Four-way shuttle vehicle path planning method, device and system and medium
By using two-dimensional grid maps and real-time value screening methods in the four-way shuttle vehicle path planning, paths that do not meet the standards are eliminated, and the problem of high computational complexity is solved and efficient path planning is achieved.
Patent Information
- Application Number
- CN202510684730.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-26
- Publication Date
- 2025-08-19
AI Technical Summary
In the prior art, the calculation complexity and calculation amount of four-way shuttle vehicle path planning are relatively large, resulting in low path planning efficiency.
The path planning method based on two-dimensional raster map is adopted to obtain the real-time value of multiple paths by establishing the starting and target raster cells, and continuously eliminate paths that do not meet the generation value standards until the optimal path is obtained.
It effectively reduces the computational complexity and calculation amount of path planning and improves path planning efficiency.
Smart Images
Figure CN120508107A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of warehouse control technology, and in particular to a four-way shuttle vehicle path planning method, device, system and medium. Background Art
[0002] The four-way shuttle warehouse is a pallet-based intelligent warehousing solution. Due to its advantages of high-density storage, minimal space usage, flexible access, and strong scalability, it has gained widespread adoption in distribution and manufacturing companies. Currently, four-way shuttle warehouses primarily operate by moving shuttles through the warehouse's aisles to retrieve and place goods. Therefore, the shuttle's path planning is a major factor influencing its operational effectiveness.
[0003] In the prior art, the path planning method for the four-way shuttle is mainly based on a preset control strategy, that is, all storage and operation routes of the goods to be stored are obtained by default, and the preferred channel is selected from all storage and operation routes to complete the planning.
[0004] Although the above-mentioned preset control strategy can obtain the preferred channel, it needs to obtain all storage operation routes. As the number of floors of the four-way shuttle car warehouse and the number of cargo spaces in each floor increase, the calculation complexity and amount of the preset control strategy will be large, thereby reducing the path planning efficiency. Summary of the Invention
[0005] Therefore, the technical problem to be solved by this application is to improve the path planning calculation complexity and amount of the four-way shuttle in the existing technology, and the problem of low path planning efficiency.
[0006] To solve the above technical problems, in a first aspect, the present application provides a four-way shuttle path planning method, comprising: Step 101: Create a two-dimensional grid map based on the actual layout of each layer of the four-way shuttle vehicle stereoscopic warehouse, wherein the two-dimensional grid map includes main channel grid cells, cargo space grid cells, and obstacle grid cells; Step 102: obtaining a starting grid cell in the two-dimensional grid map based on the position of the four-way shuttle, and obtaining a target grid cell in the two-dimensional grid map based on the order information; Step 103: Plan multiple paths simultaneously and obtain the real-time cost of each path, where one grid unit represents the incremental value of each planned path. For each additional grid unit in the path, the path accumulates the incremental cost corresponding to the grid unit. Step 104: Determine the path that first reaches the target grid cell as the first target path, and determine the cost value of the first target path as the preliminary cost value; Step 105: Compare the current real-time value of the current path with the current reserve cost value to determine whether there is at least one currently remaining second target path whose current real-time value is less than the current reserve cost value; Step 106: If so, continue planning each of the remaining second target paths to obtain the current second target path, obtain the current real-time value of the current second target path after each planning update, and return to step 105 until at least one current second target path that reaches the target grid is obtained; Step 107: Update the minimum real-time cost in at least one current second target path to the target grid as the preliminary cost, discard the path corresponding to the previous preliminary cost, and return to step 105 until all paths are evaluated. Step 108: Output the path corresponding to the last reserved preliminary cost value as the optimal target path.
[0007] Preferably, the cost value corresponding to the grid unit includes: The cost value R1 corresponding to the grid cell of the main channel; The cost value corresponding to the cargo grid unit is R2; The cost value corresponding to the turn when passing through the grid cell is R3, Among them, R1 <R2<R3。
[0008] Preferably, determining the path that first reaches the target grid cell as the first target path, and determining the cost value of the first target path as the preliminary cost value includes: Acquire a plurality of preselected first target paths that first arrive at the target grid cell; Comparing the multiple cost values corresponding to the multiple pre-selected first target paths, and selecting the pre-selected first target path with the smallest cost value as the first target path; The cost value of the first target path is determined as a preliminary cost value.
[0009] Preferably, the method further comprises: Determine whether there are obstacle grid cells in the planned path; If it exists, the planning of this path ends.
