A method and device for path planning of multiple four-way shuttles

Abstract

The application relates to the technical field of intelligent logistics, and discloses a path planning method and device for multiple four-way shuttles, which comprises the following steps: constructing an initial grid map based on storage information; determining important nodes in the initial grid map based on order information and the storage information, setting one-way nodes according to the coordinates of the important nodes, and obtaining a target grid map; obtaining an initial path planning algorithm corresponding to the initial grid map, adjusting the initial path planning algorithm based on the target grid map, and obtaining a target path planning algorithm; and obtaining a target path corresponding to the order information through the target path planning algorithm. The one-way nodes are set in the grid map constructed according to the storage information to improve the path planning algorithm, thereby reducing the conflicts between multiple target paths of multiple four-way shuttles, shortening the passing time of the four-way shuttles, and improving the operation efficiency of the storage system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent logistics, in particular to a path planning method and device for multiple four-way shuttles. BACKGROUND

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

[0003] However, the existing path planning method for multiple four-way shuttles mainly plans the paths of four-way shuttles according to the original road traffic rules in the racking system, which can easily cause traffic congestion and path conflicts, and thus reduce the operating efficiency of the entire racking system. SUMMARY

[0004] To solve the problem of reduced operating efficiency of the racking system due to path conflicts mentioned above, the embodiments of the present application provide a path planning method and device for multiple four-way shuttles, and the technical solutions are as follows:

[0005] In a first aspect, the embodiments of the present application provide a path planning method for multiple four-way shuttles, comprising:

[0006] constructing an initial grid map based on racking information; wherein the racking information at least includes a racking location map, and the initial grid map includes coordinates of at least two nodes and a grid value of each node;

[0007] determining important nodes in the initial grid map based on order information and racking information, and setting a one-way node 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;

[0008] 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;

[0009] obtaining a target path corresponding to the order information by the target path planning algorithm.

[0010] In an optional scheme of the first aspect, constructing an initial grid map based on racking information comprises:

[0011] According to the rack arrangement, the aisle width and the obstacle position in the warehouse information, the warehouse is divided into a plurality of equal-sized grids, and each grid is assigned a unique coordinate and a grid value; wherein the grid value of the grid not containing the obstacle is set to zero, and the grid value of the grid containing the obstacle is set to a positive value.

[0012] In yet another optional implementation of the first aspect, determining the important nodes in the initial grid map based on the order information and the warehouse information comprises:

[0013] calculating the connection number of each node, and regarding the node with the connection number greater than a preset first threshold as an important node;

[0014] measuring the average length of the shortest path of each node to the remaining nodes, and regarding the node with the average length less than a preset second threshold as an important node.

[0015] In yet another optional implementation of the first aspect, setting the one-way node according to the coordinates of the important nodes comprises:

[0016] determining the edge coordinate value based on the coordinates of the important nodes, and determining the important area according to the edge coordinate value;

[0017] modifying the grid value of all nodes in the important area to the corresponding negative value, so as to set all nodes in the important area as one-way nodes.

[0018] In yet another optional implementation of the first aspect, setting the one-way node according to the coordinates of the important nodes further comprises:

[0019] determining the corresponding target column according to the longitudinal value in the coordinates of the important nodes;

[0020] modifying the grid value of the nodes on the target column to the corresponding negative value.

[0021] In yet another optional implementation of the first aspect, adjusting the initial path planning algorithm based on the target grid map to obtain the target path planning algorithm comprises:

[0022] generating a one-way constraint condition based on the target grid map;

[0023] adjusting the initial path planning algorithm based on the one-way constraint condition to obtain the target path planning algorithm.

[0024] In yet another optional implementation of the first aspect, after obtaining the target path corresponding to the order information through the target path planning algorithm, further comprising:

[0025] precisely matching the target path with the physical limit of the four-way shuttle vehicle to ensure the feasibility of the target path; wherein the physical limit at least includes the maximum turning radius and the maximum driving speed.

