the target guide vehicle at the second way-changing point to obtain the cost from the second way-changing point to the target end point. The cost is the time taken to travel from the second way-changing point to the target end point. The cost of a route refers to the time cost calculated when calculating the route based on the real-time routes and positions of all AGVs in the map combined with congestion conditions. The effective time is calculated by combining the average AGV speed, path length, rotation speed, point occupancy, point direction occupancy, etc. The unit of time is seconds.
[0046] In addition, the initial route time indicates the length of time it takes for the target guide vehicle to travel from the second switch point to the target end point on the first available route. If the route time taken by the target guide vehicle to travel from the second switch point to the target end point is less than the initial route time, it indicates that the time taken from the second switch point to the target end point is shorter. It is possible to further detect whether the low-cost route is authorized to pass. The authorization conditions of the route include the direction of the second switch point and the point itself can be locked. If the authorization is passed, the second switch point can be determined as the target switch point, and the route from the target switch point to the target end point can be changed to a shorter route. Specifically, the point information on the route can be changed in the system, and the point information can include point coordinates, point type, etc. The route from the target starting point to the target switch point does not need to be changed, and the route on the first available route can continue to be used.
[0047] After determining the first target switch point between the target starting point and the target end point, the target switch point can be used as a new target starting point, and the above steps S102 to S105 are continued until all target switch points are determined. The target route is composed of the low-cost routes between all target switch points, the low-cost route between the target starting point and the first target switch point, and the low-cost route between the last target switch point and the target end point.
[0048] The route planning method provided in this embodiment, after obtaining the target task, determines the first available route based on the target task, and obtains the first switch point on the first available route; determines the first weight of the first switch point according to the first switch point, the preset distance and the preset driving time, and determines the second weight of the first switch point based on the available routes of other guide vehicles in the current map; combines the first weight and the second weight to determine the second switch point from the first switch point based on the comprehensive result; obtains the route time of the target guide vehicle from the second switch point to the target end point, and determines the target switch point according to the comparison result between the route time of the second switch point and the initial route time, so as to determine the target route based on the target switch point. This method can perform route planning according to the available routes of other guide vehicles in the current map, so as to determine the available second switch point and effectively avoid the more crowded road sections. After determining the second switch point, by comparing the current route time and the initial route time, it is ensured that the target route is the optimal route, thereby improving the efficiency of completing the task.
[0049] In some optional implementations, the above step S102 includes the following steps:
[0050] Step S201, obtaining a rotation point on a first available route.
[0051] The rotation point is used to represent the point where the target guided vehicle needs to change direction.
[0052] The rotation point means that when the guide vehicle reaches the rotation point, it needs to rotate, that is, change the driving direction, and then drive to the next point. First, all the rotation points on the first available route are screened. The reason for selecting only the rotation points is to avoid selecting the route change points on the straight line. The guide vehicle at the rotation point is usually relatively stationary, and there is enough time to issue the route change command to the guide vehicle.
[0053] Step S202, screening the rotation point, if there are adjacent rotation points connected to the rotation point that reach a preset first number, determine the rotation point as the first switching point.
[0054] After all the rotation points are selected, all the rotation points are screened according to the set conditions, and the screening condition is whether the number of adjacent rotation points connected to the rotation point reaches the first number, so as to avoid backtracking and a new route after the route change to the greatest extent. The rotation point that meets the conditions is used as the first route change point.
[0055] Exemplarily, assuming that the first number is 3, if there is a rotation point that connects 3 or more adjacent rotation points (ie, connects 3 or more "roads"), it is determined as the first road switching point.
[0056] In some optional implementations, determining the first weight of the first road switching point based on the first road switching point, the preset distance, and the preset driving time in step S103 includes the following steps:
[0057] Step S301, obtaining a first distance between a first route switching point and a target starting point on a first available route, and determining a first difference between the first distance and a preset distance.
[0058] On the first available route, the distance from the first route switching point to the target starting point is a first distance, and the difference between the first distance and the preset distance is calculated to obtain a first difference.
[0059] Step S302: determining a distance weight of a first switching point according to the first difference.
[0060] The first difference is negatively correlated with the distance weight.
[0061] The first difference is set to be negatively correlated with the distance weight, so the larger the first difference is, the smaller the distance weight is set. It can be understood that the closer the first distance is to the preset distance, the larger the distance weight is set. Figure 2 The schematic diagram for determining the distance weight is shown in the figure. The hollow circle represents the first switch point. The distance weight of each first switch point is configured in inverse proportion. The preset distance is set to 10 meters. The closer the distance to 10 meters, the higher the distance weight of the first switch point. Figure 2 The third point from left to right in the figure has the closest first distance to 10 meters, so its distance weight is larger.
