Route planning method and device based on congestion, equipment and storage medium

Abstract

The invention discloses a path planning method and device based on congestion, equipment and a storage medium, and the method comprises the steps: obtaining congestion condition indexes of all paths between a path branching point at the current moment and a next path branching point when a semiconductor crown block arrives at the path branching point; wherein the path branching points are path nodes of which the in-degree is smaller than the out-degree; determining the congestion coefficient of each path between the path branching point and the next path branching point based on the congestion condition index and a preset routing table storing the path length of each path between the path branching point and the next path branching point; and taking the path with the minimum congestion coefficient as the current traveling path of the semiconductor crown block. By means of the method, when the traffic jam is about to happen, the next replaceable road can be calculated immediately, the scheduling efficiency of the system is optimized, the dead time caused by the traffic jam is shortened, and therefore the carrying efficiency and reliability of the whole system are improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of vehicle scheduling technology, and in particular to a congestion-based path planning method, device, equipment and storage medium. Background Art

[0002] Traditional path planning problems usually use the A* algorithm and Dijkstra algorithm to find the shortest path or the optimal path. These algorithms are widely used in various scenarios, such as navigation systems, automated robots, traffic management, etc. However, as the scale of modern semiconductor manufacturing systems continues to expand, the demand and complexity of vehicle dispatching have also increased. Although the existing A* and Dijkstra algorithms can effectively solve small-scale problems, they face the problems of excessive computational burden and long response time in large systems.

[0003] In view of the frequent traffic jams in the aerial suspension crane system during the handling process, when the system detects a traffic jam, the existing technology cannot quickly adjust the route, resulting in vehicle delays and reduced system efficiency. Summary of the invention

[0004] The embodiments of the present invention provide a congestion-based path planning method, device, equipment and storage medium, which can immediately calculate the next alternative road when a traffic jam is about to occur, optimize the system's scheduling efficiency, reduce the stagnation time caused by traffic jams, and thus improve the overall system's transportation efficiency and reliability.

[0005] In a first aspect, an embodiment of the present invention provides a path planning method based on congestion, including:

[0006] When the semiconductor overhead travelling vehicle reaches a path divergence point, the congestion status index of each path between the path divergence point at the current moment and the next path divergence point is obtained; wherein the path divergence point is a path node whose in-degree is smaller than the out-degree;

[0007] Determining the congestion coefficient of each path between the path divergence point and the next path divergence point based on the congestion status indicator and a preset routing table storing the path lengths of each path between the path divergence point and the next path divergence point;

[0008] The path with the smallest congestion coefficient is used as the current travel path of the semiconductor overhead travelling vehicle.

[0009] In a second aspect, an embodiment of the present invention further provides a path planning device based on congestion, the device comprising:

[0010] An index acquisition module is used to acquire the congestion status index of each path between the path divergence point at the current moment and the next path divergence point when the semiconductor overhead travelling vehicle reaches the path divergence point; wherein the path divergence point is a path node whose in-degree is less than the out-degree;

[0011] A congestion coefficient determination module, configured to determine the congestion coefficient of each path between the path divergence point and the next path divergence point based on the congestion status indicator and a preset routing table storing the path lengths of each path between the path divergence point and the next path divergence point;

[0012] The path determination module is used to use the path with the smallest congestion coefficient as the current travel path of the semiconductor overhead crane.

[0013] In a third aspect, an embodiment of the present disclosure further provides an electronic device, the electronic device comprising:

[0014] one or more processors;

[0015] a storage device for storing one or more programs,

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement the congestion-based path planning method provided by an embodiment of the present disclosure.

[0017] In a fourth aspect, the embodiments of the present disclosure further provide a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to implement the congestion-based path planning method provided by the embodiments of the present disclosure.

[0018] In a fifth aspect, an embodiment of the present disclosure provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the path planning method based on congestion provided in the embodiment of the first aspect above.

