CN115326095A - Path planning method and device, robot and computer readable storage medium - Google Patents
Path planning method and device, robot and computer readable storage medium Download PDFInfo
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- CN115326095A CN115326095A CN202211031298.3A CN202211031298A CN115326095A CN 115326095 A CN115326095 A CN 115326095A CN 202211031298 A CN202211031298 A CN 202211031298A CN 115326095 A CN115326095 A CN 115326095A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The application provides a path planning method, a path planning device, a robot and a computer readable storage medium. The method comprises the steps of obtaining a preset map, and selecting a path in the map as a preset control area; acquiring all paths in a preset control area and conflict paths of all paths in the preset control area as a preset conflict path set; under the condition that a target path which the current robot applies to enter is located in a preset conflict path set, taking the preset conflict path set as a conflict path set to be detected; and under the condition that the robot does not exist in all paths in the conflict path set to be detected, the application of the use right of the target path is allowed, and the current robot is controlled to drive into the target path. The determination of the preset control area is simple and has good compatibility with a map, and the traffic control can be performed on the special area without drawing the preset control area.
Description
Technical Field
The present disclosure relates to the field of path planning technologies, and in particular, to a path planning method and apparatus, a robot, and a computer-readable storage medium.
Background
The existing path planning technology of the unmanned forklift mainly adopts a path planning algorithm such as a Dixterra algorithm and an A-Star algorithm based on a fixed path map, and the inter-vehicle traffic control mainly adopts a time window algorithm based on manual drawing of a control area or occupation of a path segment. Manual division of the controlled area is time-consuming and labor-consuming, and has poor compatibility with a path map, so that the occupied relation between the boundary of the controlled area and a path segment is difficult to process; the time window algorithm based on the occupation of the path segments is completely compatible with the fixed path map and is not easy to deadlock, but can not process the problem that special traffic control is required in special areas.
Disclosure of Invention
In view of this, embodiments of the present application provide a path planning method and apparatus, a robot, and a computer-readable storage medium, where a preset controlled area is determined according to a path in a map, the determination is simple and has good compatibility with the map, a boundary problem caused by a path part being located in the preset controlled area does not exist, and a purpose of performing special traffic control on a special area is achieved without drawing the controlled area.
The path planning method comprises the steps of obtaining a preset map, wherein the map comprises a plurality of path points and a path connecting any two adjacent path points, the map comprises a preset control area, and one or more paths in the map are selected as the preset control area; acquiring all the paths in the preset control area and conflict paths of all the paths in the preset control area as a preset conflict path set, wherein the conflict paths of the paths in the preset control area refer to paths of which the distance from the paths in the preset control area is smaller than a preset safety distance; under the condition that a target path which the current robot applies to enter is located in the preset conflict path set, taking the preset conflict path set as a conflict path set to be detected; and under the condition that no robot exists in all the paths in the conflict path set to be detected, the application of the use right of the target path is allowed, and the current robot is controlled to drive into the target path.
The path planning device of the embodiment of the application comprises an acquisition module and a planning module. The acquisition module is used for acquiring a preset map, the map comprises a plurality of path points and a path connecting any two adjacent path points, the map comprises a preset control area, and one or more paths in the map are selected as the preset control area; acquiring all the paths in the preset control area and conflict paths of all the paths in the preset control area as a preset conflict path set, wherein the conflict paths of the paths in the preset control area refer to paths of which the distance to the paths in the preset control area is less than a preset safety distance; the planning module is used for taking the preset conflict path set as a conflict path set to be tested under the condition that a target path which is applied for driving by the current robot is located in the preset conflict path set; and under the condition that no robot exists in all the paths in the conflict path set to be detected, allowing application of the use right of the target path, and controlling the current robot to drive into the target path.
The robot comprises a processor, wherein the processor is used for acquiring a preset map, the map comprises a plurality of path points and a path connecting any two adjacent path points, the map comprises a preset control area, and one or more paths in the map are selected as the preset control area; acquiring all the paths in the preset control area and conflict paths of all the paths in the preset control area as a preset conflict path set, wherein the conflict paths of the paths in the preset control area refer to paths of which the distance from the paths in the preset control area is smaller than a preset safety distance; under the condition that a target path which the current robot applies to enter is located in the preset conflict path set, taking the preset conflict path set as a conflict path set to be detected; and under the condition that no robot exists in all the paths in the conflict path set to be detected, allowing application of the use right of the target path, and controlling the current robot to drive into the target path.
