Path planning method and device, electronic equipment and computer readable storage medium

Abstract

The invention discloses a path planning method and device, electronic equipment and a computer readable storage medium, and the method comprises the steps: obtaining the communication related information of a plurality of first scheduling robots at a target position, the communication related information comprises equipment information of communication access equipment accessed by the first scheduling robot at the target position and corresponding communication index data, and the communication index data comprises signal strength, a signal-to-noise ratio, throughput and communication delay; the first scheduling robot is a scheduling robot which moves along the corresponding working path and passes through a target position, and the target position is any position area in the storage area; updating a communication access strategy of the target position according to the multiple pieces of communication related information; and planning a working path of a second scheduling robot according to the updated communication access strategy, wherein the second scheduling robot is a robot which does not complete the scheduling task. According to the invention, the stability and reliability of communication in the intelligent storage environment can be improved.

Description

Technical Field

[0001] This application relates to the field of intelligent scheduling technology, specifically to a path planning method, apparatus, electronic device, and computer-readable storage medium. Background Technology

[0002] In modern intelligent warehousing environments, the collaborative operation of warehousing robots and servers relies on stable wireless communication connections. The industry primarily expands signal coverage by increasing the number of communication access devices deployed, and then roams and switches between these devices based on signal strength during robot movement to ensure communication between the robot and the server at different locations. However, due to complex shelving layouts and dynamic changes in goods, warehousing environments face challenges such as multipath interference and uneven signal attenuation in communication links. Roaming mechanisms, relying solely on single signal strength for switching, struggle to adapt to the real-time fluctuations in communication capacity and bandwidth usage of access devices. This leads to situations where the robot connects to a communication access device but communication with the server is not actually normal. Existing solutions lack proactive detection and intelligent handling capabilities for communication link anomalies, failing to promptly avoid network failures and easily causing connection interruptions or data transmission anomalies between the robot and server. Summary of the Invention

[0003] This application provides a path planning method, apparatus, electronic device, and computer-readable storage medium to enable proactive detection and handling of communication link anomalies in a warehouse environment, thereby improving the stability and reliability of intelligent communication.

[0004] In a first aspect, embodiments of this application provide a path planning method applied to a scheduling server in a warehouse management system, the method comprising:

[0005] The communication-related information of multiple first scheduling robots at the target location is obtained. The communication-related information includes the device information of the communication access device that the first scheduling robot accesses at the target location and the corresponding communication index data. The communication index data includes signal strength, signal-to-noise ratio, throughput and communication delay. The first scheduling robot is the scheduling robot that has moved along the corresponding work path and passed through the target location. The target location is any location area within the warehouse area.

[0006] The communication access policy of the target location is updated based on multiple communication-related information.

[0007] The working path of the second scheduling robot is planned according to the updated communication access strategy. The second scheduling robot is the robot that has not completed the scheduling task.

[0008] In some embodiments of the first aspect above, updating the communication access policy of the target location based on a plurality of the communication-related information includes:

[0009] Based on multiple communication-related information, determine the communication indicator data corresponding to the multiple communication access devices that can be accessed at the target location;

[0010] The signal score of each communication access device at the target location is determined based on the communication index data of each of the communication access devices.

[0011] The communication access strategy for the target location is determined based on the signal scores of the multiple communication access devices at the target location.

[0012] In some embodiments of the first aspect above, determining the signal score of the communication access device at the target location based on the communication indicator data of each of the communication access devices includes:

[0013] Obtain the preset weight ratio;

[0014] The signal-to-noise ratio, throughput, and communication delay corresponding to each communication access device accessible at the target location are weighted and summed according to the preset weight ratio to obtain the signal score.

[0015] In some embodiments of the first aspect above, determining the communication access strategy for the target location based on the signal scores of the plurality of communication access devices at the target location includes:

[0016] The signal score and preset value of each communication access device accessible at the target location are compared respectively;

[0017] When the signal score of at least one of the multiple communication access devices accessible at the target location is greater than the preset value, the multiple communication access devices accessible at the target location are sorted according to the signal score, so as to update the communication access strategy of the target location to recommend accessible communication access devices to the second scheduling robot passing through the target location in descending order of signal score.

[0018] When the signal scores of multiple communication access devices accessible at the target location are all less than or equal to the preset value, the target location is marked as a signal blind spot, and the communication access policy of the target location is updated to indicate that there are no recommended communication access devices at the target location.

[0019] In some embodiments of the first aspect above, the step of sorting the plurality of communication access devices accessible at the target location based on the signal score includes:

[0020] If there are at least two communication access devices with the same signal score at the target location, then the at least two communication access devices with the same score are sorted from strongest to weakest according to the signal strength.

[0021] In some embodiments of the first aspect above, the step of planning the working path of the second scheduling robot according to the updated communication access policy includes:

[0022] When the target location is marked as a signal blind zone, the working path of the second scheduling robot is planned according to the target location so that the working path of the second scheduling robot does not pass through the target location;

[0023] Alternatively, when the target location is marked as a signal blind spot, the working path of the second scheduling robot is planned according to the target location, so that the working path of the second scheduling robot passes through the target location, and no communication or abnormal alarm is generated when traveling to the target location.

[0024] In some embodiments of the first aspect above, before marking the target location as a signal blind zone when the signal scores of all of the multiple communication access devices accessible at the target location are less than or equal to the preset value, the method further includes:

[0025] Determine whether the target location belongs to a historical blind spot;

[0026] When the target location belongs to the historical blind zone, an alternative path corresponding to the target location is obtained, and the alternative path is used to plan the working path of the second scheduling robot;

[0027] When the target location does not belong to the historical blind zone, the target location is marked as the signal blind zone.

[0028] In some embodiments of the first aspect above, marking the target location as a signal blind zone includes:

[0029] The target scheduling robot in the second scheduling robot is identified as having a configured working path and having an untraveled portion of the configured working path passing through the target location;

[0030] A verification command is sent to the target scheduling robot. The verification command is used to instruct the target scheduling robot to slow down and pass through the target location according to the configured working path, and to send detection information to the scheduling server when passing through, and to resume the original speed when receiving the response information for the detection information.

[0031] If the detection information is received within a preset time, the response information is sent to the target scheduling robot;

[0032] If the detection information is not received within a preset time, the target location will be marked as a signal blind zone.

[0033] In some embodiments of the first aspect above, after updating the communication access policy of the target location based on the plurality of communication-related information, the method further includes:

[0034] When the target location is marked as a signal dead zone, the load of at least one of the communication access devices accessible at the target location is adjusted, and a test command is sent to the third scheduling robot after adjustment. The test command is used to instruct the third scheduling robot to enter the target location for communication verification. The third scheduling robot is an idle robot, or the third scheduling robot is a second scheduling robot with a configured working path and the untraveled part of the configured working path passes through the target location.

[0035] If the communication verification is successful, the communication access policy for the target location will be updated again.

[0036] If communication verification fails, an error message will be output.

