Automatic guided vehicle path planning method and device and computer readable storage medium

Abstract

The invention discloses an automated guided vehicle path planning method and device and a computer readable storage medium, and the method comprises the steps: planning an optimal path for a plurality of automated guided vehicles according to roadway information and respective path occupation information of the plurality of automated guided vehicles; wherein the roadway information comprises main roadway information and wrong vehicle roadway information, and the path occupation information is used for describing the occupation condition of the automated guided vehicle on the main roadway; according to the node information of each path contained in the optimal path, performing conflict verification on the path occupation information among the plurality of automatic guided vehicles, if a conflict node is verified to exist, returning to the previous node of the conflict node to execute the conflict verification, recording the number of times of returning of the plurality of automatic guided vehicles, and according to the number of times of returning, returning to the previous node of the conflict node to execute the conflict verification; and determining a newly added wrong vehicle node before the conflict node, and updating the path occupation information of the conflict guide vehicle. And on the basis of the wrong vehicle roadways and the newly added wrong vehicle nodes, the paths of the conflicting guide vehicles are re-planned, so that the working efficiency of a plurality of automatic guide vehicles is improved.

Description

Technical Field

[0001] The present application relates to the technical field of automatic guided vehicle path planning, and in particular to an automatic guided vehicle path planning method, device and computer-readable storage medium. Background Art

[0002] Automated Guided Vehicle, referred to as AGV (Automated Guided Vehicle), is a modern automatic handling equipment that can achieve efficient transportation according to a planned path.

[0003] In order to save space, most industrial scenarios use a single-aisle path to provide an activity route for AGVs. Although a single-aisle path can meet the route layout of AGVs in a smaller space, in actual operation, in order to improve transportation efficiency, multiple AGVs are often required to run at the same time, and there are situations where the aisle travel directions of multiple AGVs are not fixed. Therefore, there will inevitably be situations where vehicles meet in the aisle.

[0004] When vehicles meet in the alley, at least one AGV needs to adopt a lateral movement mode to exit the alley, give up the alley to ensure that the other AGV passes before returning to the alley, or when there is a conflict between vehicles, at least one AGV needs to adopt a waiting strategy to ensure that the other AGV can pass through the alley first, which will reduce the working efficiency of the AGV. Summary of the invention

[0005] To solve the above technical problems, the embodiments of the present application provide an automated guided vehicle path planning method, device, and computer-readable storage medium.

[0006] One aspect of an embodiment of the present application provides a path planning method for an automatic guided vehicle, the method comprising:

[0007] Planning optimal paths for the multiple automatic guided vehicles according to the lane information and the path occupancy information of each of the multiple automatic guided vehicles; wherein the lane information includes main lane information and passing lane information, and the path occupancy information is used to describe the occupation of the main lane by the automatic guided vehicle;

[0008] According to the node information of each path included in the optimal path, a conflict check is performed on the path occupancy information between the multiple automatic guided vehicles. If a conflict node is found in the check, the conflict check is performed by falling back to the previous node of the conflict node, and the number of fallbacks of the multiple automatic guided vehicles is recorded. According to the number of fallbacks, a newly added missed vehicle node is determined before the conflict node, and the path occupancy information of the conflicting guided vehicle is updated.

[0009] In one embodiment of the present application, determining a new missed node before the conflicting node according to the number of rollbacks includes:

[0010] Determining whether the number of times two of the automatic guided vehicles roll back is greater than a preset first threshold;

[0011] If yes, searching for a node traveling toward the passing lane before reaching the conflicting node as the newly added passing node, so that the automatic guided vehicle travels toward the passing lane at the newly added passing node;

[0012] If not, the newly added passing node will not be added and the vehicle will continue driving in the main lane.

[0013] In one embodiment of the present application, searching for a node that can travel toward the passing lane before the conflicting node as the newly added passing node includes:

[0014] Obtaining the conflicting node of the automatic guided vehicle, taking the conflicting node as the starting point, backing off one by one, and after each backing off, performing a conflict check on the path occupancy information between the plurality of automatic guided vehicles;

[0015] Determine the path occupancy information status of the passing lane of the node corresponding to the fallback number;

[0016] If there is no occupancy, the node corresponding to the fallback number is confirmed as the newly added missed vehicle node;

[0017] If occupied, the automatic guided vehicle continues to retreat and determines the path occupancy information status of the passing lane of the node corresponding to the retreat number until the position of the newly added passing node is confirmed.