The embodiment of the application provides a computer readable storage medium, on which a computer program is stored. The computer program, when executed by a processor, implements a path planning method. The path planning method comprises the steps of obtaining a preset map, wherein the map comprises a plurality of path points and a path connecting any two adjacent path points, the map comprises a preset control area, and one or more paths in the map are selected as the preset control area; acquiring all the paths in the preset control area and conflict paths of all the paths in the preset control area as a preset conflict path set, wherein the conflict paths of the paths in the preset control area refer to paths of which the distance to the paths in the preset control area is less than a preset safety distance; under the condition that a target path which is applied for driving by the current robot is located in the preset conflict path set, taking the preset conflict path set as a conflict path set to be detected; and under the condition that no robot exists in all the paths in the conflict path set to be detected, the application of the use right of the target path is allowed, and the current robot is controlled to drive into the target path.
According to the path planning method and device, the robot and the computer-readable storage medium, one or more paths in the map are selected to serve as the preset control area, the preset control area is determined simply and is good in compatibility with the map, the boundary problem caused by the fact that the path part is located in the preset control area does not exist, and special traffic control can be carried out on the special area without finely drawing the preset control area; and acquiring conflict paths of all paths in the preset control area while acquiring all paths in the preset control area to serve as a preset conflict path set, so that the preset conflict path set is shared, the preset conflict path set is taken as a conflict path set to be detected under the condition that the target path which the current robot applies to enter is located in the preset conflict path set, and whether all paths in the conflict path set to be detected are unoccupied or not is judged, so that the robot is allowed to enter the target path to be applied under the condition that all paths in the conflict path set to be detected are unoccupied, and only one robot is allowed to occupy one path in the conflict path set to be detected, thereby not only realizing the traffic control of the preset control area, but also realizing the traffic control of the conflict paths of all paths in the preset control area which can cause the collision of the robot.
Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart diagram of a path planning method according to some embodiments of the present application;
FIG. 2 is a schematic view of a scenario of a path planning method according to some embodiments of the present application;
FIG. 3 is a schematic flow chart diagram of a path planning method according to some embodiments of the present application;
FIG. 4 is a schematic view of a scenario of a path planning method according to some embodiments of the present application;
FIG. 5 is a schematic flow chart diagram of a path planning method in accordance with certain embodiments of the present application;
FIG. 6 is a flow chart diagram illustrating a method of path planning in accordance with certain embodiments of the present application;
FIG. 7 is a block diagram of a path planner according to some embodiments of the present application;
FIG. 8 is a schematic plan view of a robot according to certain embodiments of the present application; and
FIG. 9 is a schematic diagram of the interaction of a computer readable storage medium and a processor in some embodiments of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the embodiments of the present application, and are not to be construed as limiting the embodiments of the present application.
The terms appearing in the present application are explained first below:
dixtre algorithm (Dijkstra): the method is a shortest path algorithm from one vertex to the rest of the vertices, and solves the problem of the shortest path in the weighted graph. The dijkstra algorithm is mainly characterized in that a greedy algorithm strategy is adopted from a starting point, and adjacent nodes of vertexes which are nearest to the starting point and have not been visited are traversed each time until the nodes are expanded to a terminal point.
A-Star algorithm: the method is the most effective direct searching method for solving the shortest path in the static road network.
Automated Guided Vehicle (AGV): the present invention relates to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the industrial application. Generally, the traveling path and behavior can be controlled by a computer, or the traveling path can be established by using an electromagnetic rail, which is adhered to the floor, and the automated guided vehicle moves and operates according to the information brought by the electromagnetic rail.
Referring to fig. 1, a path planning method according to an embodiment of the present application includes:
a step 011: the method comprises the steps of obtaining a preset map, wherein the map comprises a plurality of path points and paths connecting any two adjacent path points, the map comprises a preset control area, and one or more paths in the map are selected as the preset control area.
Specifically, in order to accurately perform path planning, for a scene in which the path planning is performed, a map of the scene needs to be acquired first, path points in the map and a path connecting any two adjacent path points can be labeled in advance, and the accuracy of the path planning can be improved by establishing a high-precision map of the scene.
As shown in FIG. 2, the path points of the map include 1 to 7, wherein 1 and 2 are communicated to form 1-2, 2 and 4 are communicated to form 2-4, 4 and 5 are communicated to form 4-5, 2 and 5 are communicated to form 2-5, 5 and 7 are communicated to form 5-7, 1 and 3 are communicated to form 1-3, 3 and 6 are communicated to form 3-6, 3 and 7 are communicated to form 3-7, and 6-7 are communicated to form 6-7.
It can be understood that a preset control area which needs to be subjected to traffic control may exist in the map, and when the traffic control is performed on the preset control area, it is required to ensure that the preset control area is occupied by at most one robot. The method and the device select one or more paths in the map as the preset control area, for example, select the path 2-4, the path 4-5 and the path 2-5 in fig. 2 as the preset control area. Therefore, the preset controlled area is perfectly compatible with the map, and the boundary problem caused by the fact that the path part is located in the preset controlled area does not exist.
