Transportation path planning method, electronic equipment and storage medium

Abstract

The invention provides a transportation path planning method, electronic equipment and a storage medium, the method is applied to the electronic equipment, and the method comprises the following steps: if the number of orders corresponding to an obtained order combination request is less than or equal to a number threshold value, executing a first distribution process on the order combination request, determining the first combination and remaining orders in the order combination request; if the remaining orders do not exist in the order combination request, generating a transport path of the transport vehicle according to the determined first combination; if the remaining orders exist in the order combination request, determining the remaining orders as first remaining orders; and if the timeout order does not exist in the first remaining orders, generating a transport path of the transport vehicle according to the determined first combination. According to the method, the transport path with a short overall path can be generated in the process of executing the transport vehicle distribution process, so that the distribution efficiency of the transport vehicle is improved.

Description

Technical Field

[0001] This application relates to the technical field of path planning, and in particular, to a transportation path planning method, an electronic device, and a storage medium. Background Art

[0002] An Automated Guided Vehicle (hereinafter referred to as an AGV cart) is a flexible intelligent logistics transport cart integrating a variety of advanced technologies. The AGV cart can travel along a specified path, and has the ability to automatically load and unload goods. It can perform autonomous navigation and obstacle avoidance according to the requirements of the operation task and its own status, and can be widely used in various workshops, logistics, freight and other enterprises. For example, in a workshop, the AGV cart can carry materials and transport them to the corresponding machine tools for processing. The AGV cart replaces the previous manual handling, greatly reducing the consumption of human resources, and is one of the core devices for automated production in the workshop.

[0003] In the related art, when there are multiple transportation tasks in a running order, usually according to the order of the transportation tasks, the corresponding AGV carts are directly assigned for transportation, lacking consideration of the overall path of the AGV carts in the running order, which may lead to a longer overall path of the AGV carts in the running order, resulting in a lower distribution efficiency of the running order. Summary of the Invention

[0004] Embodiments of this application disclose a transportation path planning method, an electronic device, and a storage medium, which solve the technical problem that when there are multiple transportation tasks in a running order, lacking consideration of the overall path of the AGV carts in the running order, resulting in a lower distribution efficiency of the running order.

[0005] The present application provides a transportation route planning method, which is applied to an electronic device. The method includes: obtaining an order combination request; if the number of orders corresponding to the order combination request is less than or equal to a preset quantity threshold, performing a first allocation process on the order combination request. The first allocation process includes: generating a first point distance table corresponding to the order combination request based on a preset device point distance table; determining a plurality of first sorting combinations corresponding to the order combination request based on the target order capacity of the transport vehicle; determining the combined path length corresponding to each first sorting combination in the plurality of first sorting combinations according to the first point distance table; determining the order combination with the shortest combined path length in the plurality of first sorting combinations as the first combination, and removing the orders corresponding to the first combination from the order combination request; repeatedly performing the first allocation process on the order combination request until the number of remaining orders in the order combination request is less than the target order capacity; if there are no remaining orders in the order combination request, generating a transportation route for the transport vehicle according to the determined first combination; if there are remaining orders in the order combination request, determining the remaining orders in the order combination request as the first remaining orders; if there are no overdue orders in the first remaining orders, generating a transportation route for the transport vehicle according to the determined first combination.

[0006] In some alternative embodiments, if there are overdue orders in the first remaining orders, generating a second point distance table corresponding to the first remaining orders based on the device point distance table; determining a plurality of second sorting combinations corresponding to the first remaining orders; determining the combined path length corresponding to each second sorting combination in the plurality of second sorting combinations according to the second point distance table; determining the order combination with the shortest combined path length in the plurality of second sorting combinations as the second combination; generating a transportation route for the transport vehicle according to the determined first combination and the second combination.

[0007] In some alternative embodiments, if the order quantity corresponding to the order combination request is greater than the quantity threshold, based on the quantity threshold, the order combination request is divided into multiple sub-combination requests, and the order quantity of each sub-combination request in the multiple sub-combination requests is less than or equal to the quantity threshold; the second allocation process is executed according to each sub-combination request in the multiple sub-combination requests, and the second allocation process includes: generating a third point distance table corresponding to the sub-combination request based on the device point distance table; determining multiple third sorting combinations corresponding to the sub-combination request based on the target order capacity; determining the combined path length corresponding to each third sorting combination in the multiple third sorting combinations according to the third point distance table; determining the order combination with the shortest combined path length in the multiple third sorting combinations as the third combination, and removing the orders corresponding to the third combination from the sub-combination request; repeating the execution of the second allocation process for the sub-combination request until the quantity of the remaining orders in the sub-combination request is less than the target order capacity; after stopping the execution of the second allocation process, if there are remaining orders in the sub-combination request, determining the remaining orders in the sub-combination request as the second remaining orders; if there are no determined second remaining orders, generating the transportation path of the transport vehicle according to the determined third combination; if there are determined second remaining orders, merging the determined second remaining orders to obtain the third remaining orders; if there are no overdue orders in the third remaining orders, generating the transportation path of the transport vehicle according to the determined third combination.

[0008] In some alternative embodiments, if there are overdue orders in the third remaining orders, a third allocation process is executed for the third remaining order request, and the third allocation process includes: generating a fourth point distance table corresponding to the third remaining order request based on the device point distance table; determining multiple fourth sorting combinations corresponding to the third remaining orders based on the target order capacity; determining the combined path length corresponding to each fourth sorting combination in the multiple fourth sorting combinations according to the fourth point distance table; determining the order combination with the shortest combined path length in the multiple fourth sorting combinations as the fourth combination, and removing the orders corresponding to the fourth combination from the third remaining orders; repeating the execution of the third allocation process for the third remaining orders until the quantity of the remaining orders in the third remaining orders is less than the target order capacity; if there are no remaining orders in the third remaining orders, generating the transportation path of the transport vehicle according to the determined third combination and the determined fourth combination; if there are remaining orders in the third remaining orders, determining the remaining orders in the third remaining orders as the fourth remaining orders; if there are no overdue orders in the fourth remaining orders, generating the transportation path of the transport vehicle according to the determined third combination and the determined fourth combination.

[0009] In some alternative embodiments, if there are overdue orders in the fourth remaining orders, a fifth point distance table corresponding to the fourth remaining orders is generated based on the device point distance table; a plurality of fifth sorting combinations corresponding to the fourth remaining orders are determined; according to the fifth point distance table, the combined path length corresponding to each fifth sorting combination in the plurality of fifth sorting combinations is determined; the order combination with the shortest combined path length in the plurality of fifth sorting combinations is determined as the fifth combination; according to the determined third combination, the determined fourth combination and the fifth combination, the transportation path of the transport vehicle is generated.

[0010] In some alternative embodiments, the dividing the order combination request into a plurality of sub-combination requests based on the quantity threshold includes: determining the classification quantity based on the quantity threshold and the quantity of the order combination request; performing a clustering operation on the order combination request according to the classification quantity to obtain the plurality of sub-combination requests.