[0062] Step S303, obtaining a target duration required for the target guided vehicle to travel the first distance, and determining a second difference between the target duration and the preset travel duration.
[0063] In this step, the time required for the target guided vehicle to travel the first distance is calculated based on the travel speed of the target guided vehicle, and the target duration is obtained. The difference between the target duration and the preset travel duration is calculated to obtain a second difference.
[0064] Step S304: determine the time weight of the first switching point according to the second difference.
[0065] Among them, the second difference is negatively correlated with the time weight. The second difference is set to be negatively correlated with the time weight, so the larger the second difference is, the smaller the time weight is. It can be understood that the closer the target duration is to the preset driving duration, the larger the set time weight is. For example, if the preset driving duration is 30 seconds, the closer the calculated target duration is to 30 seconds, the larger the corresponding time weight is.
[0066] Step S305: Determine a first weight of the first switching point based on the sum of the distance weight and the time weight.
[0067] The sum of the distance weight and the time weight of each first switching point is calculated to obtain the first weight of each first switching point.
[0068] In some optional implementations, determining the second weight of the first route change point based on the available routes of other guided vehicles in the current map in the above step S103 includes the following steps:
[0069] Step S306: reducing the preset weight of the first switch point based on the first preset condition to obtain a first preset weight.
[0070] The first preset condition is determined based on the available routes of other guided vehicles, and the number of the first preset weights is consistent with the number of conditions included in the first preset condition.
[0071] Each first switch point is pre-assigned with a preset weight, and the preset weights of all first switch points are consistent. The first preset condition may include one or more conditions, and the size of the preset weight is reduced according to each condition. The first preset weight represents the preset weight adjusted under the first preset condition. If the first preset condition includes 4 conditions, then the size of the preset weight is adjusted for each of the 4 conditions, and finally 4 first preset weights of the first switch point can be obtained.
[0072] Furthermore, the first preset condition at least includes that the available routes of other guided vehicles pass through the first switching point, the available routes of other guided vehicles include the first switching point, the bodies of other guided vehicles cover the first switching point, and the driving directions of the available routes of other guided vehicles at the first switching point.
[0073] The available routes of other guide vehicles pass through the first route change point: it means that the available routes of other guide vehicles pass through the first route change point. If there are available routes of other guide vehicles that pass through the first route change point, the weight is reduced to obtain the corresponding first preset weight.
[0074] The available routes of other guided vehicles include the first route change point: Since the control method of locking points in advance is adopted in this embodiment, if there is a first route change point included in the points locked in advance, the weight is reduced to obtain the corresponding first preset weight.
[0075] The bodies of other guide vehicles cover the first route change point: if the available routes of other guide vehicles do not pass through the first route change point, but after calculation, if there are other guide vehicles whose bodies cover the first route change point when driving, the weight is reduced to obtain the corresponding first preset weight.
[0076] The driving direction of the available routes of other guide vehicles at the first switching point: each route has its own movement direction, and the route direction will be set to the direction of the first switching point. If the direction of the first switching point has been locked, the weight will be reduced to obtain the corresponding first preset weight.
[0077] Step S307: increasing the preset weight of the first switch point based on the second preset condition to obtain a second preset weight.
[0078] The second preset condition at least includes a mark of the first route change point, the mark is used to characterize the point type in the current map, and the number of the second preset weights is consistent with the number of conditions included in the second preset condition.
[0079] There are various types of points in the map. If the mark of the first switch point indicates a switch point, it means that the road can be switched at the first switch point. Therefore, the weight of the first switch point can be increased, and the second preset weight is obtained after adjustment.
[0080] The number of the second preset weights corresponds to the number of conditions of the second preset condition. If there are multiple conditions of the second preset condition, the second preset weight corresponding to each condition is calculated.
[0081] Step S308: determining a second weight based on an average value of the first preset weight and the second preset weight.
[0082] Specifically, all first preset weights and second preset weights may be summed, and then the average value may be calculated based on the total number to obtain the second weight.
[0083] In some optional implementations, the above step S104 includes the following steps:
[0084] Step S309: Calculate the weight difference between the first weight and the second weight of the first switching point, and calculate the product of the weight difference and the preset coefficient.
[0085] Step S310: determine the first switching point with the largest product as the second switching point.