[0026] In a second aspect, an embodiment of the present application provides a path planning device for multiple four-way shuttles, comprising:

[0027] A first processing module is configured to construct an initial grid map based on the information of the vertical warehouse, wherein the information of the vertical warehouse at least includes a vertical warehouse location map, and the initial grid map includes coordinates of at least two nodes and a grid value of each node;

[0028] A second processing module is configured to determine important nodes in the initial grid map based on the order information and the information of the vertical warehouse, and set a one-way node 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;

[0029] A third processing module is configured 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;

[0030] A fourth processing module is configured to obtain a target path corresponding to the order information by using the target path planning algorithm.

[0031] In a third aspect, an embodiment of the present application further provides a path planning device for multiple four-way shuttles, comprising a processor and a memory;

[0032] The processor is connected with the memory;

[0033] The memory is configured to store executable program codes;

[0034] The processor runs a program corresponding to the executable program codes by reading the executable program codes stored in the memory, so as to implement the path planning method for multiple four-way shuttles provided in the first aspect or any one of the implementation manners of the first aspect.

[0035] In a fourth aspect, an embodiment of the present application provides a computer storage medium, which stores a computer program, and 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 in the first aspect or any one of the implementation manners of the first aspect can be implemented.

[0036] The technical solutions provided by some embodiments of the present application have at least the following beneficial effects:

[0037] In the path planning process of the multiple four-way shuttles, the one-way nodes are set in the grid map constructed according to the information of the vertical warehouse, so as to improve the path planning algorithm, reduce the conflicts between the multiple target paths of the multiple four-way shuttles, shorten the passing time of the four-way shuttles, and improve the operation efficiency of the vertical warehouse system. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative effort based on these drawings.

[0039] Figure 1 A flowchart of a path planning method of a plurality of four-way shuttles provided by an embodiment of the present application is shown.

[0040] Figure 2 A structural schematic diagram of a path planning device of a plurality of four-way shuttles provided by an embodiment of the present application is shown.

[0041] Figure 3 A structural schematic diagram of another path planning device of a plurality of four-way shuttles provided by an embodiment of the present application is shown. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0043] In the following description, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. The following description provides a plurality of 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 described. Therefore, if one embodiment includes features A, B and C, and another embodiment includes features B and D, the present application should also be considered to include one or more embodiments of all other possible combinations of A, B, C and D, although the embodiment may not be explicitly described in the following content.

[0044] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes can be made to the functions and arrangements of described elements without departing from the scope of the present application. Various examples can appropriately omit, replace or add various processes or components. For example, the described methods can be executed in different order from the described order, and various steps can be added, omitted or combined. In addition, features described with respect to some examples can be combined into other examples.

[0045] Please refer to Figure 1 , Figure 1 A flowchart of a path planning method of a plurality of four-way shuttles provided by an embodiment of the present application is shown.

[0046] As Figure 1As shown, the path planning method of the multi-four-way shuttle vehicle can at least include the following steps:

[0047] Step 101, constructing an initial grid map based on the storage information.

[0048] In the embodiments of the present application, the path planning method of the multi-four-way shuttle vehicle can be applied on a high-performance server or an industrial control computer in an automated warehouse system, but is not limited thereto. In the path planning process of the multi-four-way shuttle vehicle, a one-way node is set in the grid map constructed according to the storage information, so as to improve the path planning algorithm, reduce the conflicts between multiple target paths of the multi-four-way shuttle vehicle, shorten the passing time of the four-way shuttle vehicle, and thus improve the operation efficiency of the storage system.

[0049] Specifically, in the path planning process of the multi-four-way shuttle vehicle, an initial grid map can be constructed according to the storage information, wherein the storage information at least includes a storage location map, each location can correspond to a grid, and the initial grid map includes at least two nodes, coordinates of each node, and a grid value of each node. It can be understood that the storage information can include, but is not limited to, the number of four-way shuttle vehicles, the starting point of the warehouse task of the four-way shuttle vehicle, the target point of the warehouse task of the four-way shuttle vehicle, and the like.

