Path determination method and device, equipment and storage medium

Abstract

The invention provides a path determination method and device, equipment and a storage medium, relates to the technical field of computers, and is used for relieving the congestion state of a channel. The method comprises the following steps: determining a plurality of to-be-selected moving paths according to an initial position and a destination position of a robot; determining the path overhead of the to-be-selected moving path based on the correction coefficient corresponding to the channel through which the to-be-selected moving path passes and the length of the to-be-selected moving path; the correction coefficient corresponding to the channel is related to the current congestion degree, the historical congestion degree and / or the channel type of the channel; and determining a target moving path from the plurality of to-be-selected moving paths according to the path overhead of each to-be-selected moving path.

Description

Technical Field

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

[0002] Goods to person or goods to man (G2P or G2M) is a kind of goods picking system widely used in intelligent warehousing and logistics industries. In the process of goods picking, the robot takes the goods from the shelves in the storage area, passes through the aisle according to the planned path, and transports them to the pickers in the work area for picking.

[0003] Due to the large number of orders that need to be processed every day, a large number of robots travel between the storage area and the work area in the same warehouse area, as well as between different warehouse areas. This can easily lead to robots queuing in the aisles, causing congestion. Therefore, how to plan the robot path and alleviate the congestion in the aisles is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present application provides a path determination method, apparatus, device and storage medium for alleviating channel congestion.

[0005] In a first aspect, the present application provides a path determination method, the method comprising: determining a plurality of candidate moving paths according to a starting position and a destination position of a robot. Determining the path cost of the candidate moving path based on a correction coefficient corresponding to a channel passed by the candidate moving path and the length of the candidate moving path. The correction coefficient corresponding to the channel is related to the current congestion level, historical congestion level and / or channel type of the channel. Determine a target moving path from the plurality of candidate moving paths according to the path cost of each candidate moving path.

[0006] In this way, when multiple candidate moving paths are determined, the path cost of the candidate moving paths is determined based on the correction coefficient and the length of the candidate moving paths. According to the path cost of each candidate moving path, the target moving path is determined from the multiple candidate moving paths. Since the correction coefficient is related to the current congestion level, historical congestion level and / or channel type of the channel, the path cost of the candidate moving path is corrected according to the current congestion level, historical congestion level and / or channel type of the channel, and the path cost of passing through the busy channel can be adjusted, thereby adjusting the number of robots on the busy channel and alleviating the congestion state of the channel.

[0007] In a possible implementation, the correction coefficient corresponding to the channel is positively correlated with the current congestion level and the historical congestion level of the channel, and the path cost of the selected moving path is positively correlated with the correction coefficient corresponding to the channel passed by the selected moving path.

[0008] In this way, since the correction coefficient corresponding to the channel is positively correlated with the current congestion level and historical congestion level of the channel, it can increase the path overhead through the congested channel and reduce the probability of the robot passing through the congested channel, thereby reducing the number of robots on the congested channel and alleviating the congestion of the channel.

[0009] In a possible implementation, the channel type includes at least a first type and a second type, and the correction coefficient of the first type of channel is greater than the correction coefficient corresponding to the second type of channel. The path cost of the selected moving path is positively correlated with the correction coefficient corresponding to the channel passed by the selected moving path.

[0010] In this way, since the correction coefficient of the first type of channel is greater than the correction coefficient corresponding to the second type of channel, the path overhead through the first type of channel can be increased, and the probability of the robot passing through the first type of channel can be reduced, thereby reducing the number of robots passing through the first type of channel and alleviating the congestion of the first type of channel.

[0011] In a possible implementation, the starting position and the destination position are located in different warehouse areas. Each warehouse area includes a storage area and a work area. The first type of channel connects the storage area and the work area in the same warehouse area, and connects different warehouse areas. The second type of channel connects different warehouse areas.

[0012] In a possible implementation, the distance between the first type of channel and the working area is less than the distance between the second type of channel and the working area. In a possible implementation, the path cost of the selected moving path is determined based on the correction coefficient corresponding to the selected moving path and the length of the selected moving path, including: determining the initial path cost of the selected moving path based on the length of the selected moving path. The initial path cost of the selected moving path is positively correlated with the length of the selected moving path. Based on the correction coefficient corresponding to the channel passed by the selected moving path, the initial path cost of the selected moving path is corrected to obtain the path cost of the selected moving path.

[0013] In this way, the initial path cost is corrected based on the correction coefficient corresponding to the channel, thereby reducing the probability of congestion in a certain type of channel (such as a congested channel).

[0014] In a possible implementation, when the current congestion level and / or the historical congestion level of the channel through which the selected moving path passes is greater than the preset congestion level, the correction coefficient corresponding to the channel is used to increase the initial path cost to obtain the path cost of the selected moving path. When the current congestion level and / or the historical congestion level of the channel through which the selected moving path passes is not greater than the preset congestion level, the correction coefficient corresponding to the channel is used to reduce the initial path cost to obtain the path cost of the selected moving path.