[0086] The weight calculation is performed for each first switching point. First, the weight difference obtained by subtracting the second weight from the first weight is calculated. The preset coefficient is usually set to 1. The product of the weight difference and the preset coefficient is calculated to obtain the product of each first switching point. The products of all first switching points are sorted, and the first switching point with the largest product is used as the second switching point.
[0087] Combine the following Figure 3 and steps S301 to S310 are described. Figure 3 A schematic diagram of a method for determining the second switching point. Figure 3 The "driving distance and weight before route change" in the first part represents the distance weight, and the "driving time and weight before route change" represents the time weight. The sum of the distance weight and the time weight in the first part is the first weight. Figure 3The second part is the first preset weight and the second preset weight adjusted based on the first preset condition and the second preset condition, wherein the weight of the landmark point passed by other routes, the weight of the landmark point covered by the AGV body but not passed by other routes, the weight of the landmark point occupied, and the weight of the landmark point direction occupied are all the first preset weights. In this embodiment, four first preset weights are calculated. The landmark type is manually marked as the switch point and the weight is selected as the second preset weight. The first preset weight and the second preset weight are summed and the average value is further calculated to obtain the second weight. The weighting coefficient in the figure is the preset coefficient.
[0088] The weight difference between the first weight and the second weight is calculated, the weight difference is multiplied by the weighting coefficient, and the first switching point with the largest calculation result is used as the second switching point.
[0089] The value range of the first weight, the first preset weight, the second preset weight and the second weight is 0 to 100.
[0090] In extreme cases, if the route is a straight line and there is no rotation point, it means there is no change point, so the second change point is actually the target end point.
[0091] In some optional implementations, the above step S105 includes the following steps:
[0092] Step S401, performing path planning based on the rotation angle of the target guided vehicle at the second path switching point, the target end point and the second path switching point to determine a second available route.
[0093] Step S402, calculating the route time taken by the target guided vehicle to travel from the second route switching point to the target destination on the second available route.
[0094] Step S403: If the route time of the second switch point is less than the initial route time, the second switch point is determined as the target switch point.
[0095] When planning a route, the weight of the landmark is calculated. The lower the weight, the lower the time consumption. Therefore, the landmark with the lower weight will be selected first. Figure 4 As shown, the time consumed by landmarks is divided into two categories:
[0096] The first category: the time required for AGV to travel and the time required for rotation. The time required for AGV to travel is obtained by dividing the actual distance between points by the set travel speed. The time required for AGV to rotate is obtained through parameter settings.
[0097] The second category: map "congestion". During route planning, the direction can be calculated in advance to compare with the current landmark to see if there is a direction leading to the destination, or if there is a direction conflict. If so, the time consumption (weight) is increased. The difference between the point occupation time consumption and the point passing time consumption is that the point occupation refers to the first X points that are locked, X has an external setting, and the point passing refers to the points that the remaining routes will pass through, and the passed points can include occupied points. When the planned path encounters a landmark point each time, check whether it has been occupied or other routes pass through the landmark. If so, the time consumption (weight) is increased. After the above calculation process of the planned path, a route with the lowest current cost can be obtained, which is the second available route.
[0098] Figure 5 To determine the schematic diagram of the target route, Figure 5 As shown, the route time of the second available route is compared with the initial route time. If the route time of the second switch point is less than the initial route time, the second switch point is determined as the target switch point. That is, the cost from the current route switch point to the end point (initial route time) is compared with the cost of the new route (the route time of the second available route).
[0099] The total cost and the cost from each landmark to the destination will be recorded in the route, which is convenient for comparing the costs when changing routes.
[0100] According to the route planning method embodiment provided by the present invention, the two modules of path planning and traffic control are integrated, so that in the path planning stage, the "more congested" landmarks can be effectively avoided according to the point conditions provided by the traffic control module. In the traffic control stage, the way-changing points are found, and the secondary path planning is performed at the way-changing points to search for a path with lower time efficiency. The purpose of this is that when planning the path for the first time, the path planned according to the global information of all AGVs is the global optimal path at that moment. However, when planning the path at the second way-changing point, the path planned for the first time may not be the global optimal path. Then the second path planning ensures that the next path is also the global optimal path. This algorithm combines the two modules, makes full use of the global AGV real-time path and position, calculates the path with the lowest global cost and the best time efficiency, and ensures the timeliness of completing each task.
[0101] In this embodiment, a route planning device is also provided, which is used to implement the above-mentioned embodiments and implementation methods, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.