[0050] In the process of constructing the initial grid map according to the storage information, the rack layout of the storage can be obtained first, including the position, size and arrangement of the rack, and at the same time, the storage position and size of the goods, and the width and position of the channel can also be known, and then the size of each grid in the grid map can be determined according to the size and precision requirements of the storage, so as to ensure that the details in the storage can be accurately represented and will not be too complex. For example, a blank grid map can be created to match the actual size of the storage, and then according to the rack layout and the goods position information, the corresponding grid can be marked as different colors or different values to represent whether the area exists an obstacle or whether the grid is a warehouse point, and the like, so as to obtain the initial grid map.

[0051] As an option of the embodiments of the present application, the initial grid map is constructed based on the storage information, including:

[0052] According to the rack arrangement, the channel width and the obstacle position in the storage information, the storage is divided into a plurality of grids with equal size, and each grid is assigned a unique coordinate and a grid value; wherein the grid value of the grid not containing the obstacle is set to zero, and the grid value of the grid containing the obstacle is set to a positive value.

[0053] Specifically, in the process of constructing the initial grid map based on the rack information, a suitable grid size (such as 0.5m x 0.5m) can be selected according to the arrangement of the shelves and the width of the aisle, which should be able to well represent the width of the shelves and the aisle, and then the number of grids in the length direction and the width direction can be calculated according to the size of the rack (i.e. the length and width of the rack) (the calculation result is rounded up), so that a two-dimensional matrix (i.e. a list of lists) can be created according to the number of grids.

[0054] Then, the upper left corner can be defined as the coordinate origin (0, 0), the horizontal right as the positive direction of the x-axis, and the vertical down as the positive direction of the y-axis, and the grid matrix is traversed to assign a unique coordinate to each grid. For example, the coordinate corresponding to the element (i, j) in the matrix is (j x grid size, i x grid size). Thereafter, according to the obstacle position information, 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.

[0055] Step 102, determine the important nodes in the initial grid map based on the order information and the rack information, and set the one-way nodes 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.

[0056] Specifically, after the initial grid map is constructed, the important nodes in the initial grid map can be determined according to the order information and the rack information, wherein the order information can include but is not limited to the number of AGVs used in the rack, the number of warehouse order executions per hour, and the proportion of the in-out warehouse order tasks of the rack, etc. It can be understood that the more frequently the four-way shuttle passes through in the rack, the more likely it is to cause congestion, i.e. the important node. For example, the storage location and the pickup location of the goods in the order can be extracted, and then the commonly used goods access path and the frequently accessed area can be determined, so that the key points in the goods access process can be determined in combination with the shelf arrangement, the aisle width and the obstacle position, such as the shelf entrance, the exit, the intersection, etc.

[0057] Further, after the important nodes are determined according to the order information and the rack information, the node that has the greatest impact on the goods access efficiency can be selected as the one-way node from the important nodes, and the grid value of the one-way node is set to a negative value to distinguish it from the nodes that can pass in both directions, and then a target grid map containing the one-way node is obtained. In addition, different negative values can be used to represent different types of one-way nodes (such as entrances, exits, special aisles, etc.).

[0058] It should be noted that the one-way node is set to realize the addition of the tidal one-way channel in the rack, and by setting some places that are easy to cause congestion as one-way, the working time of the four-way shuttle is shortened to improve the running efficiency of the rack.

[0059] It is worth noting that for the same vertical warehouse, the setting of the one-way node is determined according to different order information, and is not fixed. Therefore, the scheme realizes setting of the tidal one-way channel instead of the fixed one-way channel.

[0060] As another alternative of the embodiment of the present application, the important nodes in the initial grid map are determined based on order information and warehouse information, including:

[0061] The number of connections of each node is calculated, and the node with the number of connections greater than a preset first threshold is taken as an important node;

[0062] The average length of the shortest path of each node to the remaining nodes is measured, and the node with the average length less than a preset second threshold is taken as an important node.