[0037] In some embodiments of the first aspect described above, obtaining communication-related information of the plurality of first scheduling robots at the target location includes:

[0038] Obtain the communication-related information corresponding to the first robot;

[0039] When a communication anomaly is determined based on the communication-related information of the first robot, a preset number of second robots within a preset distance range from the first robot are determined within the storage area. The first robot is any one of the plurality of first scheduling robots, and the second robots are other robots among the plurality of first scheduling robots excluding the first robot.

[0040] Send a verification command to the second robot, the verification command being used to instruct the second robot to proceed to the target location for communication verification;

[0041] Obtain the communication-related information uploaded by each of the second robots.

[0042] Secondly, embodiments of this application provide a path planning device applied to a scheduling server in a warehouse management system, the path planning device comprising:

[0043] The acquisition unit is used to acquire communication-related information of multiple first scheduling robots at the target location. The communication-related information includes device information of the communication access device accessed by the first scheduling robot at the target location and corresponding communication index data. The communication index data includes signal strength, signal-to-noise ratio, throughput and communication delay. The first scheduling robot is a scheduling robot that has moved along the corresponding work path and passed through the target location. The target location is any location area within the warehouse area.

[0044] A communication management unit is used to update the communication access policy of the target location based on multiple communication-related information.

[0045] The path planning unit is used to plan the working path of the second scheduling robot according to the updated communication access strategy. The second scheduling robot is a robot that has not completed its scheduling task.

[0046] Thirdly, embodiments of this application provide an electronic device including a processor, a memory, a communication interface, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor, the programs including instructions for performing the steps in the first aspect of embodiments of this application.

[0047] Fourthly, embodiments of this application provide a computer storage medium storing a computer program for electronic data interchange, wherein the computer program causes a computer to perform some or all of the steps described in the first aspect of this embodiment.

[0048] Fifthly, this application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in the first aspect of this application. The computer program product may be a software installation package.

[0049] As can be seen, in this application, the scheduling server obtains communication-related information of multiple first scheduling robots at the target location. The communication-related information includes device information of the communication access devices accessed by the first scheduling robots at the target location and corresponding communication indicator data, including signal strength, signal-to-noise ratio, throughput, and communication latency. The first scheduling robot is a scheduling robot that has moved along the corresponding work path and passed through the target location, which is any location area within the warehouse area. Then, the server updates the communication access strategy of the target location based on the multiple communication-related information. Finally, the server plans the work path of the second scheduling robot based on the updated communication access strategy. The second scheduling robot is a robot that has not completed its scheduling task. As can be seen, this application achieves accurate detection of the communication status at the target location based on data such as signal strength, signal-to-noise ratio, throughput, and communication latency from multiple communication-related information of the first scheduling robots at the target location. It dynamically updates the communication access policies of the communication access devices that can be accessed at the target location based on multiple communication-related information, and plans the working path of the second scheduling robot based on the updated communication access policies. This enables proactive detection of communication anomalies at the target location and allows for handling of communication anomalies in conjunction with path planning. This helps ensure the stability of communication for the second scheduling robot when it travels in the warehouse environment and improves the reliability of the warehouse management system in scheduling robots. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a schematic diagram of the architecture of a warehouse management system provided in an embodiment of this application;

[0052] Figure 2 This is a schematic diagram of the architecture of another warehouse management system provided in an embodiment of this application;

[0053] Figure 3 This is a schematic diagram illustrating an application scenario of a warehouse management system provided in an embodiment of this application;

[0054] Figure 4 This is a flowchart illustrating a path planning method provided in an embodiment of this application;

[0055] Figure 5 This is a schematic diagram illustrating an application scenario of a path planning method provided in an embodiment of this application;

[0056] Figure 6This is a flowchart of a path planning method provided in an embodiment of this application;

[0057] Figure 7 This is a block diagram of the functional units of a path planning device provided in an embodiment of this application;

[0058] Figure 8 This is a functional unit block diagram of another path planning device provided in the embodiments of this application;

[0059] Figure 9 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0060] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0061] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0062] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0063] In modern intelligent warehousing environments, the connection and control of warehousing robots with servers (such as Enterprise Storage Servers (ESS)) are primarily achieved through wireless communication, such as Wi-Fi and 5G signals. Due to factors like shelf obstructions and changes in goods, wireless signals experience complex and variable transmission characteristics, including multipath propagation and varying attenuation. Furthermore, the occasional malfunctions of communication access equipment deployed within the warehousing environment can further contribute to significant fluctuations in wireless communication.

[0064] Existing communication solutions address wireless communication fluctuations primarily by increasing the deployment of communication access devices to achieve signal coverage. This allows warehouse robots to switch between devices based on signal strength during movement, enabling communication across different locations. However, signal strength alone cannot fully represent the capacity and bandwidth usage of communication between the access devices and the server. These existing solutions lack anomaly detection mechanisms for the entire communication link, leading to issues such as robots failing to connect to the server or experiencing unstable communication even when connected. Furthermore, limitations in the deployment location and number of access devices result in weak signals in certain areas, causing connection losses and other problems when robots navigate through these areas. In other words, current communication solutions cannot fully meet the communication needs of warehouse robots, specifically in the following ways: 1) The roaming mechanism cannot cover fluctuations in communication access devices, resulting in inconsistent roaming results at different times and unstable communication performance. 2) Existing communication mechanisms cannot detect anomalies, nor can they mitigate or handle them. 3) The lack of unified scheduling and management means that if warehouse robots are densely gathered in areas with low signal coverage, there is a high possibility of a collective network outage.

[0065] To address the aforementioned problems, this application provides a path planning method, apparatus, electronic device, and computer-readable storage medium. In this application, the scheduling server acquires communication-related information of multiple first scheduling robots at a target location. This communication-related information includes device information of the communication access devices accessed by the first scheduling robots at the target location and corresponding communication indicator data, including signal strength, signal-to-noise ratio, throughput, and communication latency. The first scheduling robots are those that have moved along their corresponding work paths and passed through the target location, which is any location within the warehouse area. The server then updates the communication access strategy of the target location based on the multiple communication-related information. Finally, based on the updated communication access strategy, the server plans the work path of a second scheduling robot, which is a robot that has not yet completed its scheduling task. As can be seen, this application can accurately detect the communication status of the target location based on data such as signal strength, signal-to-noise ratio, throughput, and communication delay from multiple communication-related information of the first scheduling robots at the target location. It can also dynamically update the communication access strategy of the communication access devices that can be accessed at the target location based on multiple communication-related information, and plan the working path of the second scheduling robot according to the updated communication access strategy. This can enable proactive detection of communication anomalies at the target location, and can also handle communication anomalies in conjunction with path planning. This helps to ensure the communication stability of the second scheduling robot when it travels in the warehouse environment and improves the reliability of the warehouse management system in scheduling robots.

[0066] The embodiments of this application will now be described with reference to the accompanying drawings.

[0067] The technical solution of this application can be applied to, for example... Figure 1 The warehouse management system 10 shown includes a scheduling server 100, a communication access device cluster 200, and a robot cluster 300. The communication access device cluster 200 includes multiple communication access devices, such as a first communication access device, a second communication access device, ..., an Nth communication access device. Due to differences in transmission paths, the signal strength of the communication access devices varies at different locations; the signal strength of multiple communication access devices at the same location may or may not differ. The robot cluster 300 includes multiple robots, such as a first robot, a second robot, ..., an Mth robot. Any robot in the robot cluster 300 can connect to any communication access device in the communication access device cluster 200 to establish a communication connection with the scheduling server 100.