[0018] In one embodiment of the present application, the automatic guided vehicle backs up again, and determines the path occupancy information status of the passing lane of the node corresponding to the backing-up number, until the position of the newly added passing node is confirmed, including:

[0019] Determine whether the number of times each automated guided vehicle retreats is greater than a preset second threshold, and whether the second threshold is greater than the first threshold;

[0020] If yes, no more searching for the newly added vehicle-passing node is performed, and the path occupancy information of the conflicting guided vehicle is updated so that the automatic guided vehicle keeps driving in the main lane;

[0021] If not, continue to perform the conflict check to determine whether it is necessary to expand the passing path to the passing lane.

[0022] In one embodiment of the present application, adding a new node before the conflicting node includes:

[0023] Determining whether the distance before the automatic guided vehicle reaches the conflict node is greater than a preset distance threshold;

[0024] If yes, continue to perform the conflict check;

[0025] If not, the conflicting node is disabled, and the path occupancy information of the conflicting guided vehicle is replanned.

[0026] In one embodiment of the present application, disabling the conflicting node and replanning the path occupancy information of the conflicting guided vehicle includes:

[0027] Performing optimal driving path planning processing on the path between the node after the conflicting guided vehicle retreats to the node after the automatic guided vehicle retreats to obtain a first optimal path, and performing optimal driving path planning processing on the path between the node after the conflicting guided vehicle retreats to the target node preset by the conflicting guided vehicle to obtain a second optimal path;

[0028] The path before the node after the conflict-guided vehicle retreats is correspondingly connected to the first and last nodes of the first optimal path and the second optimal path, and the path occupancy information of the conflict-guided vehicle is updated.

[0029] In one embodiment of the present application, the method further includes:

[0030] Determining whether the initial driving mode and the final driving mode of the conflict-guiding vehicle are both target driving modes;

[0031] If yes, then the conflict-guiding vehicle is executed to add a new missed node before the conflict node, and the path occupancy information of the conflict-guiding vehicle is updated;

[0032] If not, the execution of the path planning for the plurality of automatic guides is terminated.

[0033] In one embodiment of the present application, the method further includes:

[0034] After determining that the number of rollbacks is less than or equal to the preset first threshold, further determining whether the conflicting node is a starting node;

[0035] If yes, terminating the execution of the path planning for the plurality of automatic guides;

[0036] If not, the path occupancy information of the conflict-guided vehicle is directly updated.

[0037] According to one aspect of an embodiment of the present application, a device is provided, including:

[0038] one or more processors;

[0039] A storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the device implements the automatic guided vehicle path planning method as described in the above technical solution.

[0040] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer executes the automatic guided vehicle path planning method described in the above technical solution.

[0041] According to one aspect of an embodiment of the present application, a computer program product is provided, including a computer program, which, when executed by a processor, implements the automatic guided vehicle path planning method as described in the above technical solution.

[0042] According to one aspect of an embodiment of the present application, a path planning device is provided, including:

[0043] an initialization module, arranged on the automatic guided vehicle, for planning an optimal path for the plurality of automatic guided vehicles according to the lane information and the path occupancy information of the plurality of automatic guided vehicles; wherein the lane information includes main lane information and passing lane information, and the path occupancy information is used to describe the occupation of the main lane by the automatic guided vehicle;

[0044] A verification module is electrically connected to the initialization module, and is used to perform a conflict check on the path occupancy information between the multiple automatic guided vehicles based on the node information of each path included in the optimal path. If a conflicting node is found in the check, the conflict check is performed by falling back to the previous node of the conflicting node, and the number of fallbacks of the multiple automatic guided vehicles is recorded. According to the number of fallbacks, a newly added missed vehicle node is determined before the conflicting node, and the path occupancy information of the conflicting guided vehicle is updated.

