Path planning method and device for multiple four-way shuttle vehicles

Abstract

The invention relates to the technical field of intelligent logistics, and discloses a path planning method and device for multiple four-way shuttle vehicles, and the method comprises the steps: constructing an initial grid map based on three-dimensional library information; determining important nodes in the initial grid map based on the order information and the three-dimensional warehouse information, and setting one-way nodes according to coordinates of the important nodes to obtain a target grid map; obtaining an initial path planning algorithm corresponding to the initial grid map, and adjusting the initial path planning algorithm based on the target grid map to obtain a target path planning algorithm; and obtaining a target path corresponding to the order information through a target path planning algorithm. According to the method, the one-way nodes are arranged in the grid map constructed according to the three-dimensional warehouse information to improve a path planning algorithm, so that conflicts among a plurality of target paths of a plurality of four-way shuttle vehicles are reduced, the passing time of the four-way shuttle vehicles is shortened, and the operation efficiency of a three-dimensional warehouse system is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent logistics technology, and in particular to a path planning method and device for multiple four-way shuttle vehicles. Background Art

[0002] With the development of industrial automation and intelligent manufacturing, automated warehousing systems are increasingly being used in large manufacturing companies, unmanned warehouses and other fields. As an automated intelligent mobile robot, the four-way shuttle is widely used in warehousing, intelligent workshops, dangerous places and special operations due to its high degree of automation, safety, flexibility and anti-interference ability. In a multi-four-way shuttle warehouse system, path planning is the main factor affecting its operating efficiency.

[0003] However, the existing path planning method for multiple four-way shuttles is mainly based on the original road traffic rules in the vertical warehouse system to plan the path of the four-way shuttle, which is prone to cause more traffic jams and path conflicts, thereby reducing the operating efficiency of the entire vertical warehouse system. Summary of the invention

[0004] In order to solve the above-mentioned problem of reduced operating efficiency of the vertical storage system due to path conflicts, the present application embodiment provides a path planning method and device for a multi-four-way shuttle vehicle, and its technical solution is as follows: In a first aspect, an embodiment of the present application provides a path planning method for a multi-four-way shuttle, comprising: Constructing an initial grid map based on the vertical warehouse information; wherein the vertical warehouse information at least includes a vertical warehouse cargo location map, and the initial grid map includes coordinates of at least two nodes and a grid value of each node; Based on the order information and the library information, the important nodes in the initial grid map are determined, and one-way nodes are set according to the coordinates of the important nodes to obtain the target grid map; wherein the grid value of the one-way node is a negative value; Acquire an initial path planning algorithm corresponding to the initial grid map, and adjust the initial path planning algorithm based on the target grid map to obtain a target path planning algorithm; The target path corresponding to the order information is obtained through the target path planning algorithm.

[0005] In an optional solution of the first aspect, constructing an initial grid map based on the library information includes: According to the shelf arrangement, aisle width and obstacle position in the vertical warehouse information, the vertical warehouse is divided into multiple grids of equal size, and each grid is assigned a unique coordinate and grid value; the grid value of the grid that does not contain an obstacle is set to zero, and the grid value of the grid that contains an obstacle is set to a positive value.

[0006] In another optional solution of the first aspect, determining important nodes in the initial grid map based on order information and library information includes: Calculate the number of connections of each node, and regard the nodes whose number of connections is greater than a preset first threshold as important nodes; The average length of the shortest path between each node and the remaining nodes is measured, and the nodes whose average length is less than a preset second threshold are regarded as important nodes.

[0007] In yet another optional solution of the first aspect, setting a unidirectional node according to the coordinates of the important node includes: Determine edge coordinate values ​​based on the coordinates of important nodes, and determine important areas based on the edge coordinate values; Modify the grid values ​​of all nodes in the important area to corresponding negative values ​​to set all nodes in the important area as one-way nodes.

[0008] In yet another optional solution of the first aspect, setting the unidirectional nodes according to the coordinates of the important nodes further includes: Determine the corresponding target column according to the longitudinal values ​​in the coordinates of the important nodes; Modify the grid values ​​of the nodes on the target column to the corresponding negative values.