[0015] In this way, the path overhead through the congested channel is increased, and the path overhead through the non-congested channel is reduced, which reduces the probability of the robot passing through the congested channel and increases the probability of passing through the non-congested channel, thereby reducing the number of robots in the congested channel and alleviating the channel condition.

[0016] In a possible implementation, when the channel type of the channel passed by the selected moving path is the first type, the correction coefficient corresponding to the channel is used to increase the initial path cost to obtain the path cost of the selected moving path.

[0017] In the case that the channel type of the channel passed by the candidate moving path is the second type, the correction coefficient corresponding to the channel is used to reduce the initial path cost to obtain the path cost of the candidate moving path.

[0018] In this way, the path overhead through the first type of channel is increased, and the path overhead through the second type of channel is reduced, the probability of the robot passing through the first type of channel is reduced, and the probability of passing through the second type of channel is increased, thereby reducing the number of robots on the first type of channel and alleviating the channel condition.

[0019] In a second aspect, the present application provides a path determination device, which includes: a determination unit. The determination unit is used to determine multiple candidate moving paths based on the starting position and the destination position of the robot. The determination unit is also used to determine the path cost of the candidate moving path based on the correction coefficient corresponding to the channel passed by the candidate moving path and the length of the candidate moving path. The correction coefficient corresponding to the channel is related to the current congestion level, historical congestion level and / or channel type of the channel. The determination unit is also used to determine the target moving path from the multiple candidate moving paths based on the path costs of each candidate moving path.

[0020] In a possible implementation, the correction coefficient corresponding to the channel is positively correlated with the current congestion level and the historical congestion level of the channel, and the path cost of the selected moving path is positively correlated with the correction coefficient corresponding to the channel passed by the selected moving path.

[0021] In a possible implementation, the channel type includes at least a first type and a second type, and the correction coefficient of the first type of channel is greater than the correction coefficient corresponding to the second type of channel. The path cost of the selected moving path is positively correlated with the correction coefficient corresponding to the channel passed by the selected moving path.

[0022] In a possible implementation, the starting position and the destination position are located in different warehouse areas. Each warehouse area includes a storage area and a work area. The first type of channel connects the storage area and the work area in the same warehouse area, and connects different warehouse areas. The second type of channel connects different warehouse areas.

[0023] In a possible implementation, the distance between the first type of channel and the working area is smaller than the distance between the second type of channel and the working area.

[0024] In a possible implementation, the determination unit is specifically used to: determine the initial path cost of the selected moving path based on the length of the selected moving path. The initial path cost of the selected moving path is positively correlated with the length of the selected moving path. Based on the correction coefficient corresponding to the channel passed by the selected moving path, the initial path cost of the selected moving path is corrected to obtain the path cost of the selected moving path.

[0025] In a possible implementation, when the current congestion level and / or the historical congestion level of the channel through which the selected moving path passes is greater than the preset congestion level, the correction coefficient corresponding to the channel is used to increase the initial path cost to obtain the path cost of the selected moving path. When the current congestion level and / or the historical congestion level of the channel through which the selected moving path passes is not greater than the preset congestion level, the correction coefficient corresponding to the channel is used to reduce the initial path cost to obtain the path cost of the selected moving path.

[0026] In a possible implementation, when the channel type of the channel passed by the selected moving path is the first type, the correction coefficient corresponding to the channel is used to increase the initial path cost to obtain the path cost of the selected moving path. When the channel type of the channel passed by the selected moving path is the second type, the correction coefficient corresponding to the channel is used to reduce the initial path cost to obtain the path cost of the selected moving path.

[0027] In a third aspect, the present application provides an electronic device, the electronic device comprising a processor and a memory. The memory stores instructions executable by the processor. When the processor is configured to execute the instructions, the electronic device implements the determination method of the first aspect.

[0028] In a fourth aspect, the present application provides a computer program product. When the computer program product is executed in an electronic device, the electronic device executes the method related to the first aspect to implement the determination method of the first aspect.

[0029] In a fifth aspect, the present application provides a readable storage medium, the readable storage medium comprising: software instructions. When the software instructions are executed in an electronic device, the electronic device implements the determination method of the first aspect.