[0010] Preferably, the obstacle grid units include unfeasible grid units and cargo space grid units filled with cargo.
[0011] Preferably, the method further comprises: Determine whether there is a return between adjacent grid cells in the planned path; If it exists, the planning of this path ends.
[0012] Preferably, the establishing of a two-dimensional grid map based on the actual layout of each layer of the four-way shuttle vehicle stereoscopic warehouse includes: Based on the shelf arrangement, aisle width and obstacle position of each layer of the four-way shuttle car stereoscopic warehouse, each layer of the four-way shuttle car stereoscopic warehouse is divided into multiple grid units, and each grid unit is assigned a unique coordinate.
[0013] In a second aspect, the present application provides a four-way shuttle path planning device, comprising: An establishment module is used to establish a two-dimensional grid map based on the actual layout of each layer of the four-way shuttle vehicle stereoscopic warehouse, wherein the two-dimensional grid map includes main channel grid units, cargo space grid units, and obstacle grid units; a first acquisition module, configured to acquire a starting grid cell in the two-dimensional grid map based on the position of the four-way shuttle vehicle, and to acquire a target grid cell in the two-dimensional grid map based on the order information; The second acquisition module is used to plan multiple paths simultaneously and obtain the real-time cost of each path, where one grid unit is the path increment value for each planning. For each additional grid unit in the path, the path accumulates the cost value corresponding to the grid unit. a first determining module, configured to determine a path that first reaches the target grid cell as a first target path, and determine a cost value of the first target path as a preliminary cost value; a first judgment module, configured to compare the current real-time value of the current path with the current reserve cost value, and to determine whether there is at least one currently remaining second target path whose current real-time value is less than the current reserve cost value; A third acquisition module is configured to continue planning each of the currently remaining second target paths to obtain a current second target path, and obtain a current real-time value of the current second target path after each planning update, until at least one current second target path that reaches the target grid is obtained; A second determination module is configured to update the minimum real-time cost in at least one current second target path to the target grid as a preliminary cost value, and discard the path corresponding to the previous preliminary cost value until all paths are determined; The output module is used to output the path corresponding to the final reserved preliminary cost value as the optimal target path.
[0014] In a third aspect, the present application provides an electronic device, which adopts the following technical solution: An electronic device, comprising: at least one processor; Memory; At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is used to: execute the four-way shuttle path planning method according to any one of the first aspects.
[0015] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium, when the computer program is executed in a computer, causes the computer to execute the four-way shuttle path planning method described in any one of the first aspects.
[0016] In summary, this application includes at least one of the following beneficial technical effects: The four-way shuttle path planning method described in the present application simultaneously plans multiple paths, adds a grid unit to the value of each planned path, and obtains the real-time cost of each path, so as to obtain the first target path that reaches the target grid unit first. The first target path is the path with the least grid units between the starting grid unit and the target grid unit; then, the cost value of the first target path is used as a criterion to compare and screen the currently remaining second target paths whose cost value is less than the cost value of the first target path, and eliminate the paths whose cost value is greater than or equal to the cost value of the first target path, thereby reducing some of the computational complexity and amount; and continue to plan the currently remaining second target paths that meet the conditions. The target path is obtained, and the current real-time value of the current second target path after each planning update is continuously compared with the cost value of the first target path, and the current remaining second target paths whose cost values exceed the cost value of the first target path are continuously eliminated during the planning process, until the current second target path with a completed planning and a cost value less than the cost value of the first target path is obtained; then the current second target path with the smallest cost value is used as the updated standard, and the comparison cycle is continued, and the paths with cost values greater than the updated standard are continuously eliminated, further reducing the amount of calculation until the judgment of all paths is completed, and the path corresponding to the final reserved preliminary cost value is obtained and output as the optimal path. The four-way shuttle path planning method does not need to completely plan all paths before selecting them, but uses the preliminary cost value, which is a continuously narrowed and updated standard, to continuously eliminate paths that do not meet the standard conditions during the planning process until the judgment of all possible paths is completed, thereby effectively reducing the computational complexity and amount of calculation during path planning and improving the efficiency of path planning. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to make the content of this application easier to understand, the following is a further detailed description of this application based on specific embodiments of the application and in conjunction with the accompanying drawings, wherein: Figure 1 1 is a flow chart of a four-way shuttle path planning method according to an embodiment of the present application; Figure 2 is a schematic diagram of the layout of a two-dimensional grid map according to an embodiment of the present application; Figure 3 2 is a schematic structural diagram of a four-way shuttle path planning device according to an embodiment of the present application; Figure 4 It is a structural diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION
[0018] The present application will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present application and implement it, but the embodiments are not intended to limit the present application.