[0068] In this context, the communication access device represents the access point (AP) of the wireless communication network, such as a switch. For example, when a warehouse management system uses Wi-Fi for wireless communication, the communication access device is the access point for the robot's Wi-Fi signal.

[0069] The robot can move within the warehouse area to perform operations such as material handling, according to the scheduling server 100. The warehouse area refers to the area managed by the warehouse management system. Specifically, the scheduling server can generate a scheduling task to be processed for a single movement task of a single robot. The scheduling server 100 is used to plan the work path for the robot within the warehouse area, which is the movement path of the robot when performing the task.

[0070] In specific implementation, the scheduling server 100 refers to a remote computer used to process large amounts of computing tasks and store data. For example, the scheduling server 100 can be an outsourced server, cloud server, edge server, etc., without limitation. Alternatively, the scheduling server 100 can also be a server cluster. The robot is an automated robot such as an AGV (Automated Guided Vehicle) or AMR (Autonomous Mobile Robot). The types of robots include, but are not limited to, robots that walk on flat ground, robots that move along tracks, and robots that move by lifting. Specifically, the scheduling server 100 can send control commands to the robot through a communication access device to control the robot. The control commands are at least used to instruct the robot to move according to a planned path. After receiving the control commands, the robot can perform the corresponding operations. Furthermore, after each operation is completed according to the control commands of the scheduling server 100, the robot can send a notification to the scheduling server 100 through the communication access device to inform the scheduling server 100 that the operation has been completed, facilitating the scheduling server 100 to control the robot to perform other operations again.

[0071] See also Figure 1 and Figure 2In this application, a cluster of communication access devices, a cluster of robots, and location markers (such as QR codes or coordinate systems) are deployed within the warehouse area. The robots in the cluster are equipped with a communication data acquisition module, a location marker module, and a strategy execution module. The communication data acquisition module collects communication-related information. The location marker module identifies the location markers to perceive and obtain the robot's location information. The strategy execution module executes the work strategy issued by the scheduling server (such as moving along a planned work path and performing a goods retrieval action at the beginning of the path). The scheduling server includes at least a data aggregation module and a strategy generation module. The scheduling server can acquire and integrate data reported by the robots through the communication access devices via the data aggregation module. The strategy generation module can be combined with the data aggregation module to execute the following path planning method to plan the work path and actions of the second scheduled robot.

[0072] For example, see Figure 3 , Figure 3 This is a schematic diagram of an application scenario for a warehouse management system provided in an embodiment of this application. Figure 3 In the application scenario shown, location markers are deployed at multiple coordinate locations, and each location marker can be located within the signal coverage area of ​​at least one communication access device. For example... Figure 3 As shown, the scheduling server can connect to the first communication access device, the second communication access device, the third communication access device, ..., the Nth communication access device. The signal coverage area of ​​the first communication access device is region A (the area highlighted by the relatively denser dashed line in the figure), the signal coverage area of ​​the second communication access device is region B (the area highlighted by the relatively sparser dashed line in the figure), and region C is the shared signal coverage area of ​​the first and second communication access devices. That is, the communication access devices accessible at the coordinates corresponding to the location markers within region C include both the first and second communication access devices. The signal coverage areas of the third and Nth communication access devices are not shown in the figure.

[0073] Please see Figure 4 , Figure 4 This is a flowchart illustrating a path planning method provided in an embodiment of this application. This method can be applied to, for example... Figures 1 to 3 The scheduling server 100 in the warehouse management system shown is as follows: Figure 4 As shown, the path planning method includes:

[0074] Step S410: Obtain communication-related information of multiple first-scheduled robots at the target location.

[0075] The communication-related information includes device information and corresponding communication performance data of the communication access devices accessed by the first scheduling robot at the target location. The communication performance data includes signal strength, signal-to-noise ratio, throughput, and communication latency. The device information includes the MAC address of the communication access device actually accessed by the first scheduling robot, and a list of communication access devices adjacent to the actually accessed communication access device. The list of communication access devices may include information such as the MAC addresses of other communication access devices accessible at the target location.

[0076] Signal strength characterizes the strength of the signal used in communication between the robot and the communication access device. Signal-to-noise ratio (SNR) is the ratio of the power of the useful signal in a wireless signal to the power of the interfering background noise, reflecting the degree of noise interference during transmission. Throughput refers to the amount of effective data actually transmitted per unit time (e.g., per second) through the communication channel between the robot and the communication access device. Communication latency refers to the time interval from when data is sent from the sender (one of the robot and the communication access device) to when it is fully received by the receiver (the other of the robot and the communication access device).

[0077] The first scheduling robot is one that has moved along the corresponding work path and passed the target location. The first scheduling robot is a robot within the aforementioned robot group. When the first scheduling robot moves along the work path to perform the scheduling task, it can sense and acquire position information at different points during its movement, and determine the corresponding communication-related information based on the communication access devices connected to those different points.

[0078] The target location can be any location within the warehouse area. It can be a single point within the warehouse area, i.e., the location corresponding to a location marker. Alternatively, the target location can be a range of areas, in which case it refers to multiple points that can access the same communication access device. The target location can be determined by the first scheduling robot recognizing location markers as it travels along the work path.

[0079] In practical implementation, the scheduling server can periodically obtain communication-related information for each location within the storage area, and determine each location or its corresponding area as the target location and execute this method. Alternatively, when the scheduling server detects a change in the recommended order of communication access devices available at a location (e.g., a location being connected to a different communication access device than recommended), or detects a communication anomaly, it can determine that location or its corresponding area as the target location and execute this method. Or, when the scheduling server detects that the communication-related information for multiple communication access devices available at a location has been updated, it can determine that location or its corresponding area as the target location and execute this method. This helps ensure the stability of the scheduling server's communication access strategy updates and iterations.

[0080] Taking the detection of a communication anomaly by the scheduling server as an example, in one possible example, obtaining communication-related information of multiple first scheduling robots at the target location includes: obtaining the communication-related information corresponding to the first robot; when a communication anomaly is determined based on the communication-related information of the first robot, determining a preset number of second robots within a preset distance range from the first robot in the storage area, wherein the first robot is any one of the multiple first scheduling robots, and the second robots are other robots among the multiple first scheduling robots excluding the first robot; sending a verification instruction to the second robot, the verification instruction being used to instruct the second robot to go to the target location for communication verification; and obtaining the communication-related information uploaded by each second robot.

[0081] Both the first robot and the second robot are first scheduling robots.

[0082] Specifically, in this embodiment, when a communication exception event occurs during the call, the communication-related information may also include communication verification information, which is used to verify the communication status.