[0030] The beneficial effects of the second to fifth aspects mentioned above can be referred to the first aspect and will not be elaborated on again. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A schematic diagram of a storage scenario provided in an embodiment of the present application;

[0033] Figure 2 A schematic diagram of the structure of a path determination system provided in an embodiment of the present application;

[0034] Figure 3 A schematic diagram of the composition of an electronic device provided in an embodiment of the present application;

[0035] Figure 4 A schematic diagram of another storage scenario provided in an embodiment of the present application;

[0036] Figure 5 A schematic diagram of a flow chart of a path determination method provided in an embodiment of the present application;

[0037] Figure 6 A schematic diagram of a path planning provided in an embodiment of the present application;

[0038] Figure 7 A schematic diagram of a channel distance provided in an embodiment of the present application;

[0039] Figure 8 A schematic diagram of the composition of a path determination device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0041] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0042] In addition, in the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B. "And / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0043] As described in the background technology, the warehouse management system has to process a large number of orders every day, and a large number of handling robots travel between different partitions of the same warehouse area, or between different warehouse areas through the channels in the storage place. For example, there are usually multiple warehouse areas in a storage place, and a warehouse area is divided into a storage area and a work area. The main channel in the storage warehouse connects both the storage area and the work area, and also connects different warehouse areas. Therefore, when the robot travels between different warehouse areas or different partitions of the same warehouse area, it needs to pass through the main channel. As a result, there are often multiple robots on the main channel, resulting in frequent congestion of robots passing through the main channel.

[0044] For example, Figure 1 As shown, a schematic diagram of a storage location is shown. Figure 1 The warehouse area 1 and the warehouse area 2 are shown in the figure. The warehouse area 1 includes a storage area 1 and a work area 1, and the warehouse area 2 includes a storage area 2 and a work area 2. In addition, Figure 1 The figure also shows the main passage connecting warehouse area 1 and warehouse area 2.

[0045] based on Figure 1 If the target robot is working from warehouse area 1 to warehouse area 2, the target robot needs to pass through the main channel. However, in warehouse area 1, after the handling robot picks the goods from the shelves in the storage area, it needs to pass through the main channel to the work area. In this way, there are often multiple robots in the main channel, which makes the main channel more congested.

[0046] In view of the above problems, an embodiment of the present application provides a path determination method, which includes: determining multiple to-be-selected moving paths according to the starting position and the destination position of the robot. Determining the path cost of the to-be-selected moving path based on the correction coefficient corresponding to the channel through which the to-be-selected moving path passes and the length of the to-be-selected moving path. The correction coefficient corresponding to the channel is related to the current congestion level, historical congestion level and / or channel type of the channel. According to the path cost of each to-be-selected moving path, determining the target moving path from the multiple to-be-selected moving paths.

[0047] In this way, when multiple candidate moving paths are determined, the path cost of the candidate moving paths is determined based on the correction coefficient and the length of the candidate moving paths. According to the path cost of each candidate moving path, the target moving path is determined from the multiple candidate moving paths. Since the correction coefficient is related to the current congestion level, historical congestion level and / or channel type of the channel, the path cost of the candidate moving path is corrected according to the current congestion level, historical congestion level and / or channel type of the channel, and the path cost of passing through the busy channel can be adjusted, thereby adjusting the number of robots on the busy channel and alleviating the congestion state of the channel.

[0048] The path determination method provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0049] The path determination method provided in the embodiment of the present application can be applied to a path determination system. Figure 2 FIG. 1 shows a schematic diagram of the structure of a path determination system. Figure 2 As shown, the path determination system 100 includes an electronic device 101 and a plurality of robots (in Figure 1 3 robots are shown: robot 1, robot 2 and robot 3. In actual applications, there may be more or fewer robots. The electronic device 101 is communicatively connected with the multiple robots.

[0050] In some embodiments, the electronic device 101 determines multiple candidate moving paths according to the starting position and the destination position of the robot. The path cost of the candidate moving path is determined based on the correction coefficient corresponding to the channel through which the candidate moving path passes and the length of the candidate moving path. The correction coefficient corresponding to the channel is related to the current congestion level, historical congestion level and / or channel type of the channel. According to the path cost of each candidate moving path, the target moving path is determined from the multiple candidate moving paths.

[0051] In the embodiment of the present application, the electronic device 101 is used to plan a target moving path for the target robot and send the target moving path to the target robot. Accordingly, the target robot receives the target moving path sent by the electronic device 101 and moves according to the target moving path. The target robot is any one of the multiple robots.

[0052] The electronic device 101 is also used to receive the position information sent from the target robot. The electronic device 101 in the embodiment of the present application can be a server, and the server can be a single server, a server cluster, or a cloud server, which is not limited in the embodiment of the present application.

[0053] The robot in the embodiment of the present application may be an autonomous mobile robot (AMR) or a picking robot. The embodiment of the present application does not specifically limit the type of robot.

[0054] Figure 3 The following is a schematic diagram of the composition of an electronic device provided in an embodiment of the present application. Figure 3 As shown, the electronic device may include: a processor 20 , a memory 21 , a communication line 22 , a communication interface 23 , and an input / output interface 24 .

[0055] The processor 20 , the memory 21 , the communication interface 23 and the input / output interface 24 may be connected via a communication line 22 .