[0045] In the technical solution provided in the embodiments of the present application, based on the settings of the main lane and the passing lane, and the initialization path occupancy information of each automatic guided vehicle, the optimal path of each automatic guided vehicle is planned on the main lane, and then a conflict check is performed on multiple optimal paths, and when a conflict occurs, the vehicle is backed off. At the same time, the newly added passing node is determined based on the number of backoffs of the automatic guided vehicle during the conflict check process, and the path occupancy information is updated so that when the automatic guided vehicle travels to the newly added passing node, it can travel from the main lane to the passing lane, pass the position where the conflict occurs, and then travel from the passing lane to the main lane. As a result, the automatic guided vehicle can maintain continuous driving at the position where the conflict occurs, which satisfies the requirement that the automatic guided vehicle travels without conflict in path planning, and improves the working efficiency of the automatic guided vehicle.

[0046] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0048] Figure 1 The distribution diagram of the main lane and the passing lane of the present application in the graphic map is schematically shown;

[0049] Figure 2 The flowchart of the automatic guided vehicle path planning method of the present application is schematically shown;

[0050] Figure 3 The flowchart of the newly added missed vehicle node in this application is schematically shown;

[0051] Figure 4 The flowchart of determining a newly added missed vehicle node in the present application is schematically shown;

[0052] Figure 5 The flowchart of the conflict-guided vehicle path replanning of the present application is schematically shown;

[0053] Figure 6 The structural diagram of a device of an exemplary embodiment of the present application is schematically shown.

[0054] Figure numerals: 1. Main lane; 2. Passing lane; 3. Target platform. DETAILED DESCRIPTION

[0055] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0056] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0057] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0058] The "plurality" mentioned in this application refers to two or more than two. The terms "first", "second", "third" and "fourth" in the specification and claims of this application and the drawings are used to distinguish different objects, rather than to describe a specific order. 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 that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0059] Figure 1 is an associated graphical map of an automated guided vehicle path planning method of the present application example, such as Figure 1 As shown in the figure, the circular part represents the target platform when the automatic guided vehicle is working, the line segment connected to the target platform is the entry route of the automatic guided vehicle, and the line segment intersecting with the entry route is the lane route; the lane route includes the main lane in the middle and the passing lanes on both sides of the main lane, and the multiple curves connecting the main lane and the passing lane are the passing routes; in addition, the automatic guided vehicle travels in both directions on the main lane, and travels in one direction on the auxiliary lane and the passing route, as shown in the figure. Figure 1 The direction indicated by the arrow is an example of the direction of the automatic guided vehicle in the auxiliary lane.

[0060] Based on the above graphic map, the paths of multiple automatic guided vehicles are planned. Figure 2 is a flow chart of a method for automatic guided vehicle path planning according to an exemplary embodiment. The method may include steps S110 to S130, which are described in detail as follows:

[0061] S110. Plan optimal paths for the multiple automatic guided vehicles based on the lane information and the path occupancy information of the multiple automatic guided vehicles; wherein the lane information includes main lane information and passing lane information, and the path occupancy information is used to describe the occupation of the main lane by the automatic guided vehicle.

[0062] Specifically, the lane information is represented as the above-mentioned graphic map, and the path occupancy information of multiple automated guided vehicles can be represented as the name, start time, starting point and target point of each automated guided vehicle. Of course, this is only for explanation and not for limitation. It is understood that the path occupancy information can also include other information.

[0063] For example, when planning the optimal path for multiple automated guided vehicles, this application is an A* path planning algorithm based on time and space constraints, and is also a path solver. The starting point (the position of the automated guided vehicle), the target point, the start time, and other path occupancy information of the automated guided vehicle are filled in the input, where the starting point is the initial position of the automated guided vehicle when it is driving on the main lane, and the target point is the intersection of the entry route and the main lane where the target platform that the automated guided vehicle needs to reach is located. The A* path planning algorithm is used for heuristic search to find the optimal path in a known graphic map.

[0064] S130. Based on the node information of each path included in the optimal path, a conflict check is performed on the path occupancy information between multiple automatic guided vehicles. If a conflicting node is found in the check, the conflict check is performed by falling back to the previous node of the conflicting node, and the number of fallbacks of the multiple automatic guided vehicles is recorded. Based on the number of fallbacks, a newly added missed vehicle node is determined before the conflicting node, and the path occupancy information of the conflicting guided vehicle is updated.