[0011] In some alternative embodiments, the method further includes: obtaining a first working map corresponding to the transport vehicle; determining a plurality of first devices and first device points corresponding to the plurality of first devices based on the first working map; calculating the shortest transportation path between every two of the first device points based on the Dijkstra algorithm; obtaining the device point distance table according to the shortest transportation path.

[0012] In some alternative embodiments, after obtaining the device point distance table, the method further includes: periodically obtaining a second working map corresponding to the transport vehicle on the server; if there are differences between the first working map and the second working map, updating the first working map based on the second working map; determining a plurality of second devices and second device points corresponding to the plurality of second devices based on the updated first working map; calculating the shortest transportation path between every two of the second device points based on the Dijkstra algorithm; obtaining an updated device point distance table according to the shortest transportation path.

[0013] The present application also provides an electronic device, which includes a processor and a memory, and the processor is configured to execute a computer program stored in the memory to implement the transportation path planning method described above.

[0014] The present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the transportation path planning method described above is implemented.

[0015] In the transportation route planning method provided by this application, an order combination request can be obtained. When the order quantity corresponding to the order combination request is less than or equal to a preset quantity threshold, a first allocation process is executed for the order combination request, so that in the order combination request, one or more first combinations with relatively shorter combined paths during the transportation of the transport vehicle are determined. After determining the first combination, if there are no overdue orders among the remaining orders in the order combination request, based on the determined first combination, the transportation route of the transport vehicle is generated. In the above embodiment, by determining the shortest combined path as the first combination during each execution of the first allocation process, the overall path of the generated transportation route of the transport vehicle is shorter, thereby improving the distribution efficiency of the transport vehicle. Description of the Drawings

[0016] Figure 1 It is a schematic diagram of the scenario during the transportation process of the AGV vehicle provided by the embodiment of this application.

[0017] Figure 2 It is a flowchart of a transportation route planning method provided by the embodiment of this application.

[0018] Figure 3 It is a flowchart of a first allocation process provided by the embodiment of this application.

[0019] Figure 4 It is a flowchart of a method for processing the first remaining orders provided by the embodiment of this application.

[0020] Figure 5 It is a flowchart of a transportation route planning method provided by the embodiment of this application.

[0021] Figure 6 It is a schematic diagram of a second allocation process provided by the embodiment of this application.

[0022] Figure 7 It is a flowchart of a method for processing the third remaining orders provided by the embodiment of this application.

[0023] Figure 8 It is a schematic diagram of a third allocation process provided by the embodiment of this application.

[0024] Figure 9 It is a flowchart of a method for processing the fourth remaining orders provided by the embodiment of this application.

[0025] Figure 10 It is a schematic diagram of the structure of the electronic device provided by the embodiment of this application. Detailed Embodiments

[0026] For ease of understanding, some explanations of concepts related to the embodiments of this application are exemplarily given for reference.

[0027] It should be noted that in this application, "at least one" means one or more, and "multiple" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the description, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0028] When there are multiple transportation tasks in a running order, usually according to the sequence of the transportation tasks, the corresponding AGV carts are directly assigned for transportation, lacking consideration of the overall running path of the AGV carts in the running order. When an AGV cart receives a loading order, it needs to obtain the materials to be processed from the feeder and transport the materials to the equipment corresponding to the loading order. The feeder is used to store the materials to be processed. When an AGV cart receives an unloading order, it needs to obtain the processed materials from the processing equipment (hereinafter referred to as equipment) corresponding to the unloading order and transport the processed materials to the receiver, so that the receiver stores the processed materials. Different transportation tasks correspond to different equipment. Therefore, during the process of an AGV cart completing multiple transportation tasks, it needs to turn back between different equipment, resulting in a relatively long overall path of the AGV cart in the running order, and further resulting in a low distribution efficiency of the AGV cart when completing the running order corresponding to the current transportation process.

[0029] In order to solve the technical problem that when there are multiple transportation tasks in a running order, lacking consideration of the overall running path of the AGV cart in the running order, resulting in a low distribution efficiency of the running order, this application provides a transportation path planning method, an electronic device and a storage medium. By obtaining an order combination request and when the order quantity corresponding to the order combination request is less than or equal to a preset quantity threshold, performing a first allocation process on the order combination request, so as to determine one or more first combinations with relatively short combined paths during the transportation process of the transport vehicle in the order combination request; after determining the first combination, if there is no overdue order among the remaining orders in the order combination request, generating the transportation path of the transport vehicle based on the determined first combination. In the above embodiments, by determining the shortest combined path as the first combination during each execution of the first allocation process, the overall path of the generated transportation path of the transport vehicle is relatively short, thus improving the distribution efficiency of the transport vehicle.

[0030] To better understand the transportation path planning method, electronic device and storage medium provided in the embodiments of this application, the transportation path planning method of this application will be described below with reference to the drawings.

[0031] Figure 1 It is a schematic diagram of the scenario during the transportation process of the AGV cart provided by an embodiment of the present application. As Figure 1 shown, in the workshop, there are a feeding machine and a receiving machine. The transportation process of the AGV cart includes a feeding transportation process and a discharging transportation process. Among them, the feeding transportation process refers to the AGV cart taking materials from the feeding machine and transporting the materials to be processed to the equipment with a feeding order, so that the equipment processes the materials. The discharging transportation process refers to the AGV cart obtaining the materials processed by the equipment from the equipment with a discharging order and transporting the processed materials to the receiving machine, so that the receiving machine stores the processed materials. The AGV cart has a certain order capacity and can load materials corresponding to multiple feeding orders (discharging orders) at a time. The feeding order is used to obtain the materials to be processed. The discharging order is used to remove the processed materials. In the embodiment of the present application, multiple orders will be allocated to an AGV cart at the same time according to the order capacity of the AGV cart. For example, if the order capacity of an AGV cart is 4 orders, 4 feeding orders corresponding to 4 devices (such as Device Three, Device Five, Device Six, and Device Seven) can be allocated to the AGV cart at the same time. After allocating 4 feeding orders, the AGV cart can load the materials corresponding to these 4 devices at the feeding machine at the same time and go to these 4 devices in sequence, so as to complete the feeding orders of these 4 devices; another example is that if the order capacity of an AGV cart is 4 orders, 4 discharging orders corresponding to 4 devices (such as Device One, Device Four, Device Six, and Device Seven) can be allocated to the AGV cart at the same time. After allocating 4 discharging orders, the AGV cart can go to these 4 devices in sequence, obtain the materials processed on these 4 devices, and go to the discharging machine after obtaining the materials processed on these 4 devices, so as to complete the discharging orders of these 4 devices.