[0019] The following is attached with the instruction manual Figure 1-4 The embodiments of the present application are described in further detail.
[0020] The embodiment of the present application provides a four-way shuttle path planning method, which is executed by an electronic device, which can be a server or a terminal device, wherein the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited to this. The terminal device and the server can be directly or indirectly connected through wired or wireless communication. The embodiment of the present application does not limit this. Figure 1 As shown, the method comprises the following steps, wherein: S101: A two-dimensional grid map is created based on the actual layout of each layer of the four-way shuttle vehicle stereoscopic warehouse. The two-dimensional grid map includes a main channel grid unit 1, a cargo location grid unit 2, and an obstacle grid unit 3.
[0021] For the embodiment of the present application, the staff can obtain the actual layout of each layer of the four-way shuttle car stereoscopic warehouse through design drawings, on-site measurements, real-time monitoring and other means. Based on the shelf arrangement, aisle width and obstacle position of each layer of the four-way shuttle car stereoscopic warehouse, each layer of the four-way shuttle car stereoscopic warehouse is divided into multiple grid units, and each of the grid units is assigned a unique coordinate to draw and establish a two-dimensional grid map. For example, Figure 2 This is a schematic diagram of the two-dimensional grid map, in which the main channel grid unit 1 is a dedicated channel established for the four-way shuttle; the cargo grid unit 2 is used to store cargo and is also accessible to the four-way shuttle; and the barrier grid unit 3 is a location where the four-way shuttle cannot pass.
[0022] For the embodiment of the present application, preferably, a corresponding two-dimensional grid map is established for each layer of the four-way shuttle car stereoscopic warehouse, so as to facilitate the application of the method described in the present application to each layer with different layout conditions, so as to improve the standardization of path planning.
[0023] S102: Acquire a starting grid unit in the two-dimensional grid map based on the position of the four-way shuttle vehicle, and acquire a target grid unit in the two-dimensional grid map based on the order information.
[0024] S103: Plan multiple paths simultaneously and obtain the real-time cost of each path, wherein one grid unit is the added value of each planned path. For each additional grid unit in the path, the path accumulates the cost corresponding to the grid unit.
[0025] For the present embodiment of the application, during the initial path planning, the path planning is performed with the starting grid unit as the starting point, increasing the grid unit one by one toward the adjacent grid units, and the path increases by one grid unit after each planning; then, the path planning is performed with the current end point of the path as the new starting point, continuing to increase the grid unit one by one toward the adjacent grid units.
[0026] Each additional grid cell in the path means that the four-way shuttle will pass through the corresponding grid cell when traveling along this path. Different weights are assigned to the time cost of the four-way shuttle passing through different grid cells as cost values. Preferably, the cost values corresponding to passing through grid cells include: The cost value R1 corresponding to grid cell 1 of the main channel; The cost value corresponding to the grid unit 2 of the passage cargo location is R2; The cost value of turning when passing through a grid cell is R3. Among them, R1 <R2<R3。
[0027] The cost of a path is the cumulative cost of multiple grid cells along the path. For example, if a path passes through N1 main channel grid cells, N2 cargo location grid cells, and N3 turns along the way, then the cost of the path is: R=N1*R1+N2*R2+N3*R3.
[0028] In the embodiments of the present application, the cost value of each grid cell can be adaptively adjusted based on the actual layout scenario within the library and further updated operating conditions. Examples of further updated operating conditions include changes in the library layout, changes in the status of the grid cells, and other operating conditions. Furthermore, the specific values of the cost values R1, R2, and R3 can be adaptively determined based on actual operating conditions.
[0029] S104: Determine the path that first reaches the target grid cell as the first target path, and determine the cost value of the first target path as the preliminary cost value.
[0030] In the embodiment of the present application, the first target path is the path that passes through the fewest grid cells between the starting grid cell and the target grid cell, and is also the path that reaches the target grid cell first among the multiple paths planned simultaneously. However, the path that passes through the fewest grid cells is not necessarily the path with the lowest cost, and the cost values of paths that pass through the same number of grid cells are not necessarily equal. Therefore, specifically, the specific implementation of S104 includes the following steps: S1041, obtaining a plurality of pre-selected first target paths that first arrive at the target grid cell; S1042, comparing multiple cost values corresponding to multiple pre-selected first target paths, and selecting the pre-selected first target path with the smallest cost value as the first target path; S1043: Determine the cost value of the first target path as the preliminary cost value.