[0065] The conflict check is performed according to multiple node information preset on the optimal path, which can be time nodes and position information, or position nodes and time information, or other forms of node information. Of course, there is no limitation here. The present application performs one-by-one checks according to the position nodes of the optimal path. As an example, the optimal path is divided into multiple position nodes at a certain distance. For example, when a conflict check is performed on an automatic guided vehicle, each node of the automatic guided vehicle and the time of each node are used as basic information to compare with the nodes of the optimal path of other guided vehicles. If two automatic guided vehicles have a time conflict at the same node, the result of the conflict check is that there is a conflicting node.

[0066] When a conflict node appears, it will roll back to the previous node and update the path occupancy information of the conflicting guide vehicle. The conflict check will be performed again based on the updated path occupancy information. For example, when a conflict occurs, the end time of the conflicting guide vehicle will be modified. After the modification, the time when the conflicting guide vehicle arrives at the conflicting node will change. When the conflict check is performed again, the corresponding path may be able to plan a conflict-free path. Of course, if a conflict still occurs after the modification, the rollback operation will continue until a conflict-free path is planned.

[0067] In order to improve the path planning efficiency of the automatic guided vehicle, every time a rollback occurs, the number of rollbacks will be recorded, and a new missed vehicle node will be confirmed based on the specific number of rollbacks. It can be understood that when the number of rollbacks meets a value, a new missed vehicle node is determined, and the new missed vehicle node is added to the original path occupancy information, so that when the automatic guided vehicle plans to the node corresponding to the rollback number, the conflict check of the corresponding position of the conflict node is performed with the new missed vehicle node, thereby avoiding conflicts corresponding to the conflicting nodes during path planning.

[0068] Specifically, the result of the path planning is explained exemplarily. During the working process of the automatic guided vehicle, if there is a new missed vehicle node in the path of the automatic guided vehicle, when the automatic guided vehicle reaches the newly added missed vehicle node, the automatic guided vehicle will drive from the main lane to the missed vehicle lane, and after passing the conflict node that appears through the conflict check, the missed vehicle lane will return to the main lane for driving. In this way, the automatic guided vehicle can maintain continuous driving at the position where the conflict exists, which meets the condition that the automatic guided vehicle drives without conflict in the path planning and improves the working efficiency of the automatic guided vehicle.

[0069] It should be noted that the multiple automated guided vehicles and each automated guided vehicle appearing in the text are interpreted as automated guided vehicles that need to perform path planning, and the part described only by the automated guided vehicle as the subject can be understood as an automated guided vehicle that is performing path planning, that is, an automated guided vehicle that is executing path planning. At the same time, a conflicting automated guided vehicle can be an automated guided vehicle that is performing path planning, or an automated guided vehicle that conflicts with an automated guided vehicle that is performing path planning.

[0070] Based on the newly added passing nodes, the path occupancy information of the automatic guided vehicle and the corresponding driving path are changed. On the one hand, the number of rollbacks of the conflict check is reduced, thereby reducing the difficulty and time of the conflict check. On the other hand, based on the coordinated use of the main lane and the passing lane, the automatic guided vehicle can pass each other at the position of the newly added passing nodes, thereby improving the working efficiency of multiple automatic guided vehicles.

[0071] In some embodiments, before confirming the newly added vehicle-missing node according to the number of rollbacks, it is necessary to determine in advance whether the starting driving mode and the ending driving mode of the conflicting guide vehicle are both the target driving modes;

[0072] If so, the conflict-guiding vehicle adds a new node before the conflict node and updates the path occupancy information of the conflict-guiding vehicle;

[0073] If not, the execution of the path planning for the multiple automatic guides is terminated.

[0074] The driving mode specifically refers to the movement mode of the AGV, including the Nomal mode and the Diff mode. The Nomal mode means that the AGV can move in the direction and the opposite direction of the vehicle head; the Diff mode means that the AGV can move in the vertical direction and the opposite direction of the vehicle head. The target driving mode here can be understood as the Nomal mode, that is, the newly added vehicle-passing node needs to ensure that the AGV is on the driving path of the main lane, thereby ensuring the accuracy of the AGV path planning.