[0102] This embodiment provides a route planning device, such as Figure 6 As shown, including:
[0103] A task acquisition module 501 is used to acquire a target task, wherein the target task at least includes a target starting point and a target end point of a target guided vehicle;
[0104] A first switch point determining module 502, configured to determine a first available route based on the target task, and obtain a first switch point on the first available route;
[0105] A weight calculation module 503, configured to determine a first weight of the first switch point based on the first switch point, a preset distance, and a preset driving time, and to determine a second weight of the first switch point based on available routes of other guide vehicles in a current map;
[0106] A second switch point determination module 504, configured to combine the first weight and the second weight to determine a second switch point from the first switch point based on a combined result;
[0107] The target route determination module 505 is used to obtain the route time taken by the target guided vehicle to travel from the second switch point to the target destination, and determine the target switch point based on the comparison result between the route time taken by the second switch point and the initial route time taken, so as to determine the target route based on the target switch point. The initial route time taken is used to characterize the time taken by the target guided vehicle to travel from the second switch point to the target destination on the first available route, and the target route includes at least one target switch point.
[0108] In some optional implementations, the first switching point determining module 502 includes:
[0109] A rotation point acquisition unit, used to acquire a rotation point on the first available route, wherein the rotation point is used to represent a point at which the target guided vehicle needs to change direction;
[0110] The rotation point screening unit is used to screen the rotation point, and if the number of adjacent rotation points connected to the rotation point reaches a preset first number, the rotation point is determined as a first switching point.
[0111] In some optional implementations, the weight calculation module 503 includes:
[0112] a first difference calculation unit, configured to obtain a first distance between the first route switching point and the target starting point on the first available route, and determine a first difference between the first distance and the preset distance;
[0113] a distance weight determination unit, configured to determine a distance weight of the first path switching point according to the first difference, wherein the first difference is negatively correlated with the distance weight;
[0114] A second difference calculation unit is used to obtain a target time required for the target guided vehicle to travel the first distance, and determine a second difference between the target time and the preset travel time;
[0115] a time weight determination unit, configured to determine a time weight of the first switching point according to the second difference, wherein the second difference is negatively correlated with the time weight;
[0116] A first weight determination unit is used to determine a first weight of the first path switching point based on the sum of the distance weight and the time weight.
[0117] In some optional implementations, the weight calculation module 503 includes:
[0118] a first preset weight calculation unit, configured to reduce a preset weight of the first route change point based on a first preset condition to obtain a first preset weight, wherein the first preset condition is determined based on an available route of the other guide vehicles, and the number of the first preset weights is consistent with the number of conditions included in the first preset condition;
[0119] a second preset weight calculation unit, configured to increase a preset weight of the first way-changing point based on a second preset condition to obtain a second preset weight, wherein the second preset condition at least includes a mark of the first way-changing point, the mark being used to characterize a point type in the current map, and the number of the second preset weights is consistent with the number of conditions included in the second preset condition;
[0120] The second weight determining unit is used to determine the second weight based on an average value of the first preset weight and the second preset weight.
[0121] In some optional embodiments, the first preset condition at least includes that the available route of the other guided vehicle passes through the first switch point, the available route of the other guided vehicle includes the first switch point, the body of the other guided vehicle covers the first switch point, and the driving direction of the available route of the other guided vehicle at the first switch point.
[0122] In some optional implementations, the second switching point determination module 504 includes:
[0123] a product calculation unit, configured to calculate a weight difference between a first weight of the first switching point and the second weight, and calculate a product of the weight difference and a preset coefficient;
[0124] The second switching point determining unit is configured to determine the first switching point with the largest product as the second switching point.
[0125] In some optional implementations, the target route determination module 505 includes:
[0126] A second available route determining unit, configured to perform path planning based on the rotation angle of the target guided vehicle at the second path switching point, the target destination, and the second path switching point, to determine a second available route;
[0127] A route time determination unit, used to calculate the route time taken by the target guided vehicle to travel from the second route switching point to the target destination on the second available route;
[0128] The target switching point determining unit is configured to determine the second switching point as the target switching point if the route time of the second switching point is less than the initial route time.
[0129] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.
[0130] The route planning device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.
[0131] The embodiment of the present invention also provides a computer device having the above Figure 6 The route planning device shown.
[0132] See also Figure 7 , Figure 7 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 7 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 7 A processor 10 is taken as an example.
[0133] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.
[0134] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.
[0135] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 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 optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device 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.
[0136] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.
[0137] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.
[0138] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.
[0139] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the present invention.