[0032] Figure 2 It is a flowchart of a transportation path planning method provided by an embodiment of the present application. This transportation path planning method is applied to an electronic device. Exemplarily, the electronic device in the embodiment of the present application can be a mobile phone, a tablet computer, a desktop computer, a laptop computer, a handheld computer, a notebook computer, an ultra-mobile personal computer (UMPC), etc. According to different requirements, the order of the steps in this flowchart can be changed, and some steps can be omitted.

[0033] Step S201, obtain an order combination request.

[0034] The target device is the device that submits an order (loading order or unloading order). The order combination request includes one or more orders corresponding to the target device, that is, the order combination request consists of one or more orders. In an embodiment of the present application, the order combination request can be obtained from the central control system. In some embodiments, the central control system can communicate with the devices in the workshop to obtain the orders submitted by the devices. The central control system will generate an order combination request for the unfinished orders at a preset time interval. The unfinished orders can include the requests sent by the newly received devices, and can also include the unfinished order combination requests in the historical order combination requests. The time interval can be set according to the actual situation, such as 3 minutes, 5 minutes, 10 minutes, etc. In an embodiment of the present application, one order combination request corresponds to only one type of transportation order. For example, one order combination request only contains the orders corresponding to the loading transportation process, or only contains the orders corresponding to the unloading transportation process. In an embodiment of the present application, the obtained order combination request can include: the order combination request corresponding to the loading transportation process and the order combination request corresponding to the unloading transportation process. The above method can facilitate path planning based on the order combination request.

[0035] Step S202, determine whether the number of orders corresponding to the order combination request is less than or equal to a preset quantity threshold.

[0036] The quantity threshold can be set according to the user's needs, such as 25, 30, 35, etc. In an embodiment of the present application, the quantity threshold can be determined based on the computing power of the electronic device and the longest waiting time expected by the user to generate the path plan, so that the electronic device can generate the transportation path of the AGV cart within the longest waiting time, avoiding the situation of too long user waiting time. The longest waiting time can be set according to the user's needs, such as 15S, 30S, 45S, etc.

[0037] If the number of orders corresponding to the order combination request is less than or equal to the quantity threshold, execute step S203, and perform a first allocation process on the order combination request to determine the first remaining orders and the first combination.

[0038] The first allocation process is used to determine the order combination corresponding to one transportation process of the AGV cart in the order combination request, such as the first combination. The number of orders corresponding to the first combination is less than the maximum order capacity of the AGV cart. For example, the maximum order capacity of the AGV cart is 4, and the number of orders corresponding to the first combination is less than 4. The transportation process of the AGV cart includes the loading transportation process and the unloading transportation process. Figure 3 It is a flowchart of a first allocation process provided by an embodiment of the present application, such as Figure 3 shown, the first allocation process includes:

[0039] Step S2031: Generate a first point distance table corresponding to the order combination request based on a preset equipment point distance table.

[0040] The equipment point distance table includes the transportation distances between any two devices in the transportation scenario corresponding to the AGV cart, and the distances between each device and the feeder (receiver). In an embodiment of the present application, the equipment point distance table may include multiple tables, and the tables may include distance tables centered on the feeder (receiver) in the workshop. For example, there are 8 devices in the vehicle. As shown in Table 1, Table 1 constructs a distance table centered on the feeder. The distance table includes the transportation distances between the feeder and each device in the workshop, and the transportation distances between every two devices. In this embodiment, there is only one feeder (receiver) in the workshop; or multiple feeders (receivers) are in the same area, and the transportation distances between different feeders (receivers) can be ignored. When there are multiple feeders (receivers) in the workshop, a table centered on any one of the feeders (receivers) can be generated.

[0041] Table 1

[0042]

[0043] In another embodiment of the present application, if there are multiple feeders (receivers) in the workshop and the positions of the multiple feeders (receivers) vary greatly, tables centered on each feeder (receiver) can be generated to obtain multiple equipment point distance tables. In this embodiment, the order combination request includes a corresponding target feeder (receiver), that is, one order combination request corresponds to one target feeder (receiver), so that a uniquely corresponding equipment point distance table can be determined based on the order combination request subsequently.

[0044] In an embodiment of the present application, the method further includes: obtaining a first working map corresponding to the AGV cart; determining multiple first devices and the corresponding first equipment points based on the first working map; calculating the shortest transportation path between every two of the first equipment points based on the Dijkstra algorithm; and obtaining the equipment point distance table according to the shortest transportation path.

[0045] The first working map is a map corresponding to the site where the AGV cart needs to perform transportation. For example, the first working map can be a map corresponding to a workshop. All the equipment that the AGV cart may need to go to during transportation can be included on the first working map. The first equipment is the equipment that the AGV cart may go to during transportation, and can include a feeder, a receiver, and equipment. The first equipment point can include the location where the first equipment is located. In an embodiment of the present application, the first equipment point can be the position of the AGV cart when loading or unloading the first equipment. The loading and unloading positions of the first equipment can be the same. The shortest transportation path refers to the shortest path that the AGV cart actually needs to move. In an embodiment of the present application, the shortest transportation path between every two of the first equipment points can be calculated based on the Dijkstra algorithm and a preset path cost. The path cost can be set by the manufacturer of the AGV cart or set by the user of the AGV cart based on actual needs. For example, if there is a turn in the movement path between two pieces of equipment, the corresponding path cost between the two pieces of equipment is relatively high.

[0046] In an embodiment of the present application, after obtaining the equipment point distance table, the method further includes: periodically obtaining the second working map corresponding to the transport vehicle on the server; if there is a difference between the first working map and the second working map, updating the first working map based on the second working map; determining a plurality of second equipment and the corresponding second equipment points of the plurality of second equipment based on the updated first working map; calculating the shortest transportation path between every two of the second equipment points based on the Dijkstra algorithm; and obtaining an updated equipment point distance table according to the shortest transportation path. The server can refer to the server corresponding to the central control system, and the current working map corresponding to the AGV cart, that is, the second working map, can be stored in the server. For example, when the equipment in the workshop is moved, the user can generate a new second working map and store the generated second working map in the server. The electronic device can periodically obtain the second working map corresponding to the AGV cart on the server to determine whether the working environment of the AGV cart has changed. If there is a difference between the first working map and the second working map, it is determined that the working environment of the AGV cart has changed and a new equipment point distance table needs to be generated. The second equipment is the equipment that the AGV cart needs to go to in the updated first working map. The second equipment point is used to represent the location where the second equipment is located.

[0047] In an embodiment of the present application, corresponding devices can be requested according to the order combination, and corresponding data can be extracted from a preset device point distance table to generate a first point distance table corresponding to the order combination request. For example, if the device point distance table is 1, the devices corresponding to the order combination request include six devices such as Device 1, Device 2, Device 3, Device 5, Device 6, and Device 7. Based on the devices corresponding to the order combination request, the corresponding data is extracted from Table 1 to generate a first point distance table corresponding to the order combination request, as shown in Table 2.