[0009] In another optional solution of the first aspect, the initial path planning algorithm is adjusted based on the target grid map to obtain the target path planning algorithm, including: Generate one-way constraints based on the target grid map; The initial path planning algorithm is adjusted based on the one-way constraint to obtain the target path planning algorithm.

[0010] In another optional solution of the first aspect, after obtaining the target path corresponding to the order information through the target path planning algorithm, the method further includes: The target path is precisely matched to the physical constraints of the four-way shuttle to ensure the feasibility of the target path; wherein the physical constraints at least include the maximum turning radius and the maximum driving speed.

[0011] In a second aspect, an embodiment of the present application provides a path planning device for a multi-four-way shuttle vehicle, comprising: The first processing module is used to construct an initial grid map based on the vertical warehouse information; wherein the vertical warehouse information at least includes a vertical warehouse cargo location map, and the initial grid map includes the coordinates of at least two nodes and the grid value of each node; The second processing module is used to determine the important nodes in the initial grid map based on the order information and the library information, and set the one-way nodes according to the coordinates of the important nodes to obtain the target grid map; wherein the grid value of the one-way node is a negative value; A third processing module is used to obtain an initial path planning algorithm corresponding to the initial grid map, and adjust the initial path planning algorithm based on the target grid map to obtain a target path planning algorithm; The fourth processing module is used to obtain a target path corresponding to the order information through a target path planning algorithm.

[0012] In a third aspect, an embodiment of the present application further provides a path planning device for a multi-four-way shuttle, including a processor and a memory; The processor is connected to the memory; A memory for storing executable program codes; The processor runs the program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the path planning method for multiple four-way shuttle vehicles provided by the first aspect of the embodiment of the present application or any implementation method of the first aspect.

[0013] In a fourth aspect, an embodiment of the present application provides a computer storage medium, which stores a computer program. The computer program includes program instructions. When the program instructions are executed by a processor, the path planning method for multiple four-way shuttles provided by the first aspect of the embodiment of the present application or any implementation method of the first aspect can be implemented.

[0014] The beneficial effects brought by the technical solutions provided by some embodiments of this specification include at least: In the path planning process of multiple four-way shuttles, one-way nodes are set in the grid map constructed according to the vertical warehouse information to improve the path planning algorithm, thereby reducing the conflicts between multiple target paths of multiple four-way shuttles and shortening the travel time of the four-way shuttles, thereby improving the operation efficiency of the vertical warehouse system. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in 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 paying creative work.

[0016] Figure 1 An overall flow chart of a path planning method for a multi-four-way shuttle provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of a path planning device for a multi-four-way shuttle vehicle provided in an embodiment of the present application; Figure 3 A schematic structural diagram of another path planning device for a multi-four-way shuttle vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0018] In the following introduction, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following introduction provides multiple embodiments of the present application, and different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments recorded. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, although the embodiment may not be clearly recorded in the following text.

[0019] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present application. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted or combined. In addition, features described in some examples may be combined in other examples.

[0020] See also Figure 1 , Figure 1 An overall flow chart of a path planning method for multiple four-way shuttles provided in an embodiment of the present application is shown.

[0021] like Figure 1 As shown, the path planning method for the multi-four-way shuttle vehicle may at least include the following steps: Step 101: construct an initial grid map based on the library information.

[0022] In the embodiment of the present application, the path planning method for multiple four-way shuttles can be applied to, but is not limited to, high-performance servers or industrial control computers in automated warehousing systems. In the path planning process for multiple four-way shuttles, one-way nodes are set in the grid map constructed according to the vertical warehouse information to improve the path planning algorithm, thereby reducing the conflicts between multiple target paths of multiple four-way shuttles, shortening the travel time of the four-way shuttles, and improving the operating efficiency of the vertical warehouse system.