[0083] In practice, when the first robot is moving to the target location, it can report the corresponding communication-related information to the scheduling server. The scheduling server can first detect whether a communication anomaly has occurred at the target location based on the communication-related information of the first robot. If it is determined that a communication anomaly has occurred at the target location based on the communication-related information of the first robot, the scheduling system can send a verification command to the second robot, which is near the first robot, to go to the target location to perform communication verification. This will obtain the communication-related information of the second robot at the target location. By combining the communication-related information of the first robot and the second robot respectively, the following steps S420 and S430 can be executed to accurately detect whether a communication anomaly has actually occurred at the target location, and to take appropriate measures when a communication anomaly occurs.

[0084] The second robot refers to a robot within the storage area that is within a preset distance from the first robot. Specifically, the second robot can be any robot within the storage area that is closest to the first robot. Alternatively, the second robot can be one of several idle robots within the storage area that is within a preset distance from the first robot. Or, the second robot can also be one of several robots within the storage area that will pass through the target location that is within a preset distance from the first robot.

[0085] In specific implementation, the scheduling server schedules a preset number of second robots to go to the target location for communication verification, which is greater than or equal to one. Specifically, in this embodiment, a communication anomaly at the target location can be determined when each second robot confirms a communication anomaly through communication verification. Alternatively, in this embodiment, a communication anomaly at the target location can be determined when the proportion of the number of first and second robots confirming communication anomalies exceeds a preset proportion. For example, if the proportion of the number of first and second robots confirming communication anomalies exceeds two-thirds of the total number of first robots and all second robots performing communication verification, then a communication anomaly at the target location is determined.

[0086] As can be seen, in this example, by further scheduling the second robot to the target location to perform communication verification when a communication anomaly is determined based on the communication-related information of the first robot, collaborative verification of communication anomalies can be achieved, thereby improving the accuracy of communication anomaly detection.

[0087] Step S420: Update the communication access policy of the target location based on multiple communication-related information.

[0088] Among them, multiple communication-related information refers to at least one communication-related information corresponding to each communication access device among the communication access devices that can be accessed at the target location.

[0089] Step S430: Plan the working path of the second scheduling robot according to the updated communication access strategy.

[0090] The second scheduling robot is a robot that has not completed its scheduling task. The second scheduling robot is a robot within the aforementioned robot cluster. The second scheduling robot can be a robot with a configured work path and having executed part of that path; alternatively, the second scheduling robot can be a robot with a newly assigned task for which a path has not yet been planned. There is at least one second scheduling robot; when there are multiple second scheduling robots, at least one of the above-mentioned scenarios may be included.

[0091] Specifically, the working path of the second scheduling robot planned according to the updated communication access strategy may or may not pass through the target location. When the second scheduling robot does not pass through the target location, it can directly maintain communication with the scheduling server by accessing the corresponding communication access device at another location to ensure communication stability. When the second scheduling robot passes through the target location, an exception handling method can be configured in advance to prevent the second scheduling robot from communicating with the scheduling server or issuing a communication exception alarm when passing through the target location, thus ensuring the stable operation of the scheduling server. For example, for a second scheduling robot with a configured working path that passes through the target location, the configured working path can be maintained, allowing the second scheduling robot to still pass through the target location. For a second scheduling robot without a configured working path, the target location is identified as an obstacle location, and a working path is planned to avoid the target location.

[0092] In this application, the scheduling server obtains communication-related information of multiple first scheduling robots at the target location. This communication-related information includes device information of the communication access devices accessed by the first scheduling robots at the target location and corresponding communication indicator data, including signal strength, signal-to-noise ratio, throughput, and communication latency. The first scheduling robots are those that have moved along the corresponding work path and passed through the target location, which is any location area within the warehouse area. The server then updates the communication access strategy of the target location based on the multiple communication-related information. Finally, the server plans the work path of the second scheduling robot based on the updated communication access strategy. The second scheduling robot is the robot that has not completed its scheduling task. As can be seen, this application can accurately detect the communication status of the target location based on data such as signal strength, signal-to-noise ratio, throughput, and communication delay from multiple communication-related information of the first scheduling robots at the target location. It can also dynamically update the communication access strategy of the communication access devices that can be accessed at the target location based on multiple communication-related information, and plan the working path of the second scheduling robot according to the updated communication access strategy. This can enable proactive detection of communication anomalies at the target location, and can also handle communication anomalies in conjunction with path planning. This helps to ensure the communication stability of the second scheduling robot when it travels in the warehouse environment and improves the reliability of the warehouse management system in scheduling robots.

[0093] In one possible example, updating the communication access policy of the target location based on multiple communication-related information includes: determining communication indicator data corresponding to multiple communication access devices accessible at the target location based on the multiple communication-related information; determining the signal score of each communication access device at the target location based on the communication indicator data of each communication access device; and determining the communication access policy of the target location based on the signal scores of the multiple communication access devices at the target location.

[0094] The signal score is used to evaluate the communication performance of the communication access device at the target location; the higher the signal score, the better the communication performance.

[0095] In a specific implementation, determining the communication indicator data corresponding to the multiple communication access devices that can be accessed at the target location based on multiple communication-related information can refer to extracting at least one communication indicator data corresponding to each accessible communication access device from multiple communication-related information.

[0096] Specifically, when there are multiple communication indicator data corresponding to a single communication access device, such as when acquiring communication-related data periodically, multiple scheduling robots may access a certain communication access device within a preset time. In this case, when determining the signal score of the communication access device at the target location based on the communication indicator data of each communication access device, the average value of each indicator data among the multiple communication indicator data can be determined first, and then the signal score of the communication access device at the target location can be determined based on the average value of each indicator data. For example, if the communication latency indicator data among the multiple communication indicator data corresponding to a certain communication access device includes 28ms, 30ms, and 32ms, then the average value of 30ms can be determined as the communication latency indicator data of the communication access device at the target location. The signal score can be determined by comprehensively considering this communication latency indicator data and other indicator data to improve data reliability and reduce the impact of occasional abnormal data.

[0097] Alternatively, specifically, when there are multiple communication indicator data corresponding to a single communication access device, the corresponding signal score can be determined based on the communication indicator data that is closest to the current time among the multiple communication indicator data, so as to ensure the real-time performance and reliability of the data.

[0098] As can be seen, in this example, the signal score of the communication access device at the target location is determined based on the communication index data of each of the communication access devices that can be accessed at the target location. Then, the communication access strategy is dynamically updated based on the signal scores of the multiple accessable communication devices. This is beneficial for evaluating based on the actual communication situation and can proactively identify communication anomalies.

[0099] In one possible example, determining the signal score of the communication access device at the target location based on the communication indicator data of each of the communication access devices includes: obtaining a preset weight ratio; and performing a weighted summation of the signal-to-noise ratio, throughput, and communication delay corresponding to each of the communication access devices accessible at the target location based on the preset weight ratio to obtain the signal score.

[0100] In specific implementation, the following operations can be performed for each communication access device accessible at the target location: Determine the weight percentage corresponding to each indicator data in the communication indicator data according to a preset weight ratio; multiply the value corresponding to each indicator data by its corresponding weight percentage; and then sum the products of all indicator data to obtain the signal score of the communication access device at the target access location. The value of the indicator data can be the average of multiple values ​​corresponding to the aforementioned indicator data, or the value of the communication indicator data closest to the current time among multiple values. For example, the weight percentages corresponding to signal-to-noise ratio, throughput, and communication delay can be set to 0.6, 0.3, and 0.1, respectively. In this case, the signal score calculation formula is: Signal Score = 0.6 * (Signal-to-Noise Ratio / 30) + 0.3 * (1 - Packet Loss Rate) + 0.1 * (1 - Communication Delay / 100), where 1 - Packet Loss Rate is used to characterize the proportion of throughput.