[0063] Specifically, in the process of determining the important nodes in the initial grid map based on order information and warehouse information, the number of nodes connected to each node can be counted first, and the node with the number of connections greater than a preset first threshold is taken as an important node. If a node contains an obstacle, it is not counted in the statistical result. Here, the greater the number of connections, the more likely there are four-way shuttles passing through the node. For example, if there is a node whose nodes above and below do not contain obstacles, but the nodes on the left and right contain obstacles, the number of connections of the node is 2. The important nodes determined in this way consider local connectivity.

[0064] At the same time, more important nodes can also be determined according to global reachability, that is, the average length of the shortest path of each node to the remaining nodes is measured, and the node with the average length less than a preset second threshold is taken as an important node. Here, the smaller the average length, the easier it is for the four-way shuttle to reach other nodes from the node.

[0065] It can be understood that the important nodes can include the nodes determined in the above two different ways, or only one of them.

[0066] As another alternative of the embodiment of the present application, the one-way node is set according to the coordinates of the important nodes, including:

[0067] The edge coordinate value is determined based on the coordinates of the important nodes, and the important area is determined according to the edge coordinate value;

[0068] The grid value of all nodes in the important area is modified to the corresponding negative value, so that all nodes in the important area are set as one-way nodes.

[0069] Specifically, after the important nodes are determined, the edge coordinate values of the range divided by the important nodes can be determined according to the coordinates of the important nodes, and then the corresponding important region can be obtained, wherein the edge coordinate values can be but not limited to the maximum value, the median value, the average value and the mode in the coordinates of all important nodes. For example, when the important nodes are concentrated, the maximum value in the coordinates can be directly selected as the edge coordinate value, and then an important region can be divided according to the edge coordinate value, and all important nodes are included in the important region.

[0070] Then, the grid values of all nodes in the important region can be modified to corresponding negative values, so that all nodes in the important region are set as one-way nodes. It is worth noting that the corresponding negative values can be but not limited to the opposite numbers, uniform negative numbers, etc. For example, when the initial grid map has multiple grids with positive grid values, and different positive numbers have different meanings, if they are to be one-way nodes, the grid values can be modified to the opposite numbers of the original values, or to uniform negative numbers (such as -1) to represent that they are one-way nodes.

[0071] As another optional embodiment of the present application, setting one-way nodes according to the coordinates of the important nodes further includes:

[0072] determining a target column corresponding to the vertical value in the coordinates of the important nodes;

[0073] modifying the grid values of the nodes on the target column to corresponding negative values.

[0074] Specifically, in the process of setting one-way nodes according to the coordinates of the important nodes, a target column corresponding to the vertical value in the coordinates of the important nodes can be determined first, or a target row corresponding to the horizontal value in the coordinates of the important nodes can be determined, and then the grid values of the nodes on the target column or the target row can be modified to corresponding negative values, so that the column or the row where the important nodes are located is uniformly set as one-way nodes.

[0075] In step 103, an initial path planning algorithm corresponding to the initial grid map is obtained, and the initial path planning algorithm is adjusted based on the target grid map to obtain a target path planning algorithm.

[0076] Specifically, after the target grid map is obtained, an initial path planning algorithm corresponding to the initial grid map can be obtained first, and then according to the setting of the one-way nodes in the target grid map, the bidirectional channels that need to be modified to tidal one-way channels can be determined, and the initial path planning algorithm can be adjusted according to the modification rule, so that the target path algorithm obtained can plan a more efficient driving path for the four-way shuttle vehicle according to the target grid map.

[0077] It can be understood that the initial path planning algorithm can be but is not limited to a time windowed A* algorithm, and the target path planning algorithm is an improved time windowed A* algorithm, wherein the improved time windowed A* algorithm adds the judgment and limitation of the tidal one-way channel.

[0078] As another alternative 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, comprising:

[0079] generating a one-way constraint condition based on the target grid map;

[0080] adjusting the initial path planning algorithm based on the one-way constraint condition to obtain the target path planning algorithm.