[0023] Specifically, in the process of path planning for multiple four-way shuttles, an initial grid map can be first constructed based on the vertical warehouse information, wherein the vertical warehouse information at least includes a vertical warehouse cargo location map, each cargo location can correspond to a grid, and the initial grid map includes at least two nodes, the coordinates of each node, and the grid value of each node. It can be understood that the vertical warehouse information can include but is not limited to the number of four-way shuttles, the starting point of the four-way shuttle's in and out of the warehouse task, and the target point of the four-way shuttle's in and out of the warehouse task.

[0024] In the process of constructing the initial grid map based on the vertical warehouse information, the shelf layout diagram of the vertical warehouse can be obtained first, including the location, size and arrangement of the shelves. At the same time, the storage location and size of the goods, as well as the width and location of the aisles can be understood. Then, according to the size and accuracy requirements of the vertical warehouse, the size of each grid in the grid map can be determined to ensure that the details in the vertical warehouse can be accurately represented without being too complicated. For example, a blank grid map can be created to match its size with the actual size of the vertical warehouse. Then, according to the shelf layout and cargo location information, the corresponding grids can be marked with different colors or different values ​​to indicate whether there are obstacles in the area or whether the grid is an entry and exit point, etc., so as to obtain the initial grid map.

[0025] As an option of the embodiment of the present application, constructing an initial grid map based on the library information includes: According to the shelf arrangement, aisle width and obstacle position in the vertical warehouse information, the vertical warehouse is divided into multiple grids of equal size, and each grid is assigned a unique coordinate and grid value; the grid value of the grid that does not contain an obstacle is set to zero, and the grid value of the grid that contains an obstacle is set to a positive value.

[0026] Specifically, in the process of constructing the initial grid map based on the vertical warehouse information, you can first select a suitable grid size (such as 0.5m × 0.5m) according to the arrangement of the shelves and the width of the aisle. This size should be able to well represent the width of the shelves and aisles. Then, according to the size of the vertical warehouse (that is, the length and width of the vertical warehouse), you can calculate the number of grids in the length and width directions (round up the calculation results), so that you can create a two-dimensional matrix (that is, a list of lists) based on the number of grids.

[0027] Next, the upper left corner can be defined as the coordinate origin (0, 0), the horizontal right direction is the positive direction of the x-axis, and the vertical downward direction is the positive direction of the y-axis. The grid matrix is ​​traversed to assign unique coordinates to each grid. For example, the coordinates corresponding to the element (i, j) in the matrix are (j×grid size, i×grid size). After that, the grid value of the grid containing the obstacle can be set to a positive value (such as 1), and the grid value of the grid not containing the obstacle can be set to zero according to the obstacle location information.

[0028] Step 102: determine the important nodes in the initial grid map based on the order information and the library information, and set one-way nodes according to the coordinates of the important nodes to obtain the target grid map; wherein the grid value of the one-way node is a negative value.

[0029] Specifically, after the initial grid map is constructed, the important nodes in the initial grid map can be determined based on the order information and the vertical warehouse information, wherein the order information may include but is not limited to the number of AGVs used in the vertical warehouse, the number of warehouse orders executed per hour, and the ratio of inbound and outbound order tasks in the vertical warehouse. It can be understood that in the vertical warehouse, the more frequently the four-way shuttle passes, the more likely it is to cause congestion, that is, the important node. For example, the storage location and retrieval location of the goods in the order can be extracted, and then the commonly used goods storage and access paths and frequently visited areas can be determined, so that the possible key points in the goods storage and access process, such as shelf entrances, exits, intersections, etc., can be determined in combination with the shelf arrangement, aisle width, and obstacle locations.

[0030] Furthermore, after determining the important nodes based on the order information and the warehouse information, the nodes that have the greatest impact on the efficiency of goods storage and retrieval can be selected from the important nodes as one-way nodes, and the grid values ​​of the one-way nodes are set to negative values ​​to distinguish them from the nodes that can be passed in both directions, thereby obtaining a target grid map containing one-way nodes. In addition, different negative values ​​can be used to represent different types of one-way nodes (such as entrances, exits, special channels, etc.).