[0048] Table 2

[0049]

[0050]

[0051] For another example, when the device point distance table is 1, the devices corresponding to the order combination request include eight devices such as Device 1, Device 2, Device 3, Device 4, Device 5, Device 6, Device 7, and Device 8. The first point distance table corresponding to the order combination request is Table 1.

[0052] Step S2032, determine multiple first sorting combinations corresponding to the order combination request.

[0053] The target order capacity is used to represent the number of orders that an AGV cart can accommodate. In an embodiment of the present application, the maximum number of orders that an AGV cart can accommodate can be determined as the target order capacity. For example, if an AGV cart can load 4 orders at a time, the target order capacity is set to 4; if an AGV cart can load 5 orders at a time, the target order capacity is set to 5, and so on.

[0054] The first sorting combination can be used to represent the order in which the AGV cart passes through the devices when completing an order combination.

[0055] In an embodiment of the present application, determining multiple first sorting combinations corresponding to the order combination request includes: when the number of orders corresponding to the order combination request is greater than or equal to the target order capacity, multiple first sorting combinations corresponding to the order combination request can be determined based on the first permutation formula and the target order capacity. The first permutation formula can be: where m is the value corresponding to the target order capacity, and n is the number of all orders corresponding to the order combination request. For example, the number of all orders corresponding to the order combination request is 8, and the target order capacity is 4. According to Arrange them to obtain 1,680 first sorting combinations corresponding to the order combination request. For example, when the device corresponding to the order combination request is 8, the first sorting combinations can be (Device One, Device Two, Device Six, Device Five), (Device One, Device Two, Device Three, Device Four), (Device Three, Device Four, Device Eight, Device Seven), (Device Five, Device Six, Device Seven, Device Eight), etc.

[0056] In an embodiment of the present application, determining multiple first sorting combinations corresponding to the order combination request includes: when the number of orders corresponding to the order combination request is less than the target order capacity, multiple first sorting combinations corresponding to the order combination request can be determined based on the second permutation formula and the target order capacity. The second permutation formula can be: where n is the number of all orders corresponding to the order combination request. For example, the number of all orders corresponding to the order combination request is 3, and the target order capacity is 4. Arrange them according to to obtain 6 first sorting combinations corresponding to the order combination request. For example, when the number of orders corresponding to the order combination request is 3, the first sorting combinations can be (Device One, Device Six, Device Five), (Device One, Device Two, Device Four), (Device Three, Device Four, Device Eight,), (Device Five, Device Six, Device Eight), etc.

[0057] Step S2033: Determine the combined path length corresponding to each first sorting combination among the multiple first sorting combinations according to the first point position distance table.

[0058] The first point position distance table includes the transportation distance between any two devices in the order combination request, and the distance between each device and the feeder (receiver). Since the AGV cart also needs to load materials from the feeder (unload materials from the receiver), the combined path length corresponding to the first sorting combination also needs to consider the distance between the device and the feeder (receiver). For example, when the order combination request is for the order corresponding to the loading transportation process and the first sorting combination is (Device One, Device Two, Device Six, Device Five), the calculated combined path length corresponding to the first sorting combination is (Feeder, Device One, Device Two, Device Six, Device Five), that is, the path length from the feeder to Device One, the path length from Device One to Device Two, the path length from Device Two to Device Six, and the path length from Device Six to Device Five; another example, when the order combination request is for the order corresponding to the unloading transportation process and the first sorting combination is (Device Three, Device Four, Device Eight, Device Seven), the calculated combined path length corresponding to the first sorting combination is (Device Three, Device Four, Device Eight, Device Seven, Receiver), that is, the path length from Device Three to Device Four, the path length from Device Four to Device Eight, the path length from Device Eight to Device Seven, and the path length from Device Seven to the receiver.

[0059] In an embodiment of the present application, based on the distances recorded in the first point position distance table, the combined path length corresponding to each of the multiple first sorting combinations can be calculated. For example, for the combined path length of (feeder, equipment one, equipment two, equipment six, equipment five), the calculated combined path length is 4; for the combined path length of (feeder, equipment one, equipment two, equipment three, equipment four), the calculated combined path length is 6; for the combined path length of (feeder, equipment three, equipment four, equipment eight, equipment seven), the calculated combined path length is 8; for the combined path length of (feeder, equipment five, equipment six, equipment seven, equipment eight), the calculated combined path length is 9.

[0060] Step S2034: Determine the order combination with the shortest combined path length among the multiple first sorting combinations as the first combination, and remove the order corresponding to the first combination from the order combination request.

[0061] Each of the multiple first sorting combinations corresponds to a combined path length, and multiple combined path lengths can be obtained. The order combination with the shortest combined path length among the multiple combined path lengths is determined as the first combination. The first combination is the transportation order combination arranged for the AGV cart. For example, the equipment corresponding to the order combination request includes 8 devices such as equipment one, equipment two, equipment three, equipment four, equipment five, equipment six, equipment seven, and equipment eight, and there are 1680 first sorting combinations. Among them, the shortest combined path length is 4, and the order combination corresponding to 4 is: (equipment one, equipment two, equipment six, equipment five). (equipment one, equipment two, equipment six, equipment five) is determined as the first combination, and the order corresponding to (equipment one, equipment two, equipment six, equipment five) is removed from the order combination request.

[0062] Step S2035: Determine whether the number of remaining orders in the order combination request is less than the target order capacity.

[0063] In the first example, the order combination request is the order corresponding to the feeding transportation process, the target order capacity is 4, and the equipment corresponding to the order combination request includes 8 devices such as equipment one, equipment two, equipment three, equipment four, equipment five, equipment six, equipment seven, and equipment eight. After removing the order corresponding to (equipment one, equipment two, equipment six, equipment five) from the order combination request, the remaining orders in the order combination request are equipment three, equipment four, equipment seven, and equipment eight, and the number of remaining orders is 4. At this time, the number of remaining orders is equal to the target order capacity.

[0064] In the second example, the order combination request is the order corresponding to the loading and transportation process, the target order capacity is 4, and the devices corresponding to the order combination request include: seven devices such as Device 1, Device 2, Device 3, Device 4, Device 5, Device 6, and Device 7. After removing the orders corresponding to (Device 1, Device 2, Device 6, Device 5) from the order combination request, the remaining orders in the order combination request are Device 3, Device 4, and Device 7, and the number of remaining orders is 3. At this time, the number of remaining orders is less than the target order capacity.

[0065] In the third example, the order combination request is the order corresponding to the loading and transportation process, the target order capacity is 4, and the devices corresponding to the order combination request include: nine devices such as Device 1, Device 2, Device 3, Device 4, Device 5, Device 6, Device 7, Device 8, and Device 9. After removing the orders corresponding to (Device 1, Device 2, Device 6, Device 5) from the order combination request, the remaining orders in the order combination request are Device 3, Device 4, Device 7, Device 8, and Device 9, and the number of remaining orders is 5. At this time, the number of remaining orders is greater than the target order capacity.