[0101] As can be seen, in this example, the signal score is obtained by weighting and summing the signal-to-noise ratio, throughput, and communication delay corresponding to each communication access device according to the preset weight ratio. This enables an accurate evaluation and detection of the actual communication performance by combining multiple data such as signal-to-noise ratio, throughput, and communication delay, which is beneficial to improving the accuracy and reliability of signal detection.

[0102] In one possible example, determining the communication access strategy for the target location based on the signal scores of multiple communication access devices at the target location includes: comparing the signal score of each communication access device accessible at the target location with a preset value; when the signal score of at least one of the multiple communication access devices accessible at the target location is greater than the preset value, sorting the multiple communication access devices accessible at the target location according to the signal score, so as to update the communication access strategy for the target location to recommend accessible communication access devices to a second scheduling robot passing through the target location in descending order of signal score; when the signal scores of all multiple communication access devices accessible at the target location are less than or equal to the preset value, marking the target location as a signal blind spot, and updating the communication access strategy for the target location to no recommended communication access devices at the target location.

[0103] The preset value is used to evaluate the communication performance of the communication access device. Specifically, if the signal score of the communication access device is higher than the preset value, it indicates that the communication performance of the communication access device at the target location meets the communication requirements. If the communication score of the communication access device is less than or equal to the preset value, it indicates that the communication performance of the communication access device at the target location does not meet the communication requirements.

[0104] In practical implementation, if at least one of the multiple communication access devices accessible at the target location has a signal score greater than a preset value, it indicates that there is at least one available communication access device at the target location. When multiple communication access devices have signal scores greater than the preset value, the communication access strategy can be updated to sort these devices according to their signal scores from highest to lowest to generate a communication access recommendation table. When the second scheduling robot passes through the target location, it can access the communication access device with the highest signal score according to this recommendation table to achieve high-quality communication. Alternatively, the communication access strategy can also be updated to sort all accessible communication devices according to their signal scores from highest to lowest to generate a communication access recommendation table, and when the second scheduling robot passes through the target location, it can access the communication access device with the highest signal score according to this recommendation table to achieve high-quality communication.

[0105] Specifically, if among multiple communication access devices with signal scores greater than a preset value, at least two communication access devices have the same signal score, then the at least two communication access devices can be further sorted from strongest to weakest according to signal strength, thereby achieving the sorting of communication access devices with the same signal score, so as to further optimize the accuracy of the recommended content.

[0106] Specifically, when the signal score of at least one communication access device is greater than a preset value, the path planned for the second scheduling robot can pass through the target location normally and can ensure stable communication.

[0107] In practical implementation, if multiple communication access devices exist at the target location, but the signal scores of all of these devices are less than a preset value, the target location can be marked as a signal blind spot, and the communication access strategy for the target location can be updated to include no recommended communication access devices. In this case, a path can be planned for the second scheduling robot based on the signal blind spot. It is understood that the target location can also be marked as a signal blind spot when no communication access devices are available. For example, see [link to relevant documentation] Figure 3 and Figure 5 Signal blind spots can be addressed by... Figure 5 The dark-colored location marker indicates the position.

[0108] In one possible example, planning the working path of the second scheduling robot according to the updated communication access policy includes: when the target location is marked as a signal blind spot, planning the working path of the second scheduling robot according to the target location so that the working path of the second scheduling robot does not pass through the target location.

[0109] In practical implementation, when a target location is marked as a signal blind spot, this blind spot can be designated as a temporary obstacle. An avoidance path can then be generated for the second scheduling robot to avoid this blind spot, ensuring its work path does not pass through the target location. This allows the scheduling system to better plan the robot's path, prevents communication failures from spreading to the second scheduling robot, and guarantees stable communication for it. For example, for a second scheduling robot with a configured work path that will pass through the target location, its work path can be updated to prevent it from passing through the target location again. Alternatively, for a second scheduling robot without a configured work path, a work path that does not pass through the target location can be directly planned and generated.

[0110] Alternatively, in one possible example, when the target location is marked as a signal blind spot, the working path of the second scheduling robot is planned according to the target location so that the working path of the second scheduling robot passes through the target location and does not communicate or issue any abnormal alarms when traveling to the target location.

[0111] In practical implementation, for a second dispatch robot with a configured work path that will pass through the target location, the configured work path can be maintained, allowing the second dispatch robot to still pass through the target location. At this time, since the target location is marked as a signal blind spot, to avoid abnormal alarms from the dispatch server or the second dispatch robot, before the second dispatch robot enters the target location, the dispatch server can send an abnormal handling instruction to the second dispatch robot. This instruction can be: instructing the second dispatch robot not to connect to the communication access device when passing through the target location; or instructing the second dispatch robot to connect to the communication access device at the target location but not to communicate with the dispatch server; or instructing the second dispatch robot not to issue an abnormal alarm if communication with the dispatch server is abnormal at the target location. For a second dispatch robot without a configured work path, a work path through the target location can also be planned according to the above strategy. Alternatively, the planned path for a second dispatch robot without a configured work path can directly avoid the target location to reduce the probability of accidents and improve the safety of warehouse operations.

[0112] As can be seen in this example, by comparing the signal score and preset value corresponding to each communication access device, it is possible to identify whether there is an available communication access device at the target location. This allows for different signal access strategies to be obtained based on different situations, thereby improving the accuracy and reliability of the scheduling server.

[0113] In one possible example, the step of planning the working path of the second scheduling robot according to the updated communication access strategy includes: when the signal scores of multiple communication access devices accessible at the target location are all less than or equal to a preset value, determining whether the target location belongs to a historical blind zone, and when the target location belongs to the historical blind zone, planning the working path of the second scheduling robot according to the backup path corresponding to the target location.

[0114] Historical blind spots refer to locations that were previously marked as signal blind spots but have since regained communication through communication adjustments or equipment repairs. Alternative paths refer to obstacle avoidance paths taken when a target location is marked as a historical blind spot.

[0115] In practice, multiple backup paths can be stored. When it is determined that the target location belongs to the historical blind zone, it can be determined whether there is a backup path among the multiple backup paths that has the same starting point and target point as the second scheduling robot. If so, the backup path is planned as the working path of the second scheduling robot.

[0116] Specifically, the backup path can be a complete path from the task start point to the task end point. In this case, the backup path can be used to plan the path of a second scheduling robot that has not been configured with a work path. Alternatively, the backup path can be a partial path from the task start point to the task end point. In this case, the backup path can be used to plan the path of a second scheduling robot that has a configured work path and whose untraveled portion of the configured work path passes through the target location.