[0031] It should be noted that the setting of one-way nodes is to realize the addition of tidal one-way channels in the vertical warehouse. By setting some places that are prone to congestion as one-way traffic, the working time of four-way shuttle vehicles is shortened to improve the operating efficiency of the vertical warehouse.

[0032] It is worth noting that for the same vertical warehouse, the setting of its one-way node is determined according to different order information and is not fixed. Therefore, this solution implements the setting of a tidal one-way channel rather than a fixed one-way channel.

[0033] As another option of the embodiment of the present application, determining important nodes in the initial grid map based on order information and library information includes: Calculate the number of connections of each node, and regard the nodes whose number of connections is greater than a preset first threshold as important nodes; The average length of the shortest path between each node and the remaining nodes is measured, and the nodes whose average length is less than a preset second threshold are regarded as important nodes.

[0034] Specifically, in the process of determining the important nodes in the initial grid map based on the order information and the warehouse information, the number of nodes connected to each node can be counted first, and the nodes with a connection number greater than the preset first threshold value can be regarded as important nodes. If a node contains an obstacle, it will not be included in the statistical result. Here, the larger the number of connections, the more four-way shuttles may pass through the node. For example, if there is a node whose nodes above and below do not contain obstacles, but whose left and right nodes both contain obstacles, the number of connections of the node is 2. The important nodes determined in this way take into account local connectivity.

[0035] At the same time, more important nodes can be determined based on global reachability, that is, the average length of the shortest path between each node and the remaining nodes is measured, and the nodes with an average length less than a preset second threshold are regarded as important nodes. Here, the smaller the average length, the easier it is for the four-way shuttle to reach other nodes from this node.

[0036] It can be understood that the important nodes may include nodes determined by the above two different methods, or may be obtained by only one of the methods.

[0037] As another option of the embodiment of the present application, setting a unidirectional node according to the coordinates of an important node includes: Determine edge coordinate values ​​based on the coordinates of important nodes, and determine important areas based on the edge coordinate values; Modify the grid values ​​of all nodes in the important area to corresponding negative values ​​to set all nodes in the important area as one-way nodes.

[0038] Specifically, after determining the important nodes, the edge coordinate values ​​of the range divided by these important nodes can be determined according to the coordinates of the important nodes, and then the corresponding important areas can be obtained, wherein the edge coordinate values ​​can be, but are not limited to, calculated by the maximum value, median value, average value and mode of the coordinates of all important nodes. For example, when the important nodes are relatively concentrated, the maximum value in the coordinates can be directly selected as the edge coordinate value, and then an important area can be divided according to the edge coordinate value, including all important nodes.

[0039] Next, the grid values ​​of all nodes in the important area can be modified to corresponding negative values, so that all nodes in the important area are set as one-way nodes. It is worth noting that the corresponding negative value here can be, but is not limited to, the opposite number, a uniform negative number, etc. For example, when there are multiple grids with positive grid values ​​in the initial grid map, and different positive numbers have different meanings, if you want to make it a one-way node, you can modify its grid value to the opposite of the original value, or modify it to a uniform negative number (such as -1) to represent it as a one-way node.

[0040] As another option of the embodiment of the present application, setting a one-way node according to the coordinates of an important node also includes: Determine the corresponding target column according to the longitudinal values ​​in the coordinates of the important nodes; Modify the grid values ​​of the nodes on the target column to the corresponding negative values.

[0041] Specifically, in the process of setting one-way nodes according to the coordinates of important nodes, the target column corresponding to the longitudinal value in the coordinates of the important nodes can be determined first, or the target row corresponding to the transverse value in the coordinates of the important nodes can be determined, and then the grid value of the node on the target column or target row can be modified to a corresponding negative value, so that the column or row where the important node is located is uniformly set as a one-way node.

[0042] Step 103: Acquire an initial path planning algorithm corresponding to the initial grid map, and adjust the initial path planning algorithm based on the target grid map to obtain a target path planning algorithm.