[0075] It should be noted that after the newly added passing node is determined, when the automatic guided vehicle enters the passing lane, in order to realize the rotation of the automatic guided vehicle while moving, a curved passing route is introduced in the design. Based on the curved route design, the drive mode is switched in real time during the movement, without the need to switch the drive mode by rotating in situ, thereby reducing time loss. It should be pointed out that this curved movement requires adaptation to multi-steering wheel automatic guided vehicles, that is, the Nomal mode and the Diff mode control different wheel sets respectively. Taking the automatic guided vehicle of the present application as an example, when driving on the passing route, the wheel set in the Nomal mode is used as the driving wheel set for the driving direction, and the wheel set in the Diff mode is used as the driving wheel set for adjusting the driving direction, so that the automatic guided vehicle can travel on a curved route, realizing path conversion while reducing energy consumption and mechanical wear.

[0076] Figure 3 is a flowchart of adding a new node for a vehicle to pass each other according to an exemplary embodiment. The method may include:

[0077] Determining whether the number of times two of the automated guided vehicles roll back is greater than a preset first threshold;

[0078] If so, before reaching the conflicting node, search for a node that travels toward the passing lane as a newly added passing node, so that the automatic guided vehicle travels toward the passing lane with the newly added passing node;

[0079] If not, no new passing nodes will be added and the vehicle will continue driving in the main lane.

[0080] Specifically, by setting the first threshold, it is determined whether a new missed car node needs to be added, wherein the first preset value can be adjusted arbitrarily according to the actual use scenario. Here, taking the first threshold equal to 1 as an example, if the number of retractions of the automatic guided vehicle is greater than 1, it is determined that a new missed car node needs to be added, and in the embodiment of the present application, it is represented as entering the missed car process; if the number of retractions of the automatic guided vehicle is less than or equal to 1, no new missed car node is added, and the main lane is kept running. After updating the path occupancy information of the conflicting guided vehicle, the path planning for the current automatic guided vehicle continues, and in the embodiment of the present application, it is represented as not entering the missed car process, and the path planning continues with the original conflict verification process. Through the adjustable first threshold, the first threshold can be adjusted according to the actual application scenario. For example, when the number of target platforms is small, the first threshold can be set to a small value accordingly, and when the number of target platforms is large, the first threshold can be set to a large value accordingly, thereby improving the adaptability of the present application.

[0081] In addition, in order to improve the efficiency of conflict checking and reduce unnecessary conflict checking processes, after determining that the number of rollbacks is less than or equal to the preset first threshold, it is also determined whether the conflicting node is the starting node;

[0082] If so, terminating the execution of the path planning for the multiple automatic guides;

[0083] If not, directly update the path occupancy information of the conflict-guided vehicle.

[0084] To illustrate by way of example, if two automated guided vehicles have a conflicting starting point, in a scenario where the end time is adjusted based on a fixed rule of a fallback operation, there will always be a conflict no matter how the end time is adjusted. Therefore, it is necessary to determine whether there is a starting point conflict during the first conflict check to facilitate timely updating of the path occupancy information and to facilitate the troubleshooting of obvious conflicts in the path occupancy information of the automated guided vehicles.

[0085] Before the conflicting node, a node capable of traveling toward the passing lane is searched as a newly added passing node, and the method may include:

[0086] Obtain the conflicting nodes of the automatic guided vehicles, take the conflicting nodes as the starting point, and back off one by one. After each back off, perform conflict verification on the path occupancy information between multiple automatic guided vehicles.

[0087] Determine the path occupancy information status of the passing lane of the node corresponding to the number of back-off times;

[0088] If there is no occupancy, the node corresponding to the number of fallbacks will be confirmed as a newly added missed node;

[0089] If it is occupied, the automatic guided vehicle will continue to back up and determine the path occupancy information status of the passing lane at the node corresponding to the back-up number until the position of the newly added passing node is confirmed.