[0066] If the number of remaining orders in the order combination request is greater than or equal to the target order capacity, repeat the execution of the first allocation process for the order combination request. The process returns to step S2031, and based on the preset device point distance table, generate the first point distance table corresponding to the order combination request. For example, when the above first example or third example is executed, step S2031 is performed. After the process returns to step S2031 in the above first example, when step S2034 is executed, the number of remaining orders in the order combination request is 0, so after step S2035 is executed, the execution of the first allocation process stops; after the process returns to step S2031 in the above third example, when step S2034 is executed, the number of remaining orders in the order combination request is 1, so after step S2035 is executed, the execution of the first allocation process stops.

[0067] In an embodiment of the present application, since some orders in the order combination request are removed and the order combination request changes, when the process returns to step S2031, a new first point distance table corresponding to the order combination request will be regenerated based on the preset device point distance table. For example, when returning to execute step S2031 in the above first example, a new first point distance table will be regenerated according to Table 1, as shown in Table 3.

[0068] Table 3

[0069]

[0070] In an embodiment of the present application, if the number of remaining orders in the order combination request is greater than or equal to the target order capacity, the process returns to step S2032, and based on the target order capacity corresponding to the transport vehicle, multiple first sorting combinations corresponding to the order combination request are determined. When the above first example or the third example is executed, step S2031 is performed. In this embodiment, the combined path length can be determined based on the first point distance table obtained in step S2031, without generating a new first point distance table. It can be understood that each time the process returns to step S2032, a first combination can be determined. Therefore, if the process executes step S2032 multiple times, multiple first combinations can be determined. For example, if the process executes step S2032 three times, three first combinations can be determined.

[0071] In an embodiment of the present application, if the number of remaining orders in the order combination request is less than the target order capacity, the electronic device stops executing the first allocation process.

[0072] After the electronic device stops executing the first allocation process, it determines whether there are any remaining orders in the order combination request.

[0073] In an embodiment of the present application, if there are no remaining orders in the order combination request, the transport path of the transport vehicle is generated according to the determined first combination.

[0074] For example, assume that the first combination determined when steps S2031 - S2035 are repeatedly executed in the above first example is (equipment four, equipment three, equipment eight, equipment seven). Therefore, two first combinations are determined in the above first example, namely (equipment one, equipment two, equipment six, equipment five) and (equipment four, equipment three, equipment eight, equipment seven). The transport paths of the transport vehicle are generated, that is, the transport paths of (feeder, equipment one, equipment two, equipment six, equipment five) and (feeder, equipment four, equipment three, equipment eight, equipment seven). In an implementation manner of this embodiment, the number of transport vehicles can be determined based on the number of determined first combinations, and based on the determined number of transport vehicles, the target transport vehicles are determined. The corresponding transport path is assigned to each target transport vehicle, and each target transport vehicle is controlled to transport according to its corresponding transport path. The number of first combinations can be determined as the number of transport vehicles. For example, if the number of first combinations is 2, the number of transport vehicles can be determined as 2. Based on the number of transport vehicles being 2, two target transport vehicles (AGV cart one, AGV cart two) are determined, and the corresponding transport path is assigned to each target transport vehicle. For example, the transport path of (feeder, equipment one, equipment two, equipment six, equipment five) is assigned to AGV cart one, and the transport path of (feeder, equipment four, equipment three, equipment eight, equipment seven) is assigned to AGV cart two.

[0075] In an embodiment of the present application, if there are remaining orders in the order combination request, the remaining orders in the order combination request are determined as the first remaining orders.

[0076] The number of remaining orders in the order combination request is less than the target order capacity, that is, the number of the first remaining orders is less than the target order capacity. For example, in the above second example, the remaining orders: Equipment Three, Equipment Four, and Equipment Seven are determined as the first remaining orders.

[0077] Step S204, determine whether there are no overdue orders among the first remaining orders.

[0078] In an embodiment of the present application, each order includes its corresponding execution time, which can be set according to the user's needs, such as 15 minutes, 20 minutes, 30 minutes, etc. When an order is not completed and the waiting time of the order exceeds its corresponding execution time, the order is determined as an overdue order. The waiting time of the order is the difference between the generation time of the order and the current time. For example, assume that the execution time of an order is 30 minutes, the generation time of the order is 13:20, and the current time is 13:55; the waiting time of the order is 35 minutes, and the waiting time exceeds the execution time, so the order is determined as an overdue order.

[0079] If there are no overdue orders among the first remaining orders, execute step S205 to generate the transportation path of the transport vehicle according to the determined first combination.

[0080] For example, there are no overdue orders among the first remaining orders in the above second example. According to the determined first combination (Equipment One, Equipment Two, Equipment Six, Equipment Five), generate the transportation path of the transport vehicle (Feeding Machine, Equipment One, Equipment Two, Equipment Six, Equipment Five). In an embodiment of the present application, if there are no overdue orders among the first remaining orders, the first remaining orders are not processed and are returned to the central control system, so that the central control system continues to generate a new order combination request according to the first remaining orders.

[0081] If there are overdue orders among the first remaining orders, the first remaining orders need to be processed. Figure 4 It is a flowchart of a method for processing the first remaining orders provided by an embodiment of the present application. In an embodiment of the present application, as Figure 4 shown, after executing Figure 2 step S204, if there are overdue orders among the first remaining orders, execute the following steps:

[0082] Step S401, generate a second point distance table corresponding to the first remaining orders based on the equipment point distance table.

[0083] For example, there is an overdue order in the first remaining order (Device Three, Device Four, Device Seven) in the above second example. According to the device location distance table, as shown in Table 1, a second location distance table corresponding to the first remaining order is generated, as shown in Table 4.

[0084] Table 4

[0085]

[0086] Step S402: Determine multiple second sorting combinations corresponding to the first remaining order.

[0087] Some specific embodiments for determining multiple second sorting combinations corresponding to the first remaining order can refer to the relevant descriptions of determining the second sorting combination in the above text.

[0088] Step S403: According to the second location distance table, determine the combined path length corresponding to each second sorting combination in the multiple second sorting combinations.

[0089] Some specific embodiments for determining the combined path length corresponding to each second sorting combination in the multiple second sorting combinations can refer to the relevant descriptions in the above text, such as the relevant description of Figure 3 Step S2033 in

[0090] Step S404: Determine the order combination with the shortest combined path length in the multiple second sorting combinations as the second combination.

[0091] Step S405: Generate the transportation path of the transport vehicle according to the determined first combination and the second combination.