Claims
1. A route planning method, characterized in that: The method comprises: Acquire a target task, wherein the target task at least includes a target starting point and a target end point of the target guided vehicle; Determine a first available route based on the target task, and obtain a first route change point on the first available route; Determining a first weight of the first switch point based on the first switch point, a preset distance, and a preset driving duration, and determining a second weight of the first switch point based on available routes of other guide vehicles in a current map; integrating the first weight and the second weight to determine a second switching point from the first switching points based on the integrated result; The route time taken by the target guided vehicle to travel from the second path switching point to the target destination is obtained, and the target path switching point is determined according to a comparison result between the route time taken by the second path switching point and the initial route time taken by the target guided vehicle, so as to determine the target route based on the target path switching point, wherein the initial route time taken by the target guided vehicle to travel from the second path switching point to the target destination on the first available route, and the target route includes at least one target path switching point.
2. The method according to claim 1, characterized in that: The obtaining of the first route change point on the first available route includes: Acquire a rotation point on the first available route, where the rotation point is used to represent a point where the target guided vehicle needs to change direction; The rotation point is screened, and if the number of adjacent rotation points connected to the rotation point reaches a preset first number, the rotation point is determined as a first switching point.
3. The method according to claim 1, characterized in that The determining the first weight of the first road switching point based on the first road switching point, a preset distance and a preset driving time includes: Acquire a first distance between the first route switching point and the target starting point on the first available route, and determine a first difference between the first distance and the preset distance; Determine a distance weight of the first switch point according to the first difference, wherein the first difference is negatively correlated with the distance weight; Obtaining a target duration required for the target guided vehicle to travel the first distance, and determining a second difference between the target duration and the preset travel duration; Determine a time weight of the first switching point according to the second difference, wherein the second difference is negatively correlated with the time weight; A first weight of the first switch point is determined based on the sum of the distance weight and the time weight.
4. The method according to claim 1, characterized in that: The determining the second weight of the first route change point based on the available routes of other guide vehicles in the current map includes: Based on a first preset condition, a preset weight of the first route switching point is reduced to obtain a first preset weight, wherein the first preset condition is determined based on the available routes of the other guide vehicles, and the number of the first preset weights is consistent with the number of conditions included in the first preset condition; increasing a preset weight of the first way-changing point based on a second preset condition to obtain a second preset weight, wherein the second preset condition at least includes a mark of the first way-changing point, the mark being used to characterize a point type in the current map, and the number of the second preset weights is consistent with the number of conditions included in the second preset condition; The second weight is determined based on an average value of the first preset weight and the second preset weight.
5. The method according to claim 4, characterized in that The first preset condition at least includes that the available route of the other guided vehicle passes through the first route change point, the available route of the other guided vehicle includes the first route change point, the body of the other guided vehicle covers the first route change point, and the driving direction of the available route of the other guided vehicle at the first route change point.
6. The method according to claim 1, characterized in that The step of synthesizing the first weight and the second weight to determine a second switching point from the first switching point based on a synthesis result includes: Calculating a weight difference between a first weight of the first switching point and the second weight, and calculating a product of the weight difference and a preset coefficient; The first switching point with the largest product is determined as the second switching point.
7. The method according to claim 1, characterized in that The step of obtaining the route time taken by the target guided vehicle to travel from the second route switching point to the target destination, and determining the target route switching point according to a comparison result between the route time taken by the second route switching point and the initial route time taken, includes: Performing path planning based on the rotation angle of the target guided vehicle at the second path switching point, the target end point, and the second path switching point to determine a second available route; Calculating the route time taken by the target guided vehicle to travel from the second route switching point to the target destination on the second available route; If the route time of the second switch point is less than the initial route time, the second switch point is determined as the target switch point.
8. A route planning device, characterized in that: The device comprises: A task acquisition module, used to acquire a target task, wherein the target task at least includes a target starting point and a target end point of a target guided vehicle; A first switch point determination module, configured to determine a first available route based on the target task, and obtain a first switch point on the first available route; a weight calculation module, configured to determine a first weight of the first switch point based on the first switch point, a preset distance, and a preset driving time, and to determine a second weight of the first switch point based on available routes of other guide vehicles in a current map; A second switch point determination module, configured to combine the first weight and the second weight to determine a second switch point from the first switch point based on a combined result; A target route determination module is used to obtain the route time taken by the target guided vehicle to travel from the second switch point to the target destination, and determine the target switch point based on the comparison result between the route time taken by the second switch point and the initial route time taken, so as to determine the target route based on the target switch point, wherein the initial route time taken is used to characterize the time taken by the target guided vehicle to travel from the second switch point to the target destination on the first available route, and the target route includes at least one target switch point.
9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the route planning method according to any one of claims 1 to 7 by executing the computer instructions.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the route planning method according to any one of claims 1 to 7.