[0019] The present invention discloses a path planning method, device, equipment and storage medium based on congestion, including: when a semiconductor overhead crane arrives at a path divergence point, obtaining the congestion status index of each path between the path divergence point and the next path divergence point at the current moment; wherein the path divergence point is a path node with an in-degree less than an out-degree; determining the congestion coefficient of each path between the path divergence point and the next path divergence point based on the congestion status index and a preset routing table storing the path lengths of each path between the path divergence point and the next path divergence point; using the path with the smallest congestion coefficient as the current travel path of the semiconductor overhead crane. Utilizing this method: when a traffic jam is about to occur, the next replaceable road can be immediately calculated, the scheduling efficiency of the system can be optimized, and the stagnation time caused by traffic jams can be reduced, thereby improving the handling efficiency and reliability of the overall system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0021] Figure 1 A flow chart of a path planning method based on congestion provided by an embodiment of the present disclosure;

[0022] Figure 2 A schematic diagram of the structure of a path planning device based on congestion provided by an embodiment of the present disclosure;

[0023] Figure 3 A schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0024] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0025] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0026] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0027] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0028] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0029] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0030] It is understandable that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, scope of use, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0031] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly prompt the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0032] As an optional but non-limiting implementation, in response to receiving an active request from the user, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0033] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet the relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0034] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and relevant provisions.

[0035] Figure 1 A flowchart of a path planning based on congestion is provided in an embodiment of the present disclosure. The embodiment of the present disclosure is suitable for providing a solution to the problem that the prior art cannot quickly adjust the path, resulting in vehicle detention and reduced system efficiency. The method can be executed by a path planning device based on congestion, which can be implemented in the form of software and / or hardware, and optionally, by an electronic device, which can be a mobile terminal, a PC or a server, etc.

[0036] like Figure 1As shown, a path planning method based on congestion provided by an embodiment of the present disclosure may specifically include the following steps:

[0037] S110. When the semiconductor overhead travelling crane reaches a path divergence point, congestion indicators of each path between the path divergence point at the current moment and the next path divergence point are obtained.

[0038] Among them, the path divergence point is the path node whose in-degree is smaller than the out-degree.

[0039] In this embodiment, the in-degree refers to the number of edges pointing to the node, and the out-degree refers to the number of edges starting from the node and pointing to other nodes. The semiconductor overhead crane is an automated device for material handling on a semiconductor production line. Its full name is the automatic material handling system (AMHS), which is mainly composed of a transmission hardware device and an integrated software system. The congestion status index can be an indicator that characterizes the congestion of the path. In the present invention, the data of the semiconductor overhead crane in the current path is used as the congestion status index.

[0040] Exemplarily, a path divergence point may be a path node with an in-degree of 1 and an out-degree of 2.

[0041] Specifically, when the semiconductor overhead travelling vehicle reaches a path divergence point, the congestion status indicators of each path between the path divergence point at the current moment and the next path divergence point are obtained.

[0042] Based on the above embodiment, obtaining the congestion status index of each path between the current path divergence point and the next path divergence point may include the following steps:

[0043] a1) Obtain the number of all other semiconductor cranes distributed in each path at the current moment;

[0044] b1) The number of semiconductor overhead cranes distributed in each path is used as the congestion indicator of each path between the current path divergence point and the next path divergence point.

[0045] In this embodiment, the distribution quantity may be the number of individuals included in each path.

[0046] Specifically, the number of all other semiconductor overhead cranes distributed in each path at the current moment is obtained; the number of semiconductor overhead cranes distributed in each path is used as a congestion indicator of each path between the path divergence point at the current moment and the next path divergence point.

[0047] S120 , determining the congestion coefficient of each path between the path divergence point and the next path divergence point based on the congestion status indicator and a preset routing table storing the path lengths of each path between the path divergence point and the next path divergence point.

[0048] In this embodiment, the routing table records the paths and related information between each pair of path divergence points. The congestion coefficient can be used to characterize the path congestion situation.