[0092] For example, in the above second example, the first combination is (Device One, Device Two, Device Six, Device Five). Suppose the second combination determined in the first remaining order in the above second example is (Device Three, Device Four, Device Seven). Two transportation paths (Feeding Machine, Device One, Device Two, Device Six, Device Five) and (Feeding Machine, Device Three, Device Four, Device Seven) are generated according to the first combination and the second combination. In an implementation manner of this embodiment, the number of transport vehicles can be determined based on the number of the determined first combination and the second combination, and based on the determined number of transport vehicles, target transport vehicles can be determined. Each target transport vehicle is assigned its corresponding transportation path, and each target transport vehicle is controlled to perform transportation according to its corresponding transportation path. The total number of the first combination and the second combination can be determined as the number of transport vehicles. For example, if the total number of the first combination and the second combination is 2, the number of transport vehicles can be determined as 2. Based on the number of transport vehicles being 2, two target transport vehicles (AGV Cart One and AGV Cart Two) are determined. Each target transport vehicle is assigned its corresponding transportation path, such as the transportation path of (Feeding Machine, Device One, Device Two, Device Six, Device Five) is assigned to AGV Cart One, and the transportation path of (Feeding Machine, Device Three, Device Four, Device Seven) is assigned to AGV Cart Two.

[0093] It can be understood that when the number of AGV carts is 1, the number of times the transport vehicle needs to transport can be determined based on the number of the determined first combination and the second combination. This application does not limit the number of AGV carts and the number of transportation times.

[0094] In the method shown in the above embodiment, by obtaining an order combination request, and when the order quantity corresponding to the order combination request is less than or equal to a preset quantity threshold, performing a first allocation process on the order combination request, so that in the order combination request, one or more first combinations with relatively shorter combined paths during the transportation of the transport vehicle are determined; after the first combination is determined, if there is no overdue order in the remaining order in the order combination request, based on the determined first combination, the transportation path of the transport vehicle is generated. In the above embodiment, by determining the shortest combined path as the first combination during each execution of the first allocation process, the overall path of the generated transportation path of the transport vehicle is relatively short, thereby improving the distribution efficiency of the transport vehicle.

[0095] Figure 5 It is a flowchart of a transportation path planning method provided by an embodiment of the present application. In an embodiment of the present application, as Figure 5 shown, after step S202 in Figure 2 is executed, if the order quantity corresponding to the order combination request is greater than the quantity threshold, the following steps are executed:

[0096] Step S501, based on the quantity threshold, divide the order combination request into multiple sub-combination requests.

[0097] Among them, the order quantity of each sub-combination request among the multiple sub-combination requests is less than or equal to the quantity threshold.

[0098] In an embodiment of the present application, the order quantity can be divided by the quantity threshold and the integer part can be taken to obtain the classification quantity. Based on the classification quantity, the order combination request is divided into multiple sub-combination requests. For example, if the quotient is 1.25 and the integer part is taken, the classification quantity is determined to be 2, and the order combination request is divided into 2 categories to obtain 2 sub-combination requests. The order combination request can be divided in the order of the generation time of the orders to obtain 2 sub-combination requests. When the order combination request is not a multiple of the classification quantity, the order combination request can be divided into multiple sub-combination requests corresponding to the classification quantity according to a preset rule. For example, the preset rule can include that the quantity of the first sub-combination request is larger and the quantities of the remaining sub-combinations are the same. For example, when the order quantity of the order combination request is 93 and the classification quantity is 3, the quantity of the first sub-combination request can be 33, and the quantities of the second sub-combination request and the third sub-combination request are both 30.

[0099] In an embodiment of the present application, the dividing the order combination request into multiple sub-combination requests based on the quantity threshold includes: determining the classification quantity based on the quantity threshold and the quantity of the order combination request; performing a clustering operation on the order combination request according to the classification quantity to obtain the multiple sub-combination requests. Some specific implementation manners of calculating the classification quantity can be referred to the descriptions above. The clustering operation can include K-Means clustering. For example, when the classification quantity is 2, a K-Means clustering operation is performed on the order combination request to obtain two sub-combination requests. In an embodiment of the present application, the clustering operation can be performed on the order combination request based on the classification quantity and the device points of the devices corresponding to the order combination request, so that devices with close positions can be clustered into the same cluster after clustering.

[0100] Step S502, execute a second allocation process according to each sub-combination request among the multiple sub-combination requests to determine a second remaining order and a third combination.

[0101] Figure 6 is a schematic diagram of a second allocation process provided by an embodiment of the present application. As Figure 6 shown, the second allocation process includes:

[0102] Step S5021, generate a third point distance table corresponding to the sub-combination request based on the device point distance table.

[0103] Step S5022, determine multiple third sorting combinations corresponding to the sub-combination request based on the target order capacity.

[0104] Step S5023: Determine the combined path length corresponding to each of the multiple third sorting combinations according to the third point position distance table.

[0105] Step S5024: Determine the order combination with the shortest combined path length among the multiple third sorting combinations as the third combination, and remove the orders corresponding to the third combination from the sub-combination request.

[0106] Step S5025: Determine whether the number of remaining orders in the sub-combination request is less than the target order capacity.

[0107] Regarding some specific embodiments of steps S5021 to S5025, reference may be made to the relevant descriptions above, such as the relevant descriptions of steps S2031 to S2035 in Figure 3 In this embodiment, if the number of remaining orders in the order combination request is greater than or equal to the target order capacity, re-execute the second allocation process, and the process returns to step S5021 to generate the third point position distance table corresponding to the sub-combination request based on the device point position distance table.

[0108] In this embodiment, if the number of remaining orders in the sub-combination request is less than the target order capacity, the electronic device stops executing the second allocation process. In an embodiment of the present application, after the electronic device stops executing the second allocation process, it determines whether there are any remaining orders in the sub-combination request. If there are remaining orders in the sub-combination request, the remaining orders in the sub-combination request are determined as the second remaining orders. If there is a sub-combination request among the multiple sub-combination requests whose order quantity is not a multiple of the target order capacity, one or more second remaining orders can be obtained based on the multiple sub-combination requests. The order quantity in the second remaining orders is less than the target order capacity. If the order quantity of each sub-combination request among the multiple sub-combination requests is a multiple of the target order capacity, there will be no remaining orders in each sub-combination request after executing the second allocation process; therefore, based on the multiple sub-combination requests, no second remaining orders can be obtained. If no definite second remaining orders are determined, generate the transportation path of the transport vehicle according to the determined third combination.

[0109] Step S503: Merge the determined second remaining orders to obtain the third remaining orders.

[0110] The order quantity of the third remaining orders may be greater than or equal to the target order capacity.

[0111] Step S504: Determine whether there are no overdue orders in the third remaining orders.

[0112] If there is no overdue order in the third remaining order, in step S505, generate the transportation route of the transport vehicle according to the determined third combination.

[0113] For some specific embodiments of steps S504 and S505, reference can be made to the relevant descriptions in the foregoing, such as the Figure 2 relevant descriptions of steps S204 and S205 therein.

[0114] If there is an overdue order in the third remaining order, then the third remaining order needs to be processed. Figure 7 is a flowchart of a method for processing the third remaining order provided by an embodiment of the present application. As Figure 7 shown, after executing Figure 5 step S504 in Figure 7 if it is determined that there is an overdue order in the third remaining order, execute the method for processing the third remaining order as shown in

[0115] Step S701, execute the third allocation process on the third remaining order to determine the fourth remaining order and the fourth combination.