[0081] Specifically, in the process of adjusting the initial path planning algorithm based on the target grid map, the one-way constraint condition for realizing the tidal one-way channel can be determined according to the grid value of each grid in the target grid map. A one-way constraint condition can be generated according to the coordinates of the set 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 in the algorithm, and when the algorithm involves the coordinates of the tidal one-way channel during path planning, it is processed separately, so that the four-way shuttle vehicle is allowed to pass through in one direction only.

[0082] Step 104: obtaining a target path corresponding to the order information through the target path planning algorithm.

[0083] Specifically, after obtaining the target path planning algorithm, the order information (such as the order quantity per hour, the proportion of warehouse-in and warehouse-out order tasks, etc.) can be taken as a parameter, and the target path planning algorithm is combined to obtain the operation result of the algorithm, that is, the driving path of the multiple four-way shuttle vehicles in the vertical warehouse planned by the algorithm for the order information, that is, the target path. It can be understood that different target paths correspond to different order information in the same vertical warehouse.

[0084] As another alternative of the embodiment of the present application, after obtaining the target path corresponding to the order information through the target path planning algorithm, it further comprises:

[0085] precisely matching the target path with the physical limitation of the four-way shuttle vehicle to ensure the feasibility of the target path; wherein the physical limitation at least includes the maximum turning radius and the maximum driving speed.

[0086] Specifically, after obtaining the target path corresponding to the order information through the target path planning algorithm, since the four-way shuttle vehicle also has physical limitations such as maximum turning radius, maximum driving speed, and acceleration, the target path needs to be accurately matched with the physical limitations of the four-way shuttle vehicle (such as ensuring that the radius of all turns is not less than the maximum turning radius, and setting reasonable speed limits) to make the target path practical.

[0087] Please refer to Figure 2 , Figure 2 A structure diagram of a path planning device for multiple four-way shuttle vehicles is shown.

[0088] As Figure 2 shown, the path planning device for multiple four-way shuttle vehicles can at least include a first processing module 201, a second processing module 202, a third processing module 203, and a fourth processing module 204, wherein:

[0089] The first processing module 201 is configured to construct an initial grid map based on warehouse information; wherein the warehouse information at least includes a warehouse location map, and the initial grid map includes coordinates of at least two nodes and a grid value of each node;

[0090] The second processing module 202 is configured to determine important nodes in the initial grid map based on order information and warehouse information, and set a one-way node 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;

[0091] The third processing module 203 is configured 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;

[0092] The fourth processing module 204 is configured to obtain a target path corresponding to the order information through the target path planning algorithm.

[0093] In some possible embodiments, constructing an initial grid map based on warehouse information includes:

[0094] The first processing module 201 is specifically configured to:

[0095] According to the shelf arrangement, the channel width, and the obstacle position in the warehouse information, the warehouse is divided into a plurality of equal-sized grids, and each grid is assigned a unique coordinate and a grid value; wherein the grid value of a grid not containing an obstacle is set to zero, and the grid value of a grid containing an obstacle is set to a positive value.

[0096] In some possible embodiments, determining important nodes in the initial grid map based on order information and warehouse information includes:

[0097] The second processing module 202 is specifically configured to:

[0098] calculate the number of connections of each node, and take the node with a number of connections greater than a preset first threshold as an important node;

[0099] measure the average length of the shortest path of each node to the remaining nodes, and take the node with an average length less than a preset second threshold as an important node.

[0100] In some possible embodiments, the one-way node is set according to the coordinates of the important nodes, including:

[0101] The second processing module 202 is specifically configured to:

[0102] determine an edge coordinate value based on the coordinates of the important nodes, and determine an important area based on the edge coordinate value;

[0103] modify the grid value of all nodes in the important area to a corresponding negative value, so as to set all nodes in the important area as one-way nodes.

[0104] In some possible embodiments, the one-way node is set according to the coordinates of the important nodes, and the method further includes:

[0105] The second processing module 202 is specifically configured to:

[0106] determine a corresponding target column based on a longitudinal value in the coordinates of the important nodes;

[0107] modify the grid value of the node on the target column to a corresponding negative value.