[0056] The processor 20 is used to execute the instructions stored in the memory 21 to implement the fault analysis method provided in the following embodiments of the present application. The processor 20 can be a CPU, a general-purpose processor network processor (network processor, NP), a digital signal processor (digital signal processing ing, DSP), a microprocessor, a microcontroller (micro control unit, MCU), a programmable logic device (programmable logic device, PLD) or any combination thereof. The processor 20 can also be any other device with processing functions, such as a circuit, a device or a software module, which is not limited in the embodiments of the present application. In one example, the processor 20 may include one or more CPUs, such as Figure 3 As an optional implementation, the server may include multiple processors, for example, in addition to processor 20, it may also include processor 25 ( Figure 3 The dashed line is used as an example.

[0057] The memory 21 is used to store instructions. For example, the instructions may be computer programs. Optionally, the memory 21 may be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage devices, etc., and the embodiments of the present application are not limited to this.

[0058] It should be noted that the memory 21 may exist independently of the processor 20, or may be integrated with the processor 20. The memory 21 may be located inside the server, or may be located outside the server, which is not limited in the embodiment of the present application.

[0059] The communication line 22 is used to transmit information between the components included in the server.

[0060] The communication interface 23 is used to communicate with other devices or other communication networks. The other communication networks may be Ethernet, radio access network (RAN), wireless local area network (WLAN), etc. The communication interface 23 may be a module, a circuit, a transceiver or any device capable of achieving communication.

[0061] The input / output interface 24 is used to implement human-computer interaction between the user and the server, for example, to implement action interaction or information interaction between the user and the server.

[0062] Exemplarily, the input / output interface 24 may be a mouse, a keyboard, a display screen, or a touch display screen, etc. Action interaction or information interaction between a user and a server may be achieved through a mouse, a keyboard, a display screen, or a touch display screen, etc.

[0063] It should be noted that Figure 3 The structure shown in the figure does not constitute a limitation on the electronic device, except Figure 3 In addition to the components shown, the electronic device may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.

[0064] A warehouse area in an embodiment of the present application can be divided into multiple partitions, for example, one or more storage areas, and one or more work areas. There are types of channels. When there are two types, they can be referred to as the first type and the second type, respectively. The first type of channel connects the storage area and the work area, and connects different warehouse areas, and the second type of channel connects the storage areas of different warehouse areas. Currently, there can also be a third type of channel. The third type of channel connects the work areas of different warehouse areas. There can be one or more roads on each type of channel, and the roads on each type of channel can be two-way or one-way.

[0065] The first type of channel in the embodiment of the present application may be a main channel, the second type of channel may be an auxiliary channel, and the third type of channel may be a backup channel.

[0066] by Figure 4 As an example, a schematic diagram of a storage location is shown. Figure 4 As shown, two channels connecting warehouse area 3 and warehouse area 4 are shown: a main channel and an auxiliary channel.

[0067] The following is an introduction to the path determination method provided in the embodiments of the present application.

[0068] Figure 5 A schematic diagram of a flow chart of a path determination method provided in an embodiment of the present application. The path determination method provided in an embodiment of the present application includes: S301-S303.

[0069] S301. The electronic device determines a plurality of candidate moving paths according to the starting position and the destination position of the robot.

[0070] In some embodiments, the electronic device responds to the operation instruction input by the user and determines the starting position and the destination position of the robot according to the operation instruction. The operation instruction includes the starting position, the destination position and the operation purpose. Further, the electronic device calculates all paths from the starting position to the destination position according to the starting position and the destination position to obtain multiple moving paths to be selected.

[0071] For example, Figure 6 As shown in the figure, the operation instruction instructs the robot to move the goods at point A in warehouse area 1 to point B in warehouse area 2. The electronic device determines the starting position as point A and the destination position as point B according to the operation instruction, and calculates all the paths from point A to point B ( Figure 6 Two paths are shown as an example: path 1 and path 2).

[0072] In some embodiments, when determining all paths from the starting position to the destination position, the electronic device determines the length of each path according to the coordinates of multiple position points on each path. Further, the paths less than or equal to the preset length among all the paths are selected as the moving paths to be selected.

[0073] The starting position and the destination position in the embodiment of the present application may be located in different warehouse areas. For example, the starting position is located in the storage area or work area of ​​the first warehouse area, and the destination position is located in the storage area or work area of ​​the second warehouse area. The starting position and the destination position may also be located in the same warehouse area. For example, the starting position is located in the storage area or work area of ​​the first warehouse area, and the destination position is located in the storage area or work area of ​​the first warehouse area.

[0074] In some embodiments, when the electronic device determines that the starting position and the destination position are different warehouse areas, the path through the second type of channel is used as a candidate moving path, and multiple candidate moving paths are obtained. Since the second type of channel only connects different warehouse areas, when it is determined that the robot operates across warehouse areas, the path through the second type of channel is used as a candidate moving path. In this way, the robot is prevented from operating across warehouse areas through the first type of channel, the number of robots in the first type of channel is reduced, thereby alleviating the congestion of the first type of channel.