[0090] Specifically, when searching for a node that can be expanded to a passing lane, based on the existing path occupancy information, taking the above-mentioned first threshold equal to 1 as an example, if the passing lane corresponding to the node after the second fallback is not occupied, it is determined to be a newly added passing node. If the passing lane corresponding to the node after the second fallback is already occupied, continue to execute the third fallback, and so on, until a new passing node to which the passing lane can be expanded is found, thereby improving the efficiency of determining the new passing nodes and reducing the occurrence of process errors or stops.

[0091] Figure 4 According to another exemplary embodiment, the method of determining a newly added passing node is shown as a flowchart. When the automatic guided vehicle backs up again and determines the path occupancy information status of the passing lane corresponding to the node with the backing-up number until the position of the newly added passing node is confirmed, the method may further include:

[0092] Determine whether the number of times each automated guided vehicle retreats is greater than a preset second threshold, and whether the second threshold is greater than the first threshold;

[0093] If yes, no more searching for the newly added vehicle-passing node is performed, and the path occupancy information of the conflicting guided vehicle is updated so that the automatic guided vehicle keeps driving in the main lane;

[0094] If not, continue to perform the conflict check to determine whether it is necessary to expand the passing path to the passing lane.

[0095] Specifically, by setting a second threshold, the number of times the automatic guided vehicle can retreat is limited, wherein the second threshold can be adjusted arbitrarily according to the actual application scenario, and its effect on the setting of the first threshold is consistent, which will not be repeated here, and is explained by way of example, taking the above-mentioned first threshold equal to 1 as an example, the second threshold is equal to 4, if the automatic guided vehicle retreats more than 4 times, and still has not found a position where a new missed node can be expanded, it will not continue to search for a new missed node, and by updating the path occupancy information of the conflicting guided vehicle, the automatic guided vehicle can maintain driving in the main lane without affecting the automatic guided vehicle that has been verified, and continue to complete the conflict verification of other automatic guided vehicles with the updated path occupancy information. By setting the second threshold, the number of retreats of the automatic guided vehicle during path planning is limited, and the path occupancy information is readjusted in time to facilitate faster planning of a conflict-free path.

[0096] Figure 5 The present invention is a flowchart of replanning a conflicting guided vehicle path according to an exemplary embodiment. In order to ensure that the automatic guided vehicle can complete the above-mentioned conflict check and update the path occupancy information of the missed vehicle process during the path planning process, a missed vehicle node is added before the conflict node, and the present invention may also include:

[0097] Determine whether the distance before the automatic guided vehicle reaches the conflict node is greater than a preset distance threshold;

[0098] It should be noted that the distance threshold is calculated as (current position of the conflicting guide vehicle - conflicting node position) / speed of the conflicting guide vehicle>4, wherein the current position of the conflicting guide vehicle is the specific position in the planning process, and the conflicting node position is the location of the conflicting node obtained based on the path occupancy information; the distance indicated by the current position of the conflicting guide vehicle minus the conflicting node position is the distance compared with the distance threshold, and the speed of the conflicting guide vehicle is a preset value, and the distance threshold can be adjusted by changing the time value 4.

[0099] If yes, continue to perform conflict checking;

[0100] If not, the conflicting node is disabled and the path occupancy information of the conflicting guided vehicle is replanned.

[0101] Specifically, in the automatic guided vehicle planning process, the time it takes for the automatic guided vehicle to reach the conflicting node is calculated by judging the distance between the current node of the automatic guided vehicle and the conflicting node. When the time is insufficient to complete the search for the newly added wrong vehicle node, the conflicting guided vehicle is replanned and its path occupancy information is updated, so as to plan a conflict-free path faster and reduce the probability of path planning errors.

[0102] The path replanning method for the conflict-oriented vehicle may include:

[0103] Performing optimal driving path planning processing on the path between the node after the conflict-guided vehicle retreats to the node after the automatic guided vehicle retreats to obtain a first optimal path, and performing optimal driving path planning processing on the path between the node after the conflict-guided vehicle retreats to the target node preset by the conflict-guided vehicle to obtain a second optimal path;

[0104] The path before the node after the conflict-guided vehicle retreats is connected to the head and tail nodes of the first optimal path and the second optimal path, and the path occupancy information of the conflict-guided vehicle is updated.