[0108] In some possible embodiments, the initial path planning algorithm is adjusted based on the target grid map to obtain a target path planning algorithm, including:

[0109] The third processing module 203 is specifically configured to:

[0110] generate a one-way constraint condition based on the target grid map;

[0111] adjust the initial path planning algorithm based on the one-way constraint condition to obtain the target path planning algorithm.

[0112] In some possible embodiments, after the target path corresponding to the order information is obtained through the target path planning algorithm, the method further includes:

[0113] The fourth processing module 204 is specifically configured to:

[0114] accurately match the target path with physical limitations of the four-way shuttle vehicle to ensure the feasibility of the target path; wherein the physical limitations at least include a maximum turning radius and a maximum driving speed.

[0115] Referring to Figure 3 , Figure 3 Fig. 8 shows a structural schematic diagram of still another path planning device of a multi-four-way shuttle vehicle provided by an embodiment of the present application.

[0116] As Figure 3 shown, the path planning device 300 of the multi-four-way shuttle vehicle can 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.

[0117] The communication bus 302 can be used to realize the connection and communication of the above-mentioned components.

[0118] The user interface 303 can include a key, and the optional user interface can further include a standard wired interface, a wireless interface.

[0119] The network interface 304 can include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc.

[0120] The processor 301 can include one or more processing cores. The processor 301 connects various parts in the entire path planning device 300 of the multi-four-way shuttle vehicle through various interfaces and lines, executes various functions of the path planning device 300 of the multi-four-way shuttle vehicle and processes data 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 realized by at least one of a DSP, an FPGA, and a PLA. The processor 301 can integrate one or a combination of a CPU, a GPU, and a modem, etc. The CPU is mainly used to process an operating system, a user interface, and an application program, etc.; the GPU is used to render and draw the content required to be displayed on the display screen; and the modem is used to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 301, but realized by a separate chip.

[0121] The memory 305 can include a RAM and can also include a ROM. Optionally, the memory 305 includes a non-transitory computer readable medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 can include a program storage area and a data storage area, wherein the program storage area can store instructions for realizing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for realizing the above-mentioned various method embodiments, etc.; the data storage area can store data involved in the above-mentioned various method embodiments, etc. The memory 305 can also be at least one storage device located away from the aforementioned processor 301. For example, the memory 305 can be a cloud storage.Figure 3 As shown, the memory 305 as a computer storage medium can include an operating system, a network communication module, a user interface module, and a path planning application of the multi-four-way shuttle vehicle.

[0122] Specifically, the processor 301 can be configured to invoke the path planning application of the multi-four-way shuttle vehicle stored in the memory 305, and specifically perform the following operations:

[0123] construct an initial grid map based on the vertical warehouse information, wherein the vertical warehouse information at least includes a vertical warehouse location map, and the initial grid map includes coordinates of at least two nodes and a grid value of each node;

[0124] determine important nodes in the initial grid map based on the order information and the vertical warehouse information, and set a one-way node 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;

[0125] 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;

[0126] obtain a target path corresponding to the order information through the target path planning algorithm.

[0127] The application also provides a computer readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the steps of the above method. The computer readable storage medium can include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, micro-drives, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0128] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all described as a series of action combinations, but those skilled in the art should know that the application is not limited to the action sequence described, because according to the application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily necessary for the application.

[0129] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0130] In several embodiments provided in the present application, it should be understood that the disclosed apparatus can be implemented in other manners. For example, the division of the apparatus embodiments described above is merely illustrative, and the division of units can be different, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some intervening general purpose or special purpose hardware devices, or can be in electrical or other forms.

[0131] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0132] In addition, the functional units in each embodiment of the present application can be integrated into a processing unit, or each unit can be physically present alone, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0133] If the integrated unit is realized 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 solutions of the present application essentially or the part of the prior art that contributes to the technical solutions or all or part of the technical solutions can be embodied in the form of a software product, which is stored in a memory and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The aforementioned memory includes: a U disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0134] Those of ordinary skill in the art can understand that all or part of the steps of the various methods of the above embodiments can be completed by a program instructing relevant hardware, and the program can be stored in a computer readable memory, which can include a flash disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, etc.