[0075] In some embodiments, when the electronic device determines that the starting position and the destination position are different warehouse areas, the electronic device obtains the congestion level of the first type of channel, and when the congestion level of the first type of channel is greater than a preset threshold, the path through the second type of channel is used as a candidate moving path, and multiple candidate moving paths through the auxiliary channel are obtained. In this way, when the first type of channel is congested, the path through the second type of channel is used as a candidate moving path, which can alleviate the congestion level of the first type of channel and avoid congestion in the first type of channel when the robot is working across areas, thereby improving the efficiency of working across warehouse areas.

[0076] S302: Determine a path cost of the candidate moving path based on a correction coefficient corresponding to a channel passed by the candidate moving path and a length of the candidate moving path.

[0077] The correction coefficient corresponding to the channel is related to the current congestion level, historical congestion level and / or channel type of the channel.

[0078] As a possible implementation method, the electronic device obtains the number of robots on the channel passed by each selected moving path, and determines the congestion level of the channel according to the number of robots on the channel. The electronic device determines the correction coefficient corresponding to the channel according to the current congestion level of the channel passed by each selected moving path and the current congestion level of the channel. Specifically, the electronic device determines the correction coefficient corresponding to the channel according to the current congestion level of the channel and the first correction coefficient mapping relationship. The first correction coefficient mapping relationship includes multiple current congestion levels and correction coefficients corresponding to each current congestion level (referred to as the first correction coefficient for short).

[0079] Take the first correction coefficient mapping relationship as the following first correction coefficient mapping table as an example. Exemplarily, the first correction coefficient mapping table is shown in Table 1 below.

[0080] Table 1 First correction coefficient mapping table

[0081] Current congestion level First correction factor Mild 1.9 Moderate 2.5 Severe 8 idle 0.8

[0082] In some embodiments, the electronic device obtains the historical number of robots on the passages passed by each to-be-selected moving path within a preset historical time period, and determines the historical congestion degree of the passages according to the historical number of robots on the passages. The electronic device determines the correction coefficient corresponding to the passages passed by each to-be-selected moving path according to the historical congestion degree of the passages passed by each to-be-selected moving path. Specifically, the correction coefficient corresponding to the passage is determined according to the historical congestion degree and the second correction coefficient mapping relationship. The second correction coefficient mapping relationship includes multiple historical congestion degrees and the correction coefficient corresponding to each historical congestion degree (referred to as the second correction coefficient).

[0083] It should be noted that the second correction coefficient mapping relationship may be the same as or different from the first correction coefficient mapping relationship. The preset historical time period is pre-set in the electronic device by the operation and maintenance personnel. The preset historical time period may be one hour before the current time or one week before the current time. The embodiment of the present application does not specifically limit the preset historical time period.

[0084] In some embodiments, the channel type includes at least a first type and a second type. Figure 4 In the embodiment of the present application, the first type of channel is the main channel, the second type of channel is the auxiliary channel, the distance between the first type of channel and the working area is smaller than the distance between the second type of channel and the working area, and the second type of channel passes through storage areas in different warehouse areas. In other words, both sides of the second type of channel are located in the storage area, one side of the first type of channel is connected to the working area, and one side of the first type of channel is connected to the storage area.

[0085] In an embodiment of the present application, the distance between the channel and the working area can be a vertical path between the center line of the channel and the center line of the working area, or it can be a vertical distance between the side line of the working area and the side line of the channel. This embodiment of the present application does not limit this.

[0086] For example, Figure 7 As shown, a schematic diagram of the vertical distance between the edge of the working area and the edge of the channel is shown. Figure 7 In the embodiment, the distance between the sideline S1 of the working area and the sideline S2 of the first type of channel is D1, and the distance between the sideline S1 of the working area and the sideline S3 of the second type of channel is D2.

[0087] In other application scenarios, the first type of channel in the embodiments of the present application is a trunk channel connecting multiple warehouse areas, and the second type of channel is a channel other than the trunk channel.

[0088] As a possible implementation method, the electronic device obtains the channel type of the channel passed by each selected moving path, and determines the correction coefficient according to the channel type. When the electronic device obtains the channel type of the channel passed by the selected moving path, it determines the correction coefficient (called the third correction coefficient) corresponding to the channel according to the type coefficient mapping relationship. The type coefficient mapping relationship includes multiple types and the correction coefficient corresponding to each type.

[0089] Taking the type coefficient mapping relationship as a type coefficient mapping table as an example, illustratively, a type coefficient mapping table is shown in Table 2 below.

[0090] Table 2 Type coefficient mapping table

[0091] Channel Type Correction factor Type I 6 Type II 1

[0092] As a possible implementation method, the electronic device obtains a first correction coefficient corresponding to the current congestion level of the channel through which the selected moving path passes, and a second correction coefficient corresponding to the historical congestion level of the channel through which the selected moving path passes. Further, the electronic device obtains the correction coefficient corresponding to the channel through which the selected moving path passes based on the first correction coefficient and the second correction coefficient. For example, the electronic device performs a weighted sum of the first correction coefficient and the second correction coefficient to obtain the correction coefficient corresponding to the channel through which the selected moving path passes. Alternatively, the electronic device uses the largest correction coefficient of the first correction coefficient and the second correction coefficient as the correction coefficient corresponding to the channel through which the selected moving path passes.