[0049] Specifically, the number of semiconductor overhead cranes in each path in the congestion status index is used as the road right coefficient of each path, and the product of the path length of each path and the road right coefficient of the corresponding path is used as the congestion coefficient of each path between the path divergence point to the next path divergence point.

[0050] On the basis of the above embodiment, determining the congestion coefficient of each path between a path divergence point and a next path divergence point based on a congestion status indicator and a preset routing table storing the path lengths of each path between a path divergence point and a next path divergence point may include the following steps:

[0051] a2) The number of semiconductor overhead travelling vehicles in each path in the congestion status index is used as the road right coefficient of each path.

[0052] b2) The product of the path length of each path and the road right coefficient of the corresponding path is used as the congestion coefficient of each path between the path divergence point to the next path divergence point.

[0053] Specifically, the road right coefficient may be the road usage of the path at the current time.

[0054] Specifically, the number of semiconductor overhead travelling vehicles in each path in the congestion status index is used as the road right coefficient of each path. The product of the path length of each path and the road right coefficient of the corresponding path is used as the congestion coefficient of each path between the path divergence point and the next path divergence point.

[0055] On the basis of the above embodiment, before the preset routing table storing the path lengths of each path from the path divergence point to the next path divergence point, the following steps are also included:

[0056] a3) obtaining a scene track diagram for controlling the operation of the semiconductor overhead crane, and extracting a path point in the scene track diagram where the in-degree is less than the out-degree as a path divergence point;

[0057] In this embodiment, the topological structure of the scene track graph is abstracted as a directed graph, where each node represents a key point of the track and each edge represents a track segment.

[0058] Exemplarily, the scene track graph may limit the sum of the in-degree and out-degree of each node to not exceed 3, so as to ensure the simplification and optimization of path calculation.

[0059] b3) extracting paths associated with each path divergence point in the scene trajectory graph;

[0060] c3) Each path divergence point and the paths associated with the path divergence points are saved as a routing table.

[0061] Specifically, a scene track diagram for controlling the operation of a semiconductor overhead crane is obtained, and all path divergence points are first identified based on the directed graph topology structure. For each path between two path divergence points, the path length is calculated and stored in a routing table.

[0062] On the basis of the above-mentioned embodiment, the shortest path length and other path lengths are stored in a routing table as the path lengths of each path between each path divergence point, including: assigning different weight coefficients to each path between each path divergence point according to the path length; wherein the weight coefficient represents the priority of the travel path; and selecting the travel path corresponding to the highest priority from the routing table as the travel path of the semiconductor overhead crane.

[0063] Specifically, the shortest path length between the branch points of each path is determined by using the Dijkstra algorithm or the A* algorithm, and the lengths of other paths between the branch points of each path except the shortest path length are calculated by traversing, and different weight coefficients are assigned to each path between the branch points of each path according to the path length. The shorter the path length, the higher the priority. The travel path corresponding to the highest priority is selected from the routing table as the travel path of the semiconductor overhead crane.

[0064] By using this method, combined with a pre-built routing table, path planning can be accelerated, a feasible path to the target point can be found in the shortest time, and traffic congestion can be avoided in real time according to the weight adjusted in the routing table, thus achieving efficient vehicle dispatching. The present invention has the advantages of fast calculation and dynamic adjustment, and is particularly suitable for complex traffic environments such as semiconductor overhead cranes. By reducing the complexity of path calculation, it effectively solves the delay and efficiency problems caused by traffic congestion.

[0065] S130: Taking the path with the smallest congestion coefficient as the current travel path of the semiconductor overhead crane.

[0066] Specifically, this step is used to select a path with the smallest congestion coefficient as the current travel path of the semiconductor overhead crane.

[0067] Based on the above embodiment, after comparing the congestion coefficients of the paths and taking the path with the smallest congestion coefficient as the current travel path of the semiconductor overhead crane, the method further includes: when there are at least two semiconductor overhead cranes waiting to be assigned travel paths at the path divergence point, the travel paths are assigned in sequence according to the arrival order of the semiconductor overhead cranes.