[0116] Figure 8 is a schematic diagram of a third allocation process provided by an embodiment of the present application. As Figure 8 shown, the method includes the following steps:

[0117] Step S7011, generate a fourth point distance table corresponding to the third remaining order request based on the device point distance table.

[0118] Step S7012, determine multiple fourth sorting combinations corresponding to the third remaining order based on the target order capacity.

[0119] Step S7013, determine the combined path length corresponding to each fourth sorting combination in the multiple fourth sorting combinations according to the fourth point distance table.

[0120] Step S7014, determine the order combination with the shortest combined path length in the multiple fourth sorting combinations as the fourth combination, and remove the orders corresponding to the fourth combination from the third remaining order. Step S7015, determine whether the number of remaining orders in the third remaining order is less than the target order capacity.

[0121] For some specific embodiments of steps S7011 to S7015, reference can be made to the relevant descriptions in the foregoing.

[0122] If the number of remaining orders in the third remaining order is greater than or equal to the target order capacity, repeat the third allocation process, that is, the process returns to step S7011, and based on the device point distance table, generate the third point distance table corresponding to the sub-combination request.

[0123] If the number of remaining orders in the third remaining order is less than the target order capacity, stop executing the third allocation process. After the electronic device stops executing the third allocation process, determine whether there are any remaining orders in the third remaining order.

[0124] In an embodiment of the present application, if there are no remaining orders in the third remaining order, generate the transportation path of the transport vehicle according to the determined third combination and the determined fourth combination. In an embodiment of the present application, if there are remaining orders in the third remaining order, determine the remaining orders in the third remaining order as the fourth remaining order.

[0125] Step S702, determine whether there are no overdue orders in the fourth remaining order.

[0126] If there are no overdue orders in the fourth remaining order, execute step S703, and generate the transportation path of the transport vehicle according to the determined third combination and the determined fourth combination.

[0127] Regarding some specific embodiments of steps S702 to S703, reference can be made to the relevant descriptions above.

[0128] If there are overdue orders in the fourth remaining order, the fourth remaining order needs to be processed. Figure 9 It is a flowchart of the fourth remaining order processing method provided by the embodiments of the present application. In an embodiment of the present application, as Figure 9 shown, after executing Figure 7 step S702, if there are overdue orders in the four remaining orders, execute the following steps:

[0129] Step S801, based on the device point distance table, generate the fifth point distance table corresponding to the fourth remaining order.

[0130] Step S802, determine the multiple fifth sorting combinations corresponding to the fourth remaining order.

[0131] Step S803, according to the fifth point distance table, determine the combined path length corresponding to each fifth sorting combination in the multiple fifth sorting combinations.

[0132] Step S804, determine the order combination with the shortest combined path length in the multiple fifth sorting combinations as the fifth combination.

[0133] Step S805: Generate the transportation path of the transport vehicle according to the determined third combination, fourth combination, and fifth combination.

[0134] For some specific implementations of steps S801 to S805, reference can be made to the relevant descriptions above.

[0135] Another embodiment of the present application further provides an electronic device. Figure 10 It is a schematic structural diagram of the electronic device provided by the embodiment of the present application. As Figure 10 shown, in an embodiment of the present application, the electronic device 10 can be a tablet computer, an augmented reality (AR) / virtual reality (VR) device, a notebook computer, a netbook, etc. The embodiment of the present application does not impose any restrictions on the specific type of the electronic device 10.

[0136] As Figure 10 shown, the electronic device 10 may include, but is not limited to, a communication module 1001, a memory 1002, a processor 1003, an input / output (I / O) interface 1004, and a bus 1005. The processor 1003 is coupled to the communication module 1001, the memory 1002, and the I / O interface 1004 through the bus 1005 respectively.

[0137] Those skilled in the art can understand that the schematic diagram is only an example of the electronic device 10 and does not constitute a limitation on the electronic device 10. It may include more or fewer components than shown, or combine some components, or different components. For example, the electronic device 10 may further include a network access device, etc.

[0138] The communication module 1001 may include a wired communication module and / or a wireless communication module. The wired communication module may provide one or more of the solutions for wired communication such as Universal Serial Bus (USB), Controller Area Network (CAN), etc. The wireless communication module may provide one or more of the solutions for wireless communication such as Wireless Fidelity (Wi-Fi), Bluetooth (BT), mobile communication network, Frequency Modulation (FM), near field communication (NFC), Infrared (IR) technology, etc.

[0139] The memory 1002 can be used to store computer-readable instructions and / or modules. By running or executing the computer-readable instructions and / or modules stored in the memory 1002, and by invoking the data stored in the memory 1002, the processor 1003 realizes various functions of the electronic device 10. The memory 1002 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the electronic device 10. The memory 1002 can include non-volatile and volatile memories, such as: hard disks, memories, plug-in hard disks, smart media cards (SMCs), secure digital (SD) cards, flash cards, at least one magnetic disk storage device, flash memory device, or other storage devices.

[0140] The memory 1002 can be an external memory and / or an internal memory of the electronic device 10. Further, the memory 1002 can be a memory in a physical form, such as a memory stick, a TF card (Trans-flash Card), etc.

[0141] The processor 1003 can be a central processing unit (CPU), or can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The processor 1003 is the operation core and control center of the electronic device 10, connecting various parts of the entire electronic device 10 through various interfaces and lines, and executing the operating system of the electronic device 10 and various installed application programs, program codes, etc.

[0142] Exemplarily, the computer-readable instructions can be divided into one or more modules / sub-modules / units. One or more modules / sub-modules / units are stored in the memory 1002 and executed by the processor 1003 to complete this application. One or more modules / sub-modules / units can be a series of computer-readable instruction segments capable of completing specific functions, and the computer-readable instruction segments are used to describe the execution process of the computer-readable instructions in the electronic device 10.

[0143] If the modules / units integrated in the electronic device 10 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-described embodiment methods of this application, computer-readable instructions can also be used to instruct relevant hardware to complete them. The computer-readable instructions can be stored in a computer-readable storage medium. When the computer-readable instructions are executed by a processor, the steps of the above-described method embodiments can be implemented.

[0144] Among them, the computer-readable instructions include computer-readable instruction codes, and the computer-readable instruction codes can be in the form of source code, object code, executable files, or some intermediate forms, etc. The computer-readable medium can include: any entity or device that can carry the computer-readable instruction codes, recording media, USB flash drives, mobile hard disks, magnetic disks, optical discs, computer memories, read-only memories (ROM, Read-Only Memory), and random access memories (RAM, Random Access Memory).

[0145] The memory 1002 in the electronic device 10 stores computer-readable instructions, and the processor 1003 can execute the computer-readable instructions stored in the memory 1002 to implement the transportation path planning method in the above-described embodiments.