Step 012: acquiring all paths in a preset control area and conflict paths of all paths in the preset control area as a preset conflict path set, wherein the conflict paths of the paths in the preset control area refer to paths of which the distance to the paths in the preset control area is less than a preset safety distance.
Specifically, after the map is acquired, the route point, the route and the preset control area in the map can be determined. When path planning is performed, all paths in a preset control area and conflict paths of all paths in the preset control area need to be acquired first, wherein the distance between the conflict path of the path in the preset control area and the path in the preset control area is smaller than a preset safety distance (such as a path of 0.5 meter (m), 1m and the like); further, the conflict path of the paths in the preset regulated area refers to a path whose minimum distance from the path in the preset regulated area is smaller than the preset safety distance, that is, at least one position exists in the paths in the preset regulated area, and the distance between one position in the conflict path corresponding to the path in the preset regulated area is smaller than the preset safety distance. When two robots simultaneously travel in a path in a preset controlled area and a collision path corresponding to the path in the preset controlled area, the two robots may collide.
It can be understood that, in consideration of the collision risk between the path in the preset control area and the collision path corresponding to the path in the preset control area, in addition to the need of performing traffic control on the preset control area, traffic control needs to be performed on the collision paths of all the paths in the preset control area, and under the condition that the preset control area is ensured to only allow one robot to occupy, the robots in the collision paths of all the paths in the preset control area are prevented from colliding with the robots in the preset control area. When the position information of the robot indicates that the robot is located in the path, the path is occupied.
Wherein the preset safe distance may be determined according to the width of the path in the map and the size of the robot. It can be understood that, under the condition that the width of the path is not changed, the larger the size (specifically, the width) of the robot is, the more the projection of the robot on the ground is located outside the path, so that when the robot travels on the path in the preset controlled area, the higher the probability of collision of the robot in the collision path corresponding to the path in the preset controlled area is; the smaller the size (specifically, the width) of the robot is, the less the projection of the robot on the ground is located outside the path, so that when the robot runs on the path in the preset control area, the smaller the probability of collision of the robot in the collision path corresponding to the path in the preset control area is. Therefore, in order to reduce the probability of collision, the larger the preset safety distance needs to be set, i.e., the preset safety distance is proportional to the size of the robot.
Under the condition that the size of the robot is not changed, if the width of the path is narrower, the projection of the robot on the ground is more outside the path, so that the probability of collision of the robot in a collision path corresponding to the path in the preset control area is higher when the robot runs on the path in the preset control area; if the width of the path is wider, the projection of the robot on the ground is less outside the path, so that when the robot runs on the path in the preset control area, the probability of collision of the robot in the collision path corresponding to the path in the preset control area is smaller. Therefore, in order to reduce the probability of collision, the larger the preset safe distance needs to be set, i.e. the preset safe distance is inversely proportional to the width of the path.
After collision paths of all paths of the preset control area are obtained, all paths of the preset control area and collision paths of all paths of the preset control area are used as a preset collision path set, and for all paths in the preset collision path set, only one robot is allowed to occupy one path in the preset collision path set.
Referring to fig. 2 again, in an example, if the path 2-4, the path 4-5, and the path 2-5 in the map are selected as the preset controlled area, and the preset safety distance is 1m, generally, for a path point in the map, the path point will be generally used as a transfer area of a robot, and when a plurality of different paths in the map connect to the same path point, the distance between the end points of the same path point connected to the different paths is generally large (for example, larger than the preset safety distance), which will not cause a collision of a plurality of robots entering the transfer area corresponding to the same path point from different paths.
And the distance between the two paths may be too close due to the influence of obstacles in the scene and other factors between different paths, for example, for the path 4-5 in the map, the minimum distance between the path 4-5 and the path 3-7 is 0.5m, that is, the minimum distance between the path 3-7 and the path 4-5 in the preset regulated area is less than the preset safety distance, and the path 3-7 is a collision path of the path 4-5. All paths (i.e., path 2-4, path 4-5 and path 2-5) in the preset regulated area and the conflict paths (i.e., path 3-7) of all paths in the preset regulated area are taken as a preset conflict path set at this time.
Step 013: and under the condition that the target path which the current robot applies to enter is positioned in the preset conflict path set, taking the preset conflict path set as a conflict path set to be detected.
After receiving the task request, the current robot performs path planning according to the starting path point and the ending path point given by the task request, so as to form a current task route of the current robot.
Alternatively, the target path that the robot currently applies for entering may be determined as follows: acquiring a current task route of a current robot; and determining a target path for the current robot to apply for entering according to the current task route and the position information of the current robot. It can be understood that the task route includes one or more paths, the current path (or current path point) where the current robot is located can be determined according to the position information of the current robot, and the target path is a next path located after the current path (or current path point) in the current task route. Referring to fig. 2, for example, the current task route of the current robot is 1-3-7, the current robot is currently located at the path point 3, and the target path is the next path 3-7 after the path point 3; for another example, the current task route of the current robot is 1-3-7, the current robot is currently located on the path 1-3, and the target path is the next path 3-7 after the path 1-3.