[0117] As can be seen in this example, when the target location is a historical blind spot, if the signal scores of multiple communication access devices that can be accessed at the target location are all less than or equal to the preset value, it indicates that the probability of communication anomalies at the target location is relatively high. In this case, directly planning the working path of the second scheduling robot based on the backup path is beneficial to effectively avoid risks while improving path planning efficiency.

[0118] In one possible example, when the target location is not within the historical blind zone, marking the target location as a signal blind zone includes: identifying a target scheduling robot in the second scheduling robot whose configured work path has an untraveled portion passing through the target location; sending a verification instruction to the target scheduling robot, the verification instruction instructing the target scheduling robot to slow down its passage within the target location according to the configured work path, and to send detection information to the scheduling server while passing through, and to resume its original speed upon receiving a response to the detection information; if the detection information is received within a preset time, then sending the response information to the target scheduling robot; if the detection information is not received within the preset time, then marking the target location as a signal blind zone.

[0119] The probe information can be a probe data packet. The response information can be an acknowledgment character (ACK) for the probe data packet.

[0120] In practice, if the target location is not a historical blind zone, it indicates that the target location may be a new communication anomaly location. Alternatively, if the signal scores of multiple communication access devices accessible at the target location are all less than or equal to the preset value, the scheduling server can dispatch the target scheduling robot to the target location, access the communication access device at the target location, and send probe information to the scheduling server through the communication access device. The time for the target scheduling robot to send probe information is set by the scheduling server. Based on the time of probe information transmission, the scheduling server should receive the probe information within the first time and should send the corresponding response information to the target scheduling robot within the second time. The sum of the first time and the second time equals the preset time. If the target scheduling robot does not receive the response information within the preset time, it indicates that the communication between the target scheduling robot and the scheduling server at the target location is abnormal. Combined with the communication score, the target location can be marked as a signal blind zone to ensure the accuracy of the identification. If the target scheduling robot receives the response information within the preset time, it indicates that the actual communication between the target scheduling robot and the scheduling server at the target location is normal. In this case, the target location does not need to be marked as a signal blind zone to ensure the accuracy of the identification. In this scenario, the communication access device that the target scheduling robot connects to at the target location can be the one with the highest signal score among multiple accessible communication access devices. Alternatively, the target scheduling robot can connect to each accessible communication access device separately and perform anomaly checks by sending probe information to the scheduling server to determine whether a communication anomaly has actually occurred at the target location.

[0121] In practice, after entering the target location, the target scheduling robot can reduce its speed to ensure safe movement and prevent accidents caused by untimely scheduling due to communication anomalies. If the target scheduling robot receives a response within a preset time, its speed can be restored to allow for normal operation, improving task execution efficiency while ensuring safety. Alternatively, if the target scheduling robot does not receive a response within the preset time, its speed can be restored only after it has left the target location, ensuring its safety while moving within the target area.

[0122] In practice, the scheduling server can dispatch all target scheduling robots to the target location for verification, or it can dispatch some target scheduling robots to the target location for verification. The specific settings can be configured according to requirements, and no further restrictions are imposed here.

[0123] As can be seen, in this example, sending a verification command to the target scheduling robot verifies whether a communication anomaly has actually occurred at the target location by checking the communication status between the target scheduling robot and the scheduling server at the target location. This helps improve the accuracy of communication anomaly identification. Simultaneously, invoking the target scheduling robot for verification also facilitates the task execution of the target scheduling robot, avoiding the invocation of other robots and reducing resource waste.

[0124] See Figure 6 In a specific example, if the scheduling server detects that the signal score of each accessible communication device at the target location is greater than a preset value (e.g., 0.7), the second scheduling robot can continue its normal passage at the target location. If the scheduling server detects that the signal score of each accessible communication device at the target location is less than or equal to the preset value (e.g., 0.7), it can first determine whether the target location is a historical blind spot. If it is, the working path of the second scheduling robot can be planned according to the backup path. If it is not a historical blind spot, a target scheduling robot (e.g., the target scheduling robot closest to the target location) can be scheduled to go to the target location and slow down at the target location (e.g., from 0.6 m / s to 0.3 m / s). Furthermore, while at the target location, the target scheduling robot can access the communication device and send probe information to the scheduling server through the communication device. If the target scheduling robot receives the corresponding response information within a preset time, it can resume its original speed (e.g., 0.6 m / s) and continue moving. If the target scheduling robot does not receive the corresponding response information within the preset time, the target location can be marked as a signal blind spot.

[0125] In one possible example, after updating the communication access policy of the target location based on multiple communication-related information, the method further includes: when the target location is marked as a signal dead zone, adjusting the load of at least one of the communication access devices accessible at the target location, and after adjustment sending a test instruction to a third scheduling robot, the test instruction being used to instruct the third scheduling robot to enter the target location for communication verification, the third scheduling robot being an idle robot, or the third scheduling robot being a second scheduling robot with a configured working path and the untraveled portion of the configured working path passing through the target location; if the communication verification passes, then updating the communication access policy of the target location again; if the communication verification fails, then outputting a fault prompt message.

[0126] In practice, when a target location is marked as a signal blind spot, the communication performance of the communication access devices can be improved by adjusting the load capacity of the communication access devices. After adjusting the load capacity, a third dispatch robot can be called to the target location and perform communication verification by sending probe information and receiving corresponding response information while traveling there. If the third dispatch robot receives a response information within a preset time, it indicates that the communication verification is successful, demonstrating that the communication performance has been improved by adjusting the load capacity. At this point, the communication access strategy for the target location can be updated again to eliminate the signal blind spot marker and restore normal passage. If the third dispatch robot does not receive a response information within a preset time, it indicates that the communication verification has failed. In this case, a fault prompt message can be sent to the management terminal or other devices to output the fault prompt message. The fault prompt message can be represented in the form of a fault repair work order, which includes the coordinates of the target location to inform maintenance personnel of the location of the communication anomaly so that they can proceed to the repair site.

[0127] Specifically, if the working path of the second scheduled robot, planned according to the updated communication access strategy, avoids the target location, then the idle robot can be designated as the third scheduled robot to complete communication verification without affecting the operation of other robots. If there is a second scheduled robot whose working path does not avoid the target location, then the second scheduled robot that passes through the target location can be designated as the third scheduled robot to promote the task execution of the third scheduled robot while reducing resource waste.

[0128] As can be seen in this example, after the target location is marked as a signal dead zone, the communication performance at the target location can be improved by adjusting the load of the communication access devices. After adjusting the load of the communication access devices, further calling a third dispatch robot to the target location to verify the communication performance is beneficial to identifying whether the communication performance improvement measure of adjusting the load is effective. If effective, it can provide recovery efficiency; if ineffective, it can promptly inform maintenance personnel of the communication anomaly.

[0129] This application can divide the scheduling server into functional units based on the above method examples. For example, each function can be divided into its own functional unit, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0130] For embodiments consistent with those shown above, please refer to... Figure 7 , Figure 7 This is a functional unit block diagram of a path planning device provided in an embodiment of this application. The path planning device is a scheduling server or a part of a scheduling server. The path planning device 70 includes:

[0131] The acquisition unit 710 is used to acquire communication-related information of multiple first scheduling robots at the target location. The communication-related information includes device information of the communication access device accessed by the first scheduling robot at the target location and corresponding communication index data. The communication index data includes signal strength, signal-to-noise ratio, throughput and communication delay. The first scheduling robot is a scheduling robot that has moved along the corresponding work path and passed through the target location. The target location is any location area within the warehouse area.