[0135] The above merely show example embodiments of the present disclosure, and cannot limit the scope of the present disclosure. That is, equivalent changes and modifications made in accordance with the teachings of the present disclosure are still within the scope of the present disclosure. Those skilled in the art will readily conceive of other implementations of the present disclosure upon considering the specification and practicing the disclosure herein. The present application is intended to cover any variations, uses, or adaptive changes of the present disclosure following the general principles of the present disclosure and including common knowledge or conventional technical means in the art not described in the present disclosure. The specification and examples are merely considered as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A method for path planning of multiple four-way shuttles, characterized in that, The method comprises the following steps: constructing an initial grid map based on warehouse information, wherein the warehouse information at least comprises a warehouse location map, and the initial grid map comprises coordinates of at least two nodes and a grid value of each node; determining important nodes in the initial grid map based on order information and the warehouse information, determining edge coordinate values based on coordinates of the important nodes, and determining an important area according to the edge coordinate values; modifying 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; determining a corresponding target column according to a longitudinal value in the coordinates of the important nodes; and modifying grid values of nodes on the target column to corresponding negative values to obtain a target grid map; obtaining an initial path planning algorithm corresponding to the initial grid map, generating a one-way constraint condition based on the target grid map, adjusting the initial path planning algorithm based on the one-way constraint condition to obtain a target path planning algorithm; and obtaining a target path corresponding to the order information through the target path planning algorithm.

2. The method of claim 1, wherein, The method of constructing an initial grid map based on warehouse information comprises the following steps: dividing the warehouse into a plurality of grid cells of equal size according to shelf arrangement, channel width and obstacle position in the warehouse information, and assigning a unique coordinate and a grid value to each grid cell; wherein the grid value of a grid cell without an obstacle is set to zero, and the grid value of a grid cell with an obstacle is set to a positive value.

3. The method of claim 1, wherein, The method of determining important nodes in the initial grid map based on order information and the warehouse information comprises the following steps: calculating the connection number of each node, and regarding a node with a connection number greater than a preset first threshold value as an important node; measuring the average length of the shortest path between each node and the remaining nodes, and regarding a node with an average length less than a preset second threshold value as an important node.

4. The method of claim 1, wherein, After the target path corresponding to the order information is obtained through the target path planning algorithm, the method further comprises the following steps: accurately matching the target path with the physical limitations of the four-way shuttle vehicle to ensure the feasibility of the target path; wherein the physical limitations at least comprise a maximum turning radius and a maximum driving speed.

5. A multi-four-way shuttle vehicle path planning device, characterized by, The method comprises the following steps: a first processing module for constructing an initial grid map based on warehouse information, wherein the initial grid map comprises at least two nodes, coordinates of each node, and a grid value of each node; a second processing module for determining important nodes in the initial grid map based on order information and the warehouse information, determining edge coordinate values based on coordinates of the important nodes, and determining an important area according to the edge coordinate values; modifying 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; determining a corresponding target column according to a longitudinal value in the coordinates of the important nodes; and modifying grid values of nodes on the target column to corresponding negative values to obtain a target grid map; The third processing module is configured to acquire an initial path planning algorithm corresponding to the initial grid map, generate a one-way constraint condition based on the target grid map, and adjust the initial path planning algorithm based on the one-way constraint condition to obtain a target path planning algorithm. The fourth processing module is configured to obtain a target path corresponding to the order information by using the target path planning algorithm.

6. A multi-four-way shuttle vehicle path planning device, characterized by, The device comprises a processor and a memory. The processor is connected to the memory. The memory is configured to store executable program codes. The processor runs a program corresponding to the executable program codes by reading the executable program codes stored in the memory, so as to execute the steps of the method according to any one of claims 1-4.

7. A computer-readable storage medium having stored thereon a computer program, characterized in that The computer readable storage medium stores instructions, and when the instructions run on the computer or the processor, the computer or the processor executes the steps of the method according to any one of claims 1-4.

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