[0093] As another possible implementation method, the electronic device obtains a first correction coefficient corresponding to the current congestion level of the channel through which the selected moving path passes, and a third correction coefficient corresponding to the channel type of the channel through which the selected moving path passes. Further, the electronic device obtains a correction coefficient corresponding to the channel through which the selected moving path passes based on the first correction coefficient and the third correction coefficient.

[0094] As another possible implementation method, the electronic device obtains a second correction coefficient corresponding to the historical congestion level of the channel through which the selected moving path passes, and a third correction coefficient corresponding to the channel type of the channel through which the selected moving path passes. Further, the electronic device obtains a correction coefficient corresponding to the channel through which the selected moving path passes based on the second correction coefficient and the third correction coefficient.

[0095] As another possible implementation method, the electronic device obtains the current congestion level, historical congestion level, and channel type of the channel through which the selected moving path passes, and obtains the first correction coefficient, the second correction coefficient, and the third correction coefficient, respectively. Further, the electronic device uses the first correction coefficient, the second correction coefficient, and the third correction coefficient to determine the correction coefficient corresponding to the channel through which the selected moving path passes.

[0096] In the embodiment of the present application, the electronic device determines the correction coefficient corresponding to the channel passed by the candidate moving path, and determines the path cost of the candidate moving path based on the correction coefficient corresponding to the channel passed by the candidate moving path and the length of the candidate moving path.

[0097] In some embodiments, the correction coefficient corresponding to the channel is positively correlated with the current congestion level and the historical congestion level of the channel, and the path cost of the selected moving path is positively correlated with the correction coefficient corresponding to the channel passed by the selected moving path.

[0098] It can be understood that since the correction coefficient corresponding to the channel is positively correlated with the current congestion level and historical congestion level of the channel, it can increase the path overhead through the congested channel and reduce the probability of the robot passing through the congested channel, thereby reducing the number of robots in the congested channel and alleviating the congestion of the channel.

[0099] As a possible implementation method, when the current congestion level and / or the historical congestion level of the channel through which the selected moving path passes is greater than the preset congestion level, the correction coefficient corresponding to the channel through which the selected moving path passes is used to increase the path overhead of the selected moving path. When the current congestion level and / or the historical congestion level of the channel through which the selected moving path passes is not greater than the preset congestion level, the correction coefficient corresponding to the channel is used to reduce the path overhead of the selected moving path. In this way, a correction coefficient that increases the path overhead is configured for the congested channel, and a correction coefficient that reduces the path overhead is configured for the non-congested channel. In this way, the probability of a congested channel being selected as the target path is reduced, thereby reducing the number of robots on the congested channel, thereby alleviating the congestion of the channel.

[0100] In the embodiment of the present application, the channel type includes at least a first type and a second type, and the correction coefficient of the first type of channel is greater than the correction coefficient corresponding to the second type of channel. The path cost of the selected moving path is positively correlated with the correction coefficient corresponding to the channel passed by the selected moving path.

[0101] It can be understood that since the correction coefficient of the first type of channel is greater than the correction coefficient corresponding to the second type of channel, the path overhead through the first type of channel can be increased, the probability of the robot passing through the first type of channel can be reduced, thereby reducing the number of robots passing through the first type of channel and alleviating the congestion of the first type of channel.

[0102] As a possible implementation method, when the channel type of the channel through which the selected moving path passes is the first type, the correction coefficient corresponding to the first type of channel is used to reduce the path overhead of the selected moving path. When the channel type of the channel through which the selected moving path passes is the second type, the correction coefficient corresponding to the second type of channel is used to reduce the path overhead of the selected moving path. In this way, a correction coefficient that increases the path overhead is configured for the first type of channel, and a correction coefficient that reduces the path overhead is configured for the first type of channel. In this way, the probability of the first type of channel being selected as the target path is reduced, thereby reducing the number of robots on the first type of channel, thereby alleviating the congestion of the first type of channel.

[0103] It should be noted that the preset congestion level is pre-set in the electronic device by the operation and maintenance personnel. The path overhead in the embodiment of the present application can also be called path cost.

[0104] In some embodiments, the electronic device determines the initial path cost of the selected moving path based on the length of the selected moving path. The initial path cost of the selected moving path is positively correlated with the length of the selected moving path. Based on the correction coefficient corresponding to the channel passed by the selected moving path, the initial path cost of the selected moving path is corrected to obtain the path cost of the selected moving path. This step is detailed in the following steps S3021-S3022.

[0105] S303: Determine a target moving path from a plurality of moving paths to be selected according to the path costs of the moving paths to be selected.