[0068] The present invention discloses a path planning method based on congestion, including: when a semiconductor overhead crane arrives at a path divergence point, obtaining the congestion status index of each path between the path divergence point at the current moment and the next path divergence point; wherein the path divergence point is a path node whose in-degree is less than the out-degree; determining the congestion coefficient of each path between the path divergence point and the next path divergence point based on the congestion status index and a preset routing table storing the path lengths of each path between the path divergence point and the next path divergence point; and taking the path with the smallest congestion coefficient as the current travel path of the semiconductor overhead crane. By using this method: when a traffic jam is about to occur, the next replaceable road can be immediately calculated, the scheduling efficiency of the system can be optimized, and the stagnation time caused by the traffic jam can be reduced, thereby improving the handling efficiency and reliability of the overall system.

[0069] Figure 2 The present invention also provides a schematic diagram of a congested path planning device structure. Figure 2 As shown, the device includes: an indicator acquisition module 210, a congestion coefficient determination module 220 and a path determination module 230.

[0070] The index acquisition module 210 is used to acquire the congestion status index of each path between the path divergence point at the current moment and the next path divergence point when the semiconductor overhead travelling vehicle reaches the path divergence point; wherein the path divergence point is a path node whose in-degree is smaller than the out-degree;

[0071] A congestion coefficient determination module 220, configured to determine the congestion coefficient of each path between the path divergence point and the next path divergence point based on the congestion status indicator and a preset routing table storing the path lengths of each path between the path divergence point and the next path divergence point;

[0072] The path determination module 230 is used to use the path with the smallest congestion coefficient as the current travel path of the semiconductor overhead crane.

[0073] The technical solution provided by the embodiment of the present disclosure can immediately calculate the next alternative road when a traffic jam is about to occur, optimize the system's scheduling efficiency, reduce the stagnation time caused by traffic jams, and thus improve the overall system's transportation efficiency and reliability.

[0074] Furthermore, the indicator acquisition module 210 can be used to:

[0075] Obtain the distribution quantity of all other semiconductor cranes in each of the paths at the current moment;

[0076] The distribution number of the semiconductor overhead cranes in each path is used as a congestion indicator of each path between the path divergence point at the current moment and the next path divergence point.

[0077] Furthermore, the congestion coefficient determination module 220 may be used to:

[0078] The number of the semiconductor overhead travelling vehicles in each path in the congestion status index is used as the road right coefficient of each path;

[0079] The product of the path length of each path and the road right coefficient of the corresponding path is used as the congestion coefficient of each path between the path divergence point to the next path divergence point.

[0080] Furthermore, the device may also include:

[0081] Before the preset routing table storing the path lengths of each path between the path divergence point to the next path divergence point, it also includes:

[0082] Acquire a scene track diagram for controlling the operation of the semiconductor overhead crane, and extract a path point in the scene track diagram where the in-degree is less than the out-degree as a path divergence point;

[0083] Extracting paths associated with each of the path divergence points in the scene trajectory graph;

[0084] The path branch points and the paths associated with the path branch points are stored as the routing table.

[0085] Furthermore, the device may also include:

[0086] Different weight coefficients are assigned to the paths between the path branch points according to the path lengths; the weight coefficients represent the priority of the travel paths; and the travel path corresponding to the highest priority is selected from the routing table as the travel path of the semiconductor overhead crane.

[0087] Furthermore, the device may also include:

[0088] After comparing the congestion coefficients of the paths and taking the path with the smallest congestion coefficient as the current travel path of the semiconductor overhead crane, the method further includes:

[0089] When there are at least two semiconductor overhead traveling vehicles waiting to be assigned travel paths at the path divergence point, the travel paths are assigned in sequence according to the arrival order of the semiconductor overhead traveling vehicles.