[0105] Among them, the calculation method of the first optimal path and the calculation method of the second optimal path still use the above-mentioned A* path planning algorithm; specifically, taking the number of retreats twice as an example, the automatic guided vehicle at the conflict node is regarded as the current automatic guided vehicle and the conflicting guided vehicle, and the path of the conflicting guided vehicle is replanned; the conflicting node is disabled before the path is replanned to avoid the conflicting guided vehicle passing through the conflicting node again when searching for the first optimal path, and the node where the conflicting guided vehicle retreats for the second time is taken as the starting point, and the node where the current automatic guided vehicle retreats for the second time is taken as the end point, based on the A* path planning algorithm, the first optimal path is searched and obtained; the node where the current automatic guided vehicle retreats for the second time is taken as the starting point, and the target node of the conflicting guided vehicle is taken as the end point, based on the A* path planning algorithm, the second optimal path is searched and obtained; the path before the node where the conflicting guided vehicle retreats for the second time is retained, and the three paths are connected end to end to obtain the new path occupancy information of the conflicting guided vehicle. By performing special processing on the conflicting nodes that cannot be expanded in the passing lane in time, the impact on the path occupancy information of other automated guided vehicles is reduced to meet the path planning of the current automated guided vehicle, and at the same time, the probability of updating the path occupancy information of more automated guided vehicles is reduced.

[0106] The embodiment of the present application further provides a path planning device, comprising:

[0107] an initialization module, arranged on the automatic guided vehicle, for planning an optimal path for the plurality of automatic guided vehicles according to the lane information and the path occupancy information of the plurality of automatic guided vehicles; wherein the lane information includes main lane information and passing lane information, and the path occupancy information is used to describe the occupation of the main lane by the automatic guided vehicle;

[0108] A verification module is electrically connected to the initialization module, and is used to perform a conflict check on the path occupancy information between the multiple automatic guided vehicles based on the node information of each path included in the optimal path. If a conflicting node is found in the check, the conflict check is performed by falling back to the previous node of the conflicting node, and the number of fallbacks of the multiple automatic guided vehicles is recorded. According to the number of fallbacks, a newly added missed vehicle node is determined before the conflicting node, and the path occupancy information of the conflicting guided vehicle is updated.

[0109] It should be noted that the resource processing device provided in the above embodiment and the automatic guided vehicle path planning method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiment, and will not be repeated here. In practical applications, the resource processing device provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0110] An embodiment of the present application also provides a device, including: one or more processors; a memory for storing one or more programs, when the one or more programs are executed by the one or more processors, the device implements the automatic guided vehicle path planning method provided in the above-mentioned embodiments.

[0111] Figure 6 The schematic diagram of the structure of a computer system suitable for implementing the device of the embodiment of the present application is shown. It should be noted that: Figure 6 The computer system 600 of the device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0112] like Figure 6 As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage part 608 to the random access memory (RAM) 603, such as executing the method described in the above embodiment. In the RAM 603, various programs and data required for system operation are also stored. The CPU 601, ROM 602 and RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0113] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed so that a computer program read therefrom is installed into the storage section 608 as needed.

[0114] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 609, and / or installed from a removable medium 611. When the computer program is executed by a central processing unit (CPU) 601, various functions defined in the system of the present application are executed.

[0115] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. The computer program contained in the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0116] The flowchart and block diagram in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0117] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0118] Another aspect of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the automatic guided vehicle path planning method as described above. The computer-readable storage medium may be included in the device described in the above embodiment, or may exist independently without being assembled into the device.

[0119] Another aspect of the present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the automatic guided vehicle path planning method provided in each of the above embodiments.

[0120] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A method for automatic guided vehicle path planning, characterized in that: The method comprises: According to the lane information and the path occupancy information of the multiple automatic guided vehicles, the optimal path is planned for the multiple automatic guided vehicles; wherein the lane information includes the main lane information and the passing lane information, and the path occupancy information is used to describe the occupation of the main lane by the automatic guided vehicle; According to the node information of each path included in the optimal path, a conflict check is performed on the path occupancy information between the multiple automatic guided vehicles. If a conflict node is found in the check, the conflict check is performed by falling back to the previous node of the conflict node, and the number of fallbacks of the multiple automatic guided vehicles is recorded. According to the number of fallbacks, a newly added missed vehicle node is determined before the conflict node, and the path occupancy information of the conflicting guided vehicle is updated.