[0106] In some embodiments, the electronic device, after obtaining the path costs of each candidate moving path, uses the candidate moving path with the smallest path cost among the multiple candidate moving paths as the target moving path. Subsequently, the electronic device controls the robot from the starting position to the target position along the target moving path.

[0107] The path determination method provided in the embodiment of the present application brings at least the following beneficial effects: when determining multiple to-be-selected moving paths, the path cost of the to-be-selected moving paths is determined based on the correction coefficient and the length of the to-be-selected moving paths. According to the path cost of each to-be-selected moving path, a target moving path is determined from the multiple to-be-selected moving paths. Since the correction coefficient is related to the current congestion level, historical congestion level and / or channel type of the channel, the path cost of the to-be-selected moving path is corrected according to the current congestion level, historical congestion level and / or channel type of the channel, and the path cost of passing through the busy channel can be adjusted, thereby adjusting the number of robots on the busy channel and alleviating the congestion state of the channel.

[0108] In one possible design, the above S302 includes: S3021-S3022.

[0109] S3021: Determine an initial path cost of the candidate moving path based on the length of the candidate moving path.

[0110] In some embodiments, the electronic device determines an initial path cost of the candidate moving path based on the length of the candidate moving path and a path cost algorithm.

[0111] In some embodiments, the electronic device determines the initial path cost of the candidate moving path based on the length of the candidate moving path and the length-cost correspondence relationship, wherein the length-cost correspondence relationship includes multiple lengths and the path cost corresponding to each length.

[0112] In some other embodiments, the electronic device uses the length of the to-be-selected moving path as the initial path cost of the to-be-selected moving path.

[0113] It should be noted that the path cost algorithm is pre-set in the electronic device by the operation and maintenance personnel. The path cost algorithm can be an A* algorithm, a Dijkstra algorithm, or a rapidly-exploring random tree (RRT) algorithm. The embodiment of the present application does not specifically limit the path cost algorithm.

[0114] S3022: Based on the correction coefficient corresponding to the channel passed by the candidate moving path, correct the initial path cost of the candidate moving path to obtain the path cost of the candidate moving path.

[0115] In some embodiments, when determining the initial path cost of the moving path to be selected, the electronic device uses the product of the initial path cost and the correction coefficient as the path cost of the moving path to be selected, or uses the sum of the initial path cost and the correction coefficient as the path cost of the moving path to be selected.

[0116] It can be understood that according to the channel type of the moving path through the channel, the initial path cost of the selected moving path is corrected, thereby increasing or decreasing the cost of passing through the target channel, adjusting the number of vehicles on the target channel, and alleviating the congestion of the channel.

[0117] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, it includes hardware structures and / or software modules corresponding to the execution of each function. It should be easy to realize that the technical goals in this field are combined with the units and algorithm steps of each example described in the embodiments disclosed in this article, and the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical goals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0118] In an exemplary embodiment, the present application also provides a path determination device. Figure 8 Schematic diagram of the composition of the path determination device 40 provided in the embodiment of the present application. Figure 8 As shown, the path determination device 40 includes: a determination unit 401.

[0119] The determination unit 401 is used to determine a plurality of candidate moving paths according to the starting position and the destination position of the robot. The determination unit 401 is also used to determine the path cost of the candidate moving path based on the correction coefficient corresponding to the channel through which the candidate moving path passes and the length of the candidate moving path. The correction coefficient corresponding to the channel is related to the current congestion level, historical congestion level and / or channel type of the channel. The determination unit is also used to determine the target moving path from the plurality of candidate moving paths according to the path cost of each candidate moving path.

[0120] In a possible implementation, the correction coefficient corresponding to the channel is positively correlated with the current congestion level and the historical congestion level of the channel, and the path cost of the selected moving path is positively correlated with the correction coefficient corresponding to the channel passed by the selected moving path.

[0121] In a possible implementation, the channel type includes at least a first type and a second type, and the correction coefficient of the first type of channel is greater than the correction coefficient corresponding to the second type of channel. The path cost of the selected moving path is positively correlated with the correction coefficient corresponding to the channel passed by the selected moving path.

[0122] In a possible implementation, the starting position and the destination position are located in different warehouse areas. Each warehouse area includes a storage area and a work area. The first type of channel connects the storage area and the work area in the same warehouse area, and connects different warehouse areas. The second type of channel connects different warehouse areas.

[0123] In a possible implementation, the distance between the first type of channel and the working area is smaller than the distance between the second type of channel and the working area.

[0124] In a possible implementation, the determination unit 401 is specifically used to: determine the initial path cost of the selected moving path based on the length of the selected moving path. The initial path cost of the selected moving path is positively correlated with the length of the selected moving path. Based on the correction coefficient corresponding to the channel passed by the selected moving path, the initial path cost of the selected moving path is corrected to obtain the path cost of the selected moving path.