[0090] The above device can execute the methods provided by all the above embodiments of the present invention, and has the corresponding functional modules and beneficial effects of executing the above methods. For technical details not described in detail in this embodiment, please refer to the methods provided by all the above embodiments of the present invention.

[0091] Figure 3A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is given. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0092] like Figure 3 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0093] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0094] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a path planning method based on congestion.

[0095] In some embodiments, the path planning method based on congestion can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the path planning method based on congestion described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the path planning method based on congestion in any other appropriate manner (for example, by means of firmware).

[0096] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0097] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0098] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0099] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0100] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0101] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0102] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0103] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A path planning method based on congestion, characterized in that: include: When the semiconductor overhead travelling vehicle reaches a path divergence point, the congestion status index of each path between the path divergence point at the current moment and the next path divergence point is obtained; wherein the path divergence point is a path node whose in-degree is smaller than the out-degree; Determining the congestion coefficient of each path between the path divergence point and the next path divergence point based on the congestion status indicator and a preset routing table storing the path lengths of each path between the path divergence point and the next path divergence point; The path with the smallest congestion coefficient is used as the current travel path of the semiconductor overhead travelling vehicle.

2. The method according to claim 1, characterized in that The obtaining of the congestion status index of each path between the path divergence point at the current moment and the next path divergence point includes: Obtain the distribution quantity of all other semiconductor cranes in each of the paths at the current moment; The distribution number of the semiconductor overhead cranes in each path is used as a congestion indicator of each path between the path divergence point at the current moment and the next path divergence point.

3. The method according to claim 1, characterized in that The determining of the congestion coefficient of each path between the path divergence point and the next path divergence point based on the congestion status indicator and a preset routing table storing the path lengths of each path between the path divergence point and the next path divergence point includes: The number of the semiconductor overhead travelling vehicles in each path in the congestion status index is used as the road right coefficient of each path; The product of the path length of each path and the road right coefficient of the corresponding path is used as the congestion coefficient of each path between the path divergence point to the next path divergence point.

4. The method according to claim 1, characterized in that: Before the preset routing table storing the path lengths of each path between the path divergence point to the next path divergence point, it also includes: Acquire a scene track diagram for controlling the operation of the semiconductor overhead crane, and extract a path point in the scene track diagram where the in-degree is less than the out-degree as a path divergence point; Extracting paths associated with each of the path divergence points in the scene trajectory graph; The path branch points and the paths associated with the path branch points are stored as the routing table.

5. The method according to claim 4, characterized in that: The storing the shortest path length and the other path lengths as the path lengths of the paths between the path divergence points in the routing table includes: Different weight coefficients are assigned to the paths between the path branch points according to the path lengths; the weight coefficients represent the priority of the travel paths; and the travel path corresponding to the highest priority is selected from the routing table as the travel path of the semiconductor overhead crane.

6. The method according to claim 1, characterized in that After comparing the congestion coefficients of the paths and taking the path with the smallest congestion coefficient as the current travel path of the semiconductor overhead crane, the method further includes: When there are at least two semiconductor overhead traveling vehicles waiting to be assigned travel paths at the path divergence point, the travel paths are assigned in sequence according to the arrival order of the semiconductor overhead traveling vehicles.

7. A path planning device based on congestion, characterized in that: include: An index acquisition module is used to acquire the congestion status index of each path between the path divergence point at the current moment and the next path divergence point when the semiconductor overhead travelling vehicle reaches the path divergence point; wherein the path divergence point is a path node whose in-degree is less than the out-degree; A congestion coefficient determination module, configured to determine the congestion coefficient of each path between the path divergence point and the next path divergence point based on the congestion status indicator and a preset routing table storing the path lengths of each path between the path divergence point and the next path divergence point; The path determination module is used to use the path with the smallest congestion coefficient as the current travel path of the semiconductor overhead crane.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the congestion-based path planning method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the path planning method based on congestion according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program implements the path planning method based on congestion according to any one of claims 1 to 6.

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