[0146] Specifically, for the specific implementation method of the above computer-readable instructions by the processor 1003, reference can be made to the description of the relevant steps in the above-described embodiments, and details are not repeated here.

[0147] The I / O interface 1004 is used to provide a channel for user input or output. For example, the I / O interface 1004 can be used to connect various input and output devices, such as a mouse, a keyboard, a touch device, a display screen, etc., so that the user can input information or visualize the information.

[0148] The bus 1005 is at least used to provide a communication channel between the communication module 1001, the memory 1002, the processor 1003, and the I / O interface 1004 in the electronic device 10.

[0149] In several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules is only a logical function division, and there can be other division methods in actual implementation.

[0150] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed over multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0151] In addition, in each embodiment of the present application, each functional module can be integrated in a processing unit, can also exist as individual physical units, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0152] Therefore, from any perspective, the embodiments should be regarded as exemplary and non-limiting. The scope of the present application is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit them. Although the present application has been described in detail with reference to some embodiments, those of ordinary skill in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A transportation route planning method, applied to an electronic device, characterized in that The method includes: Obtaining an order combination request; If the number of orders corresponding to the order combination request is less than or equal to a preset quantity threshold, performing a first allocation process on the order combination request, where the first allocation process includes: generating a first point distance table corresponding to the order combination request based on a preset equipment point distance table; determining multiple first sorting combinations corresponding to the order combination request based on the target order capacity of the transport vehicle; determining the combined path length corresponding to each first sorting combination among the multiple first sorting combinations according to the first point distance table; determining the order combination with the shortest combined path length among the multiple first sorting combinations as the first combination, and removing the orders corresponding to the first combination from the order combination request; repeatedly performing the first allocation process on the order combination request until the number of remaining orders in the order combination request is less than the target order capacity; If there are no remaining orders in the order combination request, generating a transport path for the transport vehicle according to the determined first combination; If there are remaining orders in the order combination request, determining the remaining orders in the order combination request as the first remaining orders; If there are no overdue orders among the first remaining orders, generating a transport path for the transport vehicle according to the determined first combination; 2. The transport path planning method according to claim 1, wherein: If there are overdue orders among the first remaining orders, generating a second point distance table corresponding to the first remaining orders based on the equipment point distance table; Determining multiple second sorting combinations corresponding to the first remaining orders; Determining the combined path length corresponding to each second sorting combination among the multiple second sorting combinations according to the second point distance table; Determining the order combination with the shortest combined path length among the multiple second sorting combinations as the second combination; Generating a transport path for the transport vehicle according to the determined first combination and the second combination; 3. The transport path planning method according to claim 1, wherein: If the number of orders corresponding to the order combination request is greater than the quantity threshold, dividing the order combination request into multiple sub-combination requests based on the quantity threshold, where the number of orders in each sub-combination request among the multiple sub-combination requests is less than or equal to the quantity threshold; Execute a second allocation process according to each sub-combination request among the multiple sub-combination requests. The second allocation process includes: generating a third point distance table corresponding to the sub-combination request based on the device point distance table; determining multiple third sorting combinations corresponding to the sub-combination request based on the target order capacity; determining the combination path length corresponding to each third sorting combination among the multiple third sorting combinations according to the third point distance table; determining the order combination with the shortest combination path length among the multiple third sorting combinations as the third combination, and removing the orders corresponding to the third combination from the sub-combination request; repeating the execution of the second allocation process for the sub-combination request until the number of remaining orders in the sub-combination request is less than the target order capacity; after stopping the execution of the second allocation process, if there are remaining orders in the sub-combination request, determining the remaining orders in the sub-combination request as the second remaining orders; if there are no determined second remaining orders, generating the transportation path of the transport vehicle according to the determined third combination; If there are determined second remaining orders, merge the determined second remaining orders to obtain the third remaining orders; If there are no overdue orders in the third remaining orders, generate the transportation path of the transport vehicle according to the determined third combination; 4. The transportation path planning method according to claim 3, wherein, If there are overdue orders in the third remaining orders, execute a third allocation process for the third remaining order request. The third allocation process includes: generating a fourth point distance table corresponding to the third remaining order request based on the device point distance table; determining multiple fourth sorting combinations corresponding to the third remaining orders based on the target order capacity; determining the combination path length corresponding to each fourth sorting combination among the multiple fourth sorting combinations according to the fourth point distance table; determining the order combination with the shortest combination path length among the multiple fourth sorting combinations as the fourth combination, and removing the orders corresponding to the fourth combination from the third remaining orders; repeating the execution of the third allocation process for the third remaining orders until the number of remaining orders in the third remaining orders is less than the target order capacity; If there are no remaining orders in the third remaining orders, generate the transportation path of the transport vehicle according to the determined third combination and the determined fourth combination; If there are remaining orders in the third remaining orders, determining the remaining orders in the third remaining orders as the fourth remaining orders; If there are no overdue orders in the fourth remaining orders, generate the transportation path of the transport vehicle according to the determined third combination and the determined fourth combination; 5. The transportation path planning method according to claim 4, wherein, If there are overdue orders in the fourth remaining orders, generate a fifth point distance table corresponding to the fourth remaining orders based on the device point distance table; Determine multiple fifth sorting combinations corresponding to the fourth remaining orders; Determine the combined path length corresponding to each of the multiple fifth sorting combinations according to the fifth point position distance table; Determine the fifth combination as the order combination with the shortest combined path length among the multiple fifth sorting combinations; Generate the transportation path of the transport vehicle according to the determined third combination, the determined fourth combination, and the fifth combination; 6. The transportation route planning method according to claim 3, characterized in that Based on the quantity threshold, divide the order combination request into multiple sub-combination requests, including: Determine the classification quantity based on the quantity threshold and the quantity of the order combination request; Perform a clustering operation on the order combination request according to the classification quantity to obtain the multiple sub-combination requests; 7. The transportation route planning method according to claim 1, characterized in that The method further includes: Obtain the first working map corresponding to the transport vehicle; Based on the first working map, determine multiple first devices and the first device positions corresponding to the multiple first devices; Based on the Dijkstra algorithm, calculate the shortest transportation path between every two of the first device positions; Obtain the device position distance table according to the shortest transportation path; 8. The transportation route planning method according to claim 7, wherein, After obtaining the device position distance table, the method further includes: Regularly obtain the second working map corresponding to the transport vehicle on the server; If there is a difference between the first working map and the second working map, update the first working map based on the second working map; Based on the updated first working map, determine multiple second devices and the second device positions corresponding to the multiple second devices; Based on the Dijkstra algorithm, calculate the shortest transportation path between every two of the second device positions; Obtain the updated device position distance table according to the shortest transportation path; 9. An electronic device, characterized in that, The electronic device includes a processor and a memory, and the processor is configured to execute a computer program stored in the memory to implement the transportation path planning method according to any one of claims 1 to 8; 10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, the transportation path planning method according to any one of claims 1 to 8 is implemented.

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