[0125] In a possible implementation, when the current congestion level and / or the historical congestion level of the channel through which the selected moving path passes is greater than the preset congestion level, the correction coefficient corresponding to the channel is used to increase the initial path cost to obtain the path cost of the selected moving path. When the current congestion level and / or the historical congestion level of the channel through which the selected moving path passes is not greater than the preset congestion level, the correction coefficient corresponding to the channel is used to reduce the initial path cost to obtain the path cost of the selected moving path.

[0126] In a possible implementation, when the channel type of the channel passed by the selected moving path is the first type, the correction coefficient corresponding to the channel is used to increase the initial path cost to obtain the path cost of the selected moving path. When the channel type of the channel passed by the selected moving path is the second type, the correction coefficient corresponding to the channel is used to reduce the initial path cost to obtain the path cost of the selected moving path.

[0127] In one possible implementation, Figure 8 As shown, the path determination device 40 includes: a control unit 402.

[0128] The control unit 402 is used to control the robot to move along the target moving path from the starting position to the target position.

[0129] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer-executable instructions. When the computer-executable instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer-executable instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer-executable instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more servers that can be integrated with the medium. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a solid state disk (SSD), etc.

[0130] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the present application for which protection is sought, those skilled in the art may understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the term "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple components. A single processor or other unit may implement several functions listed in a claim. Certain measures are recorded in mutually different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0131] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0132] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A path determination method, characterized in that: The method comprises: Determine multiple moving paths to be selected according to the robot's starting position and destination position; Determine the path cost of the selected moving path based on the correction coefficient corresponding to the channel passed by the selected moving path and the length of the selected moving path; the correction coefficient corresponding to the channel is related to the current congestion level, historical congestion level and / or channel type of the channel; According to the path costs of the candidate moving paths, a target moving path is determined from the plurality of candidate moving paths.

2. The method according to claim 1, characterized in that The correction coefficient corresponding to the channel is positively correlated with the current congestion level and the historical congestion level of the channel, and the path cost of the selected moving path is positively correlated with the correction coefficient corresponding to the channel passed by the selected moving path.

3. The method according to claim 1, characterized in that The channel types include at least a first type and a second type, the correction coefficient of the first type of channel is greater than the correction coefficient corresponding to the second type of channel; the path overhead of the selected moving path is positively correlated with the correction coefficient corresponding to the channel passed by the selected moving path.

4. The method according to claim 3, characterized in that The starting position and the destination position are located in different warehouse areas respectively; each warehouse area includes a storage area and a work area; the first type of channel connects the storage area and the work area in the same warehouse area, and connects different warehouse areas; the second type of channel connects different warehouse areas.

5. The method according to claim 4, characterized in that The distance between the first type of channel and the working area is smaller than the distance between the second type of channel and the working area.

6. The method according to any one of claims 1 to 3, characterized in that The determining the path cost of the candidate moving path based on the correction coefficient corresponding to the candidate moving path and the length of the candidate moving path includes: Determining an initial path cost of the to-be-selected moving path based on the length of the to-be-selected moving path; the initial path cost of the to-be-selected moving path is positively correlated with the length of the to-be-selected moving path; Based on the correction coefficient corresponding to the channel passed by the candidate moving path, the initial path cost of the candidate moving path is corrected to obtain the path cost of the candidate moving path.

7. The method according to claim 6, characterized in that: When the current congestion level and / or the historical congestion level of the channel through which the selected moving path passes is greater than the preset congestion level, the correction coefficient corresponding to the channel is used to increase the initial path cost to obtain the path cost of the selected moving path; When the current congestion level and / or historical congestion level of the channel passed by the selected moving path is not greater than the preset congestion level, the correction coefficient corresponding to the channel is used to reduce the initial path cost to obtain the path cost of the selected moving path.

8. The method according to claim 6, characterized in that: In the case where the channel type of the channel passed by the selected moving path is the first type, the correction coefficient corresponding to the channel is used to increase the initial path cost to obtain the path cost of the selected moving path; In the case that the channel type of the channel passed by the candidate moving path is the second type, the correction coefficient corresponding to the channel is used to reduce the initial path cost to obtain the path cost of the candidate moving path.

9. A path determination device, characterized in that: The device comprises: a determination unit; The determining unit is used to determine a plurality of moving paths to be selected according to the starting position and the destination position of the robot; The determination unit is further configured to determine the path cost of the selected moving path based on a correction coefficient corresponding to a channel passed by the selected moving path and a length of the selected moving path; the correction coefficient corresponding to the channel is related to a current congestion level, a historical congestion level and / or a channel type of the channel; The determining unit is further configured to determine a target moving path from the plurality of moving paths to be selected according to the path costs of the moving paths to be selected.

10. An electronic device, characterized in that: include: Processor and memory; The memory stores instructions executable by the processor; When the processor is configured to execute the instructions, the electronic device implements the method according to any one of claims 1 to 8.

11. A readable storage medium, characterized in that: The readable storage medium includes: software instructions; When the software instructions are executed in an electronic device, the electronic device implements the method according to any one of claims 1 to 8.

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