2. The automatic guided vehicle path planning method according to claim 1, characterized in that: According to the number of rollbacks, a new missed node is determined before the conflicting node, including: Determining whether the number of times two of the automatic guided vehicles roll back is greater than a preset first threshold; If yes, searching for a node traveling toward the passing lane before reaching the conflicting node as the newly added passing node, so that the automatic guided vehicle travels toward the passing lane at the newly added passing node; If not, the newly added passing node will not be added and the vehicle will continue driving in the main lane.

3. The automatic guided vehicle path planning method according to claim 2, characterized in that: Searching for a node that can travel toward the passing lane before the conflicting node as the newly added passing node includes: Obtaining the conflicting node of the automatic guided vehicle, taking the conflicting node as the starting point, backing off one by one, and after each backing off, performing a conflict check on the path occupancy information between the plurality of automatic guided vehicles; Determine the path occupancy information status of the passing lane of the node corresponding to the fallback number; If there is no occupancy, the node corresponding to the fallback number is confirmed as the newly added missed vehicle node; If occupied, the automatic guided vehicle continues to retreat and determines the path occupancy information status of the passing lane of the node corresponding to the retreat number until the position of the newly added passing node is confirmed.

4. The automatic guided vehicle path planning method according to claim 3, characterized in that: The automatic guided vehicle backs up again and determines the path occupancy information status of the passing lane of the node corresponding to the backing-up number until the position of the newly added passing node is confirmed, including: Determine whether the number of times each automated guided vehicle retreats is greater than a preset second threshold, and whether the second threshold is greater than the first threshold; If yes, no more searching for the newly added vehicle-passing node is performed, and the path occupancy information of the conflicting guided vehicle is updated so that the automatic guided vehicle keeps driving in the main lane; If not, continue to perform the conflict check to determine whether it is necessary to expand the passing path to the passing lane.

5. The automatic guided vehicle path planning method according to claim 1, characterized in that: Adding a new node before the conflict node includes: Determining whether the distance before the automatic guided vehicle reaches the conflict node is greater than a preset distance threshold; If yes, continue to perform the conflict check; If not, the conflicting node is disabled, and the path occupancy information of the conflicting guided vehicle is replanned.

6. The method for automatic guided vehicle path planning according to claim 5, characterized in that: Disabling the conflicting node and replanning the path occupancy information of the conflicting guided vehicle includes: Performing optimal driving path planning processing on the path between the node after the conflicting guided vehicle retreats to the node after the automatic guided vehicle retreats to obtain a first optimal path, and performing optimal driving path planning processing on the path between the node after the conflicting guided vehicle retreats to the target node preset by the conflicting guided vehicle to obtain a second optimal path; The path before the node after the conflict-guided vehicle retreats is correspondingly connected to the first and last nodes of the first optimal path and the second optimal path, and the path occupancy information of the conflict-guided vehicle is updated.

7. The method for automatic guided vehicle path planning according to any one of claims 1 to 6, characterized in that: The method further comprises: Determining whether the initial driving mode and the final driving mode of the conflict-guiding vehicle are both target driving modes; If yes, then the conflict-guiding vehicle is executed to add a new missed node before the conflict node, and the path occupancy information of the conflict-guiding vehicle is updated; If not, the execution of the path planning for the plurality of automatic guides is terminated.

8. The automatic guided vehicle path planning method according to claim 2, characterized in that: The method further comprises: After determining that the number of rollbacks is less than or equal to the preset first threshold, further determining whether the conflicting node is a starting node; If yes, terminating the execution of the path planning for the plurality of automatic guides; If not, the path occupancy information of the conflict-guided vehicle is directly updated.

9. A device, characterized in that: include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enables the device to implement the automatic guided vehicle path planning method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the automatic guided vehicle path planning method according to any one of claims 1 to 8.

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