[0132] The communication management unit 720 is used to update the communication access policy of the target location based on multiple communication-related information.

[0133] The path planning unit 730 is used to plan the working path of the second scheduling robot according to the updated communication access strategy. The second scheduling robot is a robot that has not completed its scheduling task.

[0134] In one possible example, regarding updating the communication access policy of the target location based on multiple communication-related information, the communication management unit 720 is specifically configured to: determine the communication indicator data corresponding to multiple communication access devices accessible at the target location based on the multiple communication-related information; determine the signal score of each communication access device at the target location based on the communication indicator data of each communication access device; and determine the communication access policy of the target location based on the signal scores of the multiple communication access devices at the target location.

[0135] In one possible example, in determining the signal score of the communication access device at the target location based on the communication index data of each of the communication access devices, the communication management unit 720 is further configured to: obtain a preset weight ratio; and perform a weighted summation of the signal-to-noise ratio, throughput, and communication delay corresponding to each of the communication access devices accessible at the target location based on the preset weight ratio to obtain the signal score.

[0136] In one possible example, in determining the communication access strategy for the target location based on the signal scores of the plurality of communication access devices at the target location, the communication management unit 720 is further configured to: compare the signal score of each of the communication access devices accessible at the target location with a preset value; when the signal score of at least one of the plurality of communication access devices accessible at the target location is greater than the preset value, sort the plurality of communication access devices accessible at the target location according to the signal score, so as to update the communication access strategy for the target location to recommend accessible communication access devices to the second scheduling robot passing through the target location in descending order of signal score; when the signal scores of the plurality of communication access devices accessible at the target location are all less than or equal to the preset value, mark the target location as a signal blind spot, and update the communication access strategy for the target location to no recommended communication access devices at the target location.

[0137] In one possible example, in ordering the plurality of communication access devices accessible at the target location according to the signal score, the communication management unit 720 is further configured to: when there are at least two communication access devices with the same signal score at the target location, sort the at least two communication access devices with the same signal score from strong to weak according to the signal strength.

[0138] In one possible example, regarding the planning of the working path of the second scheduling robot according to the updated communication access policy, the path planning unit 730 is specifically configured to: when the target location is marked as a signal blind spot, plan the working path of the second scheduling robot according to the target location so that the working path of the second scheduling robot does not pass through the target location; or, when the target location is marked as a signal blind spot, plan the working path of the second scheduling robot according to the target location so that the working path of the second scheduling robot passes through the target location, and does not communicate or issue an abnormal alarm when traveling to the target location.

[0139] In one possible example, when the signal scores of multiple communication access devices accessible at the target location are all less than or equal to the preset value, the communication management unit 720 is further configured to: determine whether the target location belongs to a historical blind zone before marking the target location as a signal blind zone; if the target location belongs to the historical blind zone, obtain an alternative path corresponding to the target location, the alternative path being used to plan the working path of the second scheduling robot; and if the target location does not belong to the historical blind zone, mark the target location as the signal blind zone.

[0140] In one possible example, regarding marking the target location as a signal blind spot, the communication management unit 720 is further configured to: determine a target scheduling robot in the second scheduling robot whose configured working path has an untraveled portion passing through the target location; send a verification instruction to the target scheduling robot, the verification instruction instructing the target scheduling robot to slow down its passage within the target location according to the configured working path, and to send detection information to the scheduling server while passing through, and to resume its original speed upon receiving a response information for the detection information; if the detection information is received within a preset time, send the response information to the target scheduling robot; if the detection information is not received within the preset time, mark the target location as a signal blind spot.

[0141] In one possible example, the path planning device further includes a processing unit configured to, after updating the communication access policy of the target location based on multiple communication-related information, adjust the load of at least one communication access device accessible at the target location when the target location is marked as a signal dead zone, and after adjustment send a test instruction to a third scheduling robot, the test instruction instructing the third scheduling robot to enter the target location for communication verification, the third scheduling robot being an idle robot, or the third scheduling robot being a second scheduling robot with a configured working path and an untraveled portion of the configured working path passing through the target location; if the communication verification passes, the communication access policy of the target location is updated again; if the communication verification fails, a fault message is output.

[0142] In one possible example, regarding the acquisition of communication-related information of multiple first-scheduled robots at a target location, the acquisition unit 710 is specifically configured to: acquire the communication-related information corresponding to the first robot; when a communication anomaly is determined based on the communication-related information of the first robot, determine a preset number of second robots within a preset distance range from the first robot in the storage area, wherein the first robot is any one of the multiple first-scheduled robots, and the second robots are other robots among the multiple first-scheduled robots besides the first robot; send a verification instruction to the second robot, the verification instruction being used to instruct the second robot to proceed to the target location for communication verification; and acquire the communication-related information uploaded by each second robot.

[0143] It is understood that since the method embodiments and the device embodiments are different presentations of the same technical concept, the content of the method embodiment section in this application should be adapted to the device embodiment section in a synchronous manner, and will not be repeated here.

[0144] In the case of using integrated units, the functional unit composition block diagram of another path planning device provided in this application embodiment is as follows: Figure 8 As shown. In Figure 8 In this document, the route planning device 70 includes a processing module 820 and a communication module 810. The processing module 820 controls and manages the operations of the route planning device 70, for example, the steps performed by the acquisition unit 710, the communication management unit 720, and the route planning unit 730, and / or other processes for performing the techniques described herein. The communication module 810 supports interaction between the route planning device 70 and other devices. Figure 8 As shown, the path planning device 70 may further include a storage module 830, which is used to store the program code and data of the path planning device 70.

[0145] The processing module 820 can be a processor or controller, such as a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the embodiments of this application. The processor 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. The communication module 810 can be a transceiver, RF circuitry, or a communication interface, etc. The storage module 830 can be a memory.

[0146] All relevant content in each scenario involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here. The above path planning device 70 can execute the above... Figure 4 The path planning method shown.

[0147] Figure 9 This is a structural block diagram of an electronic device provided in an embodiment of this application. Figure 9 As shown, the electronic device 900 can be a scheduling server or a robot in the aforementioned warehouse management system. This electronic device may include a processor 910, a memory 920, a communication interface 930, and one or more programs 921. The processor 910, memory 920, and communication interface 930 are interconnected and perform communication with each other. The one or more programs 921 are stored in the memory 920 and configured to be executed by the processor 910. The one or more programs 921 include instructions for performing any step in the above method embodiments.

[0148] The communication interface 930 is used to support communication between the electronic device 900 and other devices. The processor 910 may be, for example, a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logic blocks, units, and circuits described in conjunction with the embodiments of this application. The processor may 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.

[0149] The memory 920 can be volatile memory or non-volatile memory, or may include both. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SynchLink DRAM, SLDRAM), and direct memory bus RAM (DRRAM).