Before the current robot drives into a target path in the current task route, the right of use of the target path to be driven in needs to be applied, at the moment, the current robot judges whether the target path is in a preset conflict path set or not, if the target path is in the preset conflict path set, the preset conflict path set can be used as a conflict path set to be detected, and therefore only one robot is allowed to occupy one path in the conflict path set to be detected.
Step 014: and under the condition that the robot does not exist in all paths in the conflict path set to be detected, allowing application of the use right of the target path, and controlling the current robot to drive into the target path.
Specifically, in order to ensure that only one robot is allowed to occupy one path in the conflict path set to be detected at the same time, before the current robot applies for entering the target path (i.e., one path in the conflict path set to be detected), it is necessary to determine whether there is no robot in all paths in the conflict path set to be detected.
Optionally, when it is determined that no robot exists in all paths in the set of collision paths to be detected, the following method may be implemented: acquiring position information of all robots in a map; determining a path occupied by each robot according to the position information of each robot; and under the condition that all paths in the conflict path set to be detected are not occupied by the robot, determining that the robot does not exist in all paths in the conflict path set to be detected.
The current robot can acquire the position information of all the robots executing tasks in the map, so that the path occupied by each robot is determined according to the position information of each robot, and if the path occupied by each robot is not in the conflict path set to be detected, all the paths in the conflict path set to be detected are not occupied by the robots, so that the robots are not in all the paths in the conflict path set to be detected.
If no robot exists in all paths in the conflict path set to be detected, the conflict path set to be detected can allow one robot to occupy one path in the conflict path set to be detected, at the moment, the application of the use right of the target path is allowed, and the current robot can drive into the target path. Therefore, the traffic control of the preset conflict path set can be realized.
Referring to fig. 2, in an example, the preset conflict path set includes a path 2-4, a path 4-5, a path 2-5, and a path 3-7, the current robot is a robot M1, a current task route of the robot M1 is 1-3-7, and the robot M1 is located at a path point 3, where it may be determined that a target path for which a usage right is to be applied is the path 3-7.
At this time, because the target path 3-7 is located in the preset conflict path set, the preset conflict path set can be used as a conflict path set to be detected, and then it is determined whether no robot exists in all paths in the conflict path set to be detected, that is, it is determined whether no robot exists on the path 2-4, the path 4-5, the path 2-5, and the path 3-7, if no robot exists on the path 2-4, the path 4-5, the path 2-5, and the path 3-7, the application of the use right of the robot M1 for the target path is allowed, and at this time, the robot M1 can drive into the path 3-7.
According to the path planning method, one or more paths in the map are selected to serve as the preset control area, the preset control area is determined simply and is good in compatibility with the map, the boundary problem caused by the fact that the path part is located in the preset control area does not exist, and special traffic control can be carried out on a special area (such as the preset control area) without finely drawing the preset control area; and acquiring conflict paths of all paths in the preset control area while acquiring all paths in the preset control area as a preset conflict path set, so that under the condition that the target path which is applied for driving by the current robot is located in the preset conflict path set by sharing the preset conflict path set, the preset conflict path set is taken as a conflict path set to be detected, and whether all paths in the conflict path set to be detected are unoccupied or not is judged, so that under the condition that all paths in the conflict path set to be detected are unoccupied, the robot is allowed to drive into the target path to be applied, and only one robot is allowed to occupy one path in the conflict path set to be detected, thereby not only realizing traffic control of the preset control area, but also realizing traffic control of the conflict paths of all paths in the preset control area which may cause collision of the robot.
Referring to fig. 3, in some embodiments, the path planning method further includes:
step 015: and under the condition that the robot exists in any one path in the conflict path set to be detected, rejecting the application of the use right of the target path, and controlling the current robot to wait in the current path.
Specifically, if any path in the conflict path set to be tested is occupied by the robot, and at this time, if the current robot drives into the target path, the path in the conflict path set to be tested is simultaneously occupied by two robots, which violates the requirement of traffic control, so that the current robot is no longer allowed to drive into the target path, the application of the current robot for the right to use the target path is rejected, and the current robot needs to wait on the current path until all paths in the conflict path set to be tested are unoccupied, and can be allowed to drive into the target path.
Referring to fig. 4, in an example, the preset conflict path set includes paths 2 to 4, paths 4 to 5, paths 2 to 5, and paths 3 to 7, the current robot is the robot M1, the current task route of the robot M1 is 1 to 3 to 7, and the robot M1 is located at the path point 3, and at this time, it may be determined that the target path to be applied is the paths 3 to