[0043] Specifically, after obtaining the target grid map, the initial path planning algorithm corresponding to the initial grid map can be obtained first, and then the two-way channels that need to be modified into tidal one-way channels can be determined according to the settings of the one-way nodes in the target grid map, and the initial path planning algorithm can be adjusted according to its modification rules, so that the obtained target path algorithm can plan a more efficient driving path for the four-way shuttle according to the target grid map.

[0044] It can be understood that the initial path planning algorithm can be but is not limited to the A* algorithm with a time window, and the target path planning algorithm is an improved A* algorithm with a time window, wherein the improved A* algorithm with a time window adds the judgment and restriction of the tidal one-way channel.

[0045] As another option of the embodiment of the present application, the initial path planning algorithm is adjusted based on the target grid map to obtain the target path planning algorithm, including: Generate one-way constraints based on the target grid map; The initial path planning algorithm is adjusted based on the one-way constraint to obtain the target path planning algorithm.

[0046] Specifically, in the process of adjusting the initial path planning algorithm according to the target grid map, the one-way constraint condition for realizing the tidal one-way channel can be first determined according to the grid value of each grid in the target grid map, and a one-way constraint condition can be generated according to the set coordinates of the tidal one-way channel. Then, the initial path planning algorithm can be adjusted according to the one-way constraint condition, that is, a conditional judgment statement is added to the algorithm, and when the coordinates of the tidal one-way channel are involved in the process of path planning, it is processed separately so that only one-way passage of the four-way shuttle is allowed.

[0047] Step 104: Obtain a target path corresponding to the order information through a target path planning algorithm.

[0048] Specifically, after obtaining the target path planning algorithm, the order information (such as the order volume per hour, the ratio of inbound and outbound order tasks, etc.) can be used as a parameter, combined with the target path planning algorithm, to obtain the calculation result of the algorithm, that is, the driving path of multiple four-way shuttles in the vertical warehouse planned by the algorithm for the order information, that is, the target path. It can be understood that in the same vertical warehouse, different order information corresponds to different target paths.

[0049] As another option of the embodiment of the present application, after obtaining the target path corresponding to the order information through the target path planning algorithm, the method further includes: The target path is precisely matched to the physical constraints of the four-way shuttle to ensure the feasibility of the target path; wherein the physical constraints at least include the maximum turning radius and the maximum driving speed.

[0050] Specifically, after obtaining the target path corresponding to the order information through the target path planning algorithm, since the four-way shuttle may also have physical limitations such as maximum turning radius, maximum driving speed and acceleration, it is also necessary to accurately match the target path with the physical limitations of the four-way shuttle (such as ensuring that the radius of all turns is not less than the maximum turning radius and setting a reasonable speed limit) to make the target path feasible.

[0051] See also Figure 2 , Figure 2 A schematic structural diagram of a path planning device for a multi-four-way shuttle vehicle provided in an embodiment of the present application is shown.

[0052] like Figure 2 As shown, the path planning device of the multi-four-way shuttle vehicle may include at least a first processing module 201, a second processing module 202, a third processing module 203 and a fourth processing module 204, wherein: The first processing module 201 is used to construct an initial grid map based on the vertical warehouse information; wherein the vertical warehouse information at least includes a vertical warehouse cargo location map, and the initial grid map includes the coordinates of at least two nodes and the grid value of each node; The second processing module 202 is used to determine the important nodes in the initial grid map based on the order information and the library information, and set the one-way nodes according to the coordinates of the important nodes to obtain the target grid map; wherein the grid value of the one-way node is a negative value; The third processing module 203 is used to obtain an initial path planning algorithm corresponding to the initial grid map, and adjust the initial path planning algorithm based on the target grid map to obtain a target path planning algorithm; The fourth processing module 204 is used to obtain a target path corresponding to the order information through a target path planning algorithm.