[0031] By comparing the cost values of multiple pre-selected first target paths, the first target path with the minimum cost value is screened out, and the minimum cost value is initially determined as the preliminary cost value, so that the paths with larger cost values can be eliminated, reducing the subsequent calculation workload.
[0032] S105: Compare the current real-time value of the current path with the current preparation cost value to determine whether there is at least one currently remaining second target path whose current real-time value is smaller than the current preparation cost value.
[0033] For the embodiment of the present application, the path corresponding to the current preparation cost value has reached the target grid and the planning of the path has been completed, but the remaining current paths have not yet completed their respective planning; the paths in the current paths that have not completed the planning and whose current real-time era value is less than the current preparation cost value, and the paths in the current paths that have not completed the planning and whose current real-time era value is greater than or equal to the current preparation cost value are compared and screened out, and the paths in the current paths that have not completed the planning and whose current real-time era value is greater than or equal to the current preparation cost value are eliminated, and the planning calculation of this part of the path is ended, thereby reducing the computational complexity and amount of the overall path.
[0034] S106: If so, continue planning each of the currently remaining second target paths to obtain the current second target path, obtain the current real-time value of the current second target path after each planning update, and return to execute step 105 until at least one current second target path to the target grid is obtained.
[0035] For the embodiment of the present application, after eliminating some paths, the paths in the current paths that have not been completed and whose current real-time era value is less than the current preparation cost value continue to be planned, and the current real-time era value and the preparation cost value after each planning are continuously compared. Therefore, the current remaining second target paths whose cost values exceed the cost value of the first target path during the planning process can be continuously eliminated, and the current second target path that has been planned to reach the target grid unit and whose cost value is less than the cost value of the first target path is obtained.
[0036] S107: Update the minimum real-time cost in at least one current second target path to the target grid as the preliminary cost value, discard the path corresponding to the previous preliminary cost value, and return to S105 until all paths are judged.
[0037] For the embodiment of the present application, the current second target path that has been planned to reach the target grid cell and whose cost value is less than the cost value of the first target path is obtained, the cost value of the second target path with the smallest cost value is used as the updated preliminary cost value, and the process returns to step 105, compares the current real-time value of the current remaining path with the updated preliminary cost value, eliminates the paths corresponding to the cost values greater than the updated preliminary cost value, and screens out a new batch of uncompleted planned current remaining second target paths with cost values less than the updated preliminary cost value. If there is a new batch of uncompleted planned current remaining second target paths with cost values less than the updated preliminary cost value, continue to execute S106 and repeat the above process. The preliminary cost value is continuously updated to a smaller value, the current second target path is also continuously updated, and at the same time, the paths whose current real-time value is greater than the preliminary cost value can be continuously eliminated until all paths are planned.
[0038] S108: Output the path corresponding to the last reserved preliminary cost value as the optimal target path.
[0039] In the embodiment of the present application, all paths are eliminated and screened step by step during the planning process. The final remaining preliminary cost is the path with the lowest cost among all paths, and the path corresponding to the path is output as the optimal target path. In the embodiment of the present application, the electronic device can send the optimal target path to the terminal device of the staff member, so that the staff member can view it through an application on the terminal device. Alternatively, the electronic device can control a display device such as a display screen to display the optimal target path, thereby facilitating the staff member to view it.
[0040] The four-way shuttle path planning method does not require that all paths be completely planned before selection. Instead, the method uses the preparation cost value, a continuously narrowing and updating standard, to continuously eliminate paths that do not meet the standard conditions during the planning process until all possible paths are judged. This effectively reduces the computational complexity and amount of calculation during path planning and improves the efficiency of path planning.
[0041] For the embodiment of the present application, preferably, the method further includes: Determine whether there are obstacle grid cells in the planned path; If it exists, the planning of this path ends.
[0042] For the embodiments of this application, Figure 2 As shown, the obstacle grid unit 3 includes an infeasible grid unit 31 and a cargo space grid unit 32 filled with cargo.
[0043] By setting the judgment on whether there are obstacle grid cells in the path during the planning process, it is possible to promptly discover paths that cannot be implemented and eliminate them during the planning process without having to wait until the complete path is planned. This further reduces the computational complexity of the planning process and improves the efficiency of path planning.