[0150] In a specific implementation, the processor 910 is used to execute any step in the above method embodiments, and when performing data transmission such as sending, it can choose to call the communication interface 930 to complete the corresponding operation.

[0151] It should be noted that the above-mentioned schematic diagram of the electronic device 900 is only an example, and the actual number of components included may be more or less, and no single limitation is made here.

[0152] This application can divide electronic devices into functional units based on the above method examples. For example, each function can be divided into its own functional unit, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0153] This application also provides a computer-readable storage medium storing a computer program for electronic data interchange, which causes a computer to perform some or all of the steps of any of the methods described in the above method embodiments, wherein the computer includes a scheduling server.

[0154] This application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the path planning methods described in the above method embodiments. The computer program product can be a software installation package.

[0155] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0156] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0157] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0158] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0159] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0160] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0161] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage device, which may include flash drives, ROM, RAM, magnetic disks, or optical disks, etc.

[0162] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A path planning method, characterized in that, The method, applied to a scheduling server in a warehouse management system, includes: The communication-related information of multiple first scheduling robots at the target location is obtained. The communication-related information includes the device information of the communication access device that the first scheduling robot accesses at the target location and the corresponding communication index data. The communication index data includes signal strength, signal-to-noise ratio, throughput and communication delay. The first scheduling robot is the scheduling robot that has moved along the corresponding work path and passed through the target location. The target location is any location area within the warehouse area. The communication access policy of the target location is updated based on multiple communication-related information. The working path of the second scheduling robot is planned according to the updated communication access strategy. The second scheduling robot is the robot that has not completed the scheduling task.

2. The method according to claim 1, characterized in that, The step of updating the communication access policy of the target location based on multiple communication-related information includes: Based on multiple communication-related information, determine the communication indicator data corresponding to the multiple communication access devices that can be accessed at the target location; The signal score of each communication access device at the target location is determined based on the communication index data of each of the communication access devices. The communication access strategy for the target location is determined based on the signal scores of the multiple communication access devices at the target location.

3. The method according to claim 2, characterized in that, Determining the signal score of the communication access device at the target location based on the communication index data of each of the communication access devices includes: Obtain the preset weight ratio; The signal-to-noise ratio, throughput, and communication delay corresponding to each communication access device accessible at the target location are weighted and summed according to the preset weight ratio to obtain the signal score.

4. The method according to claim 2, characterized in that, The step of determining the communication access strategy for the target location based on the signal scores of multiple communication access devices at the target location includes: The signal score and preset value of each communication access device accessible at the target location are compared respectively; When the signal score of at least one of the multiple communication access devices accessible at the target location is greater than the preset value, the multiple communication access devices accessible at the target location are sorted according to the signal score, so as to update the communication access strategy of the target location to recommend accessible communication access devices to the second scheduling robot passing through the target location in descending order of signal score. When the signal scores of multiple communication access devices accessible at the target location are all less than or equal to the preset value, the target location is marked as a signal blind spot, and the communication access policy of the target location is updated to indicate that there are no recommended communication access devices at the target location.

5. The method according to claim 4, characterized in that, The step of sorting the multiple communication access devices accessible at the target location based on the signal score includes: If there are at least two communication access devices with the same signal score at the target location, then the at least two communication access devices with the same signal score are sorted from strongest to weakest according to the signal strength.

6. The method according to claim 4, characterized in that, The step of planning the working path of the second scheduling robot according to the updated communication access strategy includes: When the target location is marked as a signal blind zone, the working path of the second scheduling robot is planned according to the target location so that the working path of the second scheduling robot does not pass through the target location; Alternatively, when the target location is marked as a signal blind spot, the working path of the second scheduling robot is planned according to the target location, so that the working path of the second scheduling robot passes through the target location, and no communication or abnormal alarm is generated when traveling to the target location.

7. The method according to claim 4, characterized in that, When the signal scores of multiple communication access devices accessible at the target location are all less than or equal to the preset value, before marking the target location as a signal dead zone, the method further includes: Determine whether the target location belongs to a historical blind spot; When the target location belongs to the historical blind zone, an alternative path corresponding to the target location is obtained, and the alternative path is used to plan the working path of the second scheduling robot; When the target location does not belong to the historical blind zone, the target location is marked as the signal blind zone.

8. The method according to claim 4, characterized in that, Marking the target location as a signal blind zone includes: The target scheduling robot in the second scheduling robot is identified as having a configured working path and having an untraveled portion of the configured working path passing through the target location; A verification command is sent to the target scheduling robot. The verification command is used to instruct the target scheduling robot to slow down and pass through the target location according to the configured working path, and to send detection information to the scheduling server when passing through, and to resume the original speed when receiving the response information for the detection information. If the detection information is received within a preset time, the response information is sent to the target scheduling robot; If the detection information is not received within a preset time, the target location will be marked as a signal blind zone.

9. The method as described in claim 4, characterized in that, After updating the communication access policy of the target location based on multiple communication-related information, the method further includes: When the target location is marked as a signal dead zone, the load of at least one of the communication access devices that can be accessed at the target location is adjusted, and after adjustment, a test command is sent to the third scheduling robot. The test command is used to instruct the third scheduling robot to enter the target location for communication verification. The third scheduling robot is a robot in an idle state, or the third scheduling robot is a robot in the second scheduling robot that has been configured with a working path and whose untraveled part of the configured working path passes through the target location. If the communication verification is successful, the communication access policy for the target location will be updated again. If communication verification fails, an error message will be output.

10. The method as described in claim 1, characterized in that, The acquisition of communication-related information of multiple first-scheduled robots at the target location includes: Obtain the communication-related information corresponding to the first robot; When a communication anomaly is determined based on the communication-related information of the first robot, a preset number of second robots within a preset distance range from the first robot are determined within the storage area. The first robot is any one of the plurality of first scheduling robots, and the second robots are other robots among the plurality of first scheduling robots excluding the first robot. Send a verification command to the second robot, the verification command being used to instruct the second robot to proceed to the target location for communication verification; Obtain the communication-related information uploaded by each of the second robots.

11. A path planning device, characterized in that, The route planning device, used in a scheduling server within a warehouse management system, includes: The acquisition unit is used to acquire communication-related information of multiple first scheduling robots at the target location. The communication-related information includes device information of the communication access device accessed by the first scheduling robot at the target location and corresponding communication index data. The communication index data includes signal strength, signal-to-noise ratio, throughput and communication delay. The first scheduling robot is a scheduling robot that has moved along the corresponding work path and passed through the target location. The target location is any location area within the warehouse area. A communication management unit is used to update the communication access policy of the target location based on multiple communication-related information. The path planning unit is used to plan the working path of the second scheduling robot according to the updated communication access strategy. The second scheduling robot is a robot that has not completed its scheduling task.

12. An electronic device, characterized in that, The method includes a processor, a memory, a communication interface, and one or more programs, said one or more programs being stored in the memory and configured to be executed by the processor, said programs including instructions for performing the steps of the method as described in any one of claims 1-10.

13. A computer-readable storage medium, characterized in that, A computer program for storing electronic data interchange is provided, wherein the computer program causes a computer to perform the steps of the method as described in any one of claims 1-10.

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