[0053] In some possible embodiments, constructing an initial grid map based on the library information includes: The first processing module 201 is specifically used for: According to the shelf arrangement, aisle width and obstacle position in the vertical warehouse information, the vertical warehouse is divided into multiple grids of equal size, and each grid is assigned a unique coordinate and grid value; the grid value of the grid that does not contain an obstacle is set to zero, and the grid value of the grid that contains an obstacle is set to a positive value.

[0054] In some possible embodiments, determining important nodes in the initial grid map based on order information and library information includes: The second processing module 202 is specifically used for: Calculate the number of connections of each node, and regard the nodes whose number of connections is greater than a preset first threshold as important nodes; The average length of the shortest path between each node and the remaining nodes is measured, and the nodes whose average length is less than a preset second threshold are regarded as important nodes.

[0055] In some possible embodiments, setting a unidirectional node according to the coordinates of an important node includes: The second processing module 202 is specifically used for: Determine edge coordinate values ​​based on the coordinates of important nodes, and determine important areas based on the edge coordinate values; Modify the grid values ​​of all nodes in the important area to corresponding negative values ​​to set all nodes in the important area as one-way nodes.

[0056] In some possible embodiments, setting a unidirectional node according to the coordinates of an important node further includes: The second processing module 202 is specifically used for: Determine the corresponding target column according to the longitudinal values ​​in the coordinates of the important nodes; Modify the grid values ​​of the nodes on the target column to the corresponding negative values.

[0057] In some possible embodiments, the initial path planning algorithm is adjusted based on the target grid map to obtain the target path planning algorithm, including: The third processing module 203 is specifically used for: Generate one-way constraints based on the target grid map; The initial path planning algorithm is adjusted based on the one-way constraint to obtain the target path planning algorithm.

[0058] In some possible embodiments, after obtaining the target path corresponding to the order information through the target path planning algorithm, the method further includes: The fourth processing module 204 is specifically used for: The target path is precisely matched to the physical constraints of the four-way shuttle to ensure the feasibility of the target path; wherein the physical constraints at least include the maximum turning radius and the maximum driving speed.

[0059] See also Figure 3 , Figure 3 A structural schematic diagram of another path planning device for a multi-four-way shuttle vehicle provided in an embodiment of the present application is shown.

[0060] like Figure 3 As shown, the path planning device 300 for the multi-four-way shuttle may include at least one processor 301 , at least one network interface 304 , a user interface 303 , a memory 305 , and at least one communication bus 302 .

[0061] The communication bus 302 may be used to realize the connection and communication among the above-mentioned components.

[0062] The user interface 303 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0063] The network interface 304 may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc.

[0064] Among them, the processor 301 may include one or more processing cores. The processor 301 uses various interfaces and lines to connect the various parts of the path planning device 300 of the multi-four-way shuttle, and executes various functions and processes data of the path planning device 300 of the multi-four-way shuttle by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Optionally, the processor 301 can be implemented in at least one hardware form of DSP, FPGA, and PLA. The processor 301 can integrate one or a combination of CPU, GPU, modem, etc. Among them, the CPU mainly processes the operating system, user interface, and application program; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the processor 301, and it can be implemented by a single chip.

[0065] The memory 305 may include a RAM or a ROM. Optionally, the memory 305 includes a non-transitory computer-readable medium. The memory 305 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 305 may optionally be at least one storage device located away from the aforementioned processor 301. As Figure 3 As shown, the memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a path planning application for multiple four-way shuttles.

[0066] Specifically, the processor 301 may be used to call the path planning application for the multi-four-way shuttle vehicle stored in the memory 305, and specifically perform the following operations: Constructing an initial grid map based on the vertical warehouse information; wherein the vertical warehouse information at least includes a vertical warehouse cargo location map, and the initial grid map includes coordinates of at least two nodes and a grid value of each node; Based on the order information and the library information, the important nodes in the initial grid map are determined, and one-way nodes are set according to the coordinates of the important nodes to obtain the target grid map; wherein the grid value of the one-way node is a negative value; Acquire an initial path planning algorithm corresponding to the initial grid map, and adjust the initial path planning algorithm based on the target grid map to obtain a target path planning algorithm; The target path corresponding to the order information is obtained through the target path planning algorithm.