[0044] For the embodiment of the present application, preferably, the method further includes: Determine whether there is a return between adjacent grid cells in the planned path; If it exists, the planning of this path ends.
[0045] A return between adjacent grid cells specifically means: in the previous planning, the path extended from grid cell A to the adjacent grid cell B; in the next planning, the path returns from grid cell B to grid cell A. By setting a check for return between adjacent grid cells in the path during the planning process, invalid planning processes can be promptly discovered and eliminated during the planning process, without having to wait until the complete path is planned. This further reduces the computational complexity of the planning process and improves path planning efficiency.
[0046] The above embodiment introduces the four-way shuttle path planning method from the perspective of method flow, and the following embodiment introduces the four-way shuttle path planning device from the perspective of virtual modules or virtual units. For details, please refer to the following embodiments.
[0047] The embodiment of the present application provides a four-way shuttle path planning device 20, such as Figure 3 As shown, the four-way shuttle path planning device 20 may specifically include: Establishing module 201, for establishing a two-dimensional grid map based on the actual layout of each layer of the four-way shuttle vehicle stereoscopic warehouse, wherein the two-dimensional grid map includes main channel grid cells, cargo space grid cells, and obstacle grid cells; A first acquisition module 202 is configured to acquire a starting grid cell in the two-dimensional grid map based on the position of the four-way shuttle, and acquire a target grid cell in the two-dimensional grid map based on the order information; The second acquisition module 203 is used to simultaneously plan multiple paths and obtain the real-time cost of each path, where one grid unit is the incremental value of each planned path. For each additional grid unit in the path, the path accumulates the incremental cost corresponding to the grid unit. A first determining module 204 is configured to determine the path that first reaches the target grid cell as the first target path, and determine the cost value of the first target path as the preliminary cost value; The first judgment module 205 is configured to compare the current real-time value of the current path with the current reserve cost value to determine whether there is at least one currently remaining second target path whose current real-time value is less than the current reserve cost value; A third acquisition module 206 is configured to continue planning each of the currently remaining second target paths to obtain a current second target path, and obtain a real-time value of the current second target path after each planning update, until at least one current second target path that reaches the target grid is obtained; The second determination module 207 is configured to update the minimum real-time cost in at least one current second target path to the target grid as a preliminary cost value, and discard the path corresponding to the previous preliminary cost value until all paths are determined; The output module 208 is configured to output the path corresponding to the last reserved preliminary cost value as the optimal target path.
[0048] For the embodiment of the present application, preferably, the four-way shuttle path planning device 20 further includes: The second judgment module is used to judge whether there is an obstacle grid unit in the planned path.
[0049] For the embodiment of the present application, preferably, the four-way shuttle path planning device 20 further includes: The third judgment module judges whether there is any turnaround between adjacent grid cells in the planned path.
[0050] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the four-way shuttle path planning device 20 described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.
[0051] An electronic device is provided in an embodiment of the present application, such as Figure 4 As shown, Figure 4 The electronic device 30 shown includes a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, for example, via a bus 302. Optionally, the electronic device 30 may further include a transceiver 304. It should be noted that in actual applications, the number of transceivers 304 is not limited to one, and the structure of the electronic device 30 does not constitute a limitation on the embodiments of the present application.
[0052] Processor 301 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic device, transistor logic device, hardware component, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.
[0053] Bus 302 may include a path for transmitting information between the above components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. Bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Figure 4 Only one thick line is used in the diagram, but it does not mean that there is only one bus or one type of bus.
[0054] The memory 303 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.
[0055] The memory 303 is used to store application code for executing the solution of the present application, and the execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the above method embodiment.
[0056] Electronic devices include, but are not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. They may also include servers, etc. Figure 4 The electronic device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.
[0057] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer-readable storage medium is run on a computer, the computer can execute the corresponding contents of the aforementioned method embodiment.
[0058] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
[0059] The above description is only part of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.