[0067] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0068] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0069] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0070] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0071] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0072] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0073] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.

[0074] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by entering a program to instruct related hardware, and the program may be stored in a computer-readable memory, which may include a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0075] The above are only exemplary embodiments of the present disclosure and cannot be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field that are not recorded in the present disclosure. The description and examples are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A path planning method for a multi-four-way shuttle, characterized in that: include: Constructing an initial grid map based on the vertical warehouse information; wherein the vertical warehouse information at least includes a vertical warehouse cargo location map, and the initial grid map includes coordinates of at least two nodes and a grid value of each of the nodes; Based on the order information and the vertical library information, important nodes in the initial grid map are determined, and one-way nodes are set according to the coordinates of the important nodes to obtain a target grid map; wherein the grid value of the one-way node is a negative value; Acquire an initial path planning algorithm corresponding to the initial grid map, and adjust the initial path planning algorithm based on the target grid map to obtain a target path planning algorithm; The target path corresponding to the order information is obtained through the target path planning algorithm.

2. The method according to claim 1, characterized in that The initial grid map is constructed based on the library information, including: According to the shelf arrangement, aisle width and obstacle position in the vertical warehouse information, the vertical warehouse is divided into a plurality of grids of equal size, and each grid is assigned a unique coordinate and grid value; wherein the grid value of the grid that does not contain an obstacle is set to zero, and the grid value of the grid that contains an obstacle is set to a positive value.

3. The method according to claim 1, characterized in that Determining the important nodes in the initial grid map based on the order information and the library information includes: Calculating the number of connections of each of the nodes, and taking the nodes whose number of connections is greater than a preset first threshold as important nodes; The average length of the shortest path between each of the nodes and the remaining nodes is measured, and the nodes whose average length is less than a preset second threshold are regarded as important nodes.

4. The method according to claim 1, characterized in that: The step of setting a one-way node according to the coordinates of the important node comprises: Determine edge coordinate values ​​based on the coordinates of the important nodes, and determine important areas according to the edge coordinate values; The grid values ​​of all nodes in the important area are modified to corresponding negative values, so as to set all nodes in the important area as one-way nodes.

5. The method according to claim 1, characterized in that The step of setting a one-way node according to the coordinates of the important node further includes: Determine a corresponding target column according to the longitudinal values ​​in the coordinates of the important nodes; The grid values ​​of the nodes on the target column are modified to corresponding negative values.

6. The method according to claim 1, characterized in that The adjusting the initial path planning algorithm based on the target grid map to obtain the target path planning algorithm includes: Generate a one-way constraint condition based on the target grid map; The initial path planning algorithm is adjusted based on the one-way constraint condition to obtain a target path planning algorithm.

7. The method according to claim 1, characterized in that After obtaining the target path corresponding to the order information through the target path planning algorithm, the method further includes: The target path is precisely matched with the physical limitations of the four-way shuttle to ensure the feasibility of the target path; wherein the physical limitations at least include a maximum turning radius and a maximum driving speed.

8. A path planning device for a multi-four-way shuttle, characterized in that: include: A first processing module is used to construct an initial grid map based on the library information; wherein the initial grid map includes at least two nodes, the coordinates of each of the nodes and the grid value of each of the nodes; The second processing module is used to determine the important nodes in the initial grid map based on the order information and the vertical library information, and set the one-way nodes according to the coordinates of the important nodes to obtain the target grid map; wherein the grid value of the one-way node is a negative value; A third processing module is used to adjust the initial path planning algorithm based on the target grid map to obtain a target path planning algorithm; The fourth processing module is used to obtain a target path corresponding to the order information through the target path planning algorithm.

9. A path planning device for a multi-four-way shuttle, characterized in that: including a processor and a memory; The processor is connected to the memory; The memory is used to store executable program code; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a computer or a processor, the computer or the processor executes the steps of the method according to any one of claims 1 to 7.

Images