Claims
1. A four-way shuttle path planning method, characterized in that: include: Step 101: Create a two-dimensional grid map based on the actual layout of each layer of the four-way shuttle vehicle stereoscopic warehouse, wherein the two-dimensional grid map includes main channel grid cells, cargo space grid cells, and obstacle grid cells; Step 102: obtaining a starting grid cell in the two-dimensional grid map based on the position of the four-way shuttle, and obtaining a target grid cell in the two-dimensional grid map based on the order information; Step 103: Plan multiple paths simultaneously and obtain the real-time cost of each path, where one grid unit represents the incremental value of each planned path. For each additional grid unit in the path, the path accumulates the incremental cost corresponding to the grid unit. Step 104: Determine the path that first reaches the target grid cell as the first target path, and determine the cost value of the first target path as the preliminary cost value; Step 105: Compare the current real-time value of the current path with the current reserve cost value to determine whether there is at least one currently remaining second target path whose current real-time value is less than the current reserve cost value; Step 106: If so, continue planning each of the remaining second target paths to obtain the current second target path, obtain the current real-time value of the current second target path after each planning update, and return to step 105 until at least one current second target path that reaches the target grid is obtained; Step 107: Update the minimum real-time cost in at least one current second target path to the target grid as the preliminary cost, discard the path corresponding to the previous preliminary cost, and return to step 105 until all paths are evaluated. Step 108: Output the path corresponding to the last reserved preliminary cost value as the optimal target path.
2. The method according to claim 1, wherein: The cost value corresponding to the grid cell of the path includes: The cost value R1 corresponding to the grid cell of the main channel; The cost value corresponding to the cargo grid unit is R2; The cost value corresponding to the turn when passing through the grid cell is R3, Among them, R1 <R2<R3。 3. The method according to claim 1, wherein: The step of determining the path that first reaches the target grid cell as the first target path, and determining the cost value of the first target path as the preliminary cost value includes: Acquire a plurality of preselected first target paths that first arrive at the target grid cell; Comparing the multiple cost values corresponding to the multiple pre-selected first target paths, and selecting the pre-selected first target path with the smallest cost value as the first target path; The cost value of the first target path is determined as a preliminary cost value.
4. The method according to claim 1, wherein Also includes: Determine whether there are obstacle grid cells in the planned path; If it exists, the planning of this path ends.
5. The method according to claim 4, characterized in that: The obstacle grid units include unfeasible grid units and cargo space grid units filled with cargo.
6. The method according to claim 1, characterized in that Also includes: Determine whether there is a return between adjacent grid cells in the planned path; If it exists, the planning of this path ends.
7. The method according to claim 1, wherein: The establishment of a two-dimensional grid map based on the actual layout of each layer of the four-way shuttle vehicle stereoscopic warehouse includes: Based on the shelf arrangement, aisle width and obstacle position of each layer of the four-way shuttle car stereoscopic warehouse, each layer of the four-way shuttle car stereoscopic warehouse is divided into multiple grid units, and each grid unit is assigned a unique coordinate.
8. A four-way shuttle path planning device, characterized in that: include: An establishment module is used to establish a two-dimensional grid map based on the actual layout of each layer of the four-way shuttle vehicle stereoscopic warehouse, wherein the two-dimensional grid map includes main channel grid units, cargo space grid units, and obstacle grid units; a first acquisition module, configured to acquire a starting grid cell in the two-dimensional grid map based on the position of the four-way shuttle vehicle, and to acquire a target grid cell in the two-dimensional grid map based on the order information; The second acquisition module is used to plan multiple paths simultaneously and obtain the real-time cost of each path, where one grid unit is the path increment value for each planning. For each additional grid unit in the path, the path accumulates the cost value corresponding to the grid unit. a first determining module, configured to determine a path that first reaches the target grid cell as a first target path, and determine a cost value of the first target path as a preliminary cost value; a first judgment module, configured to compare the current real-time value of the current path with the current reserve cost value, and to determine whether there is at least one currently remaining second target path whose current real-time value is less than the current reserve cost value; A third acquisition module is configured to continue planning each of the currently remaining second target paths to obtain a current second target path, and obtain a current real-time value of the current second target path after each planning update, until at least one current second target path that reaches the target grid is obtained; A second determining module is configured to update the minimum real-time cost value in at least one current second target path to the target grid as a preliminary cost value, and discard the path corresponding to the previous preliminary cost value; The output module is used to output the path corresponding to the final reserved preliminary cost value as the optimal target path.
9. An electronic device, characterized in that: include: at least one processor; Memory; At least one application, wherein the at least one application is stored in the memory and configured to be executed by the at least one processor, and the at least one application is used to execute the four-way shuttle path planning method according to any one of claims 1 to 7.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed in a computer, the computer is caused to execute the four-way shuttle path planning method according to any one of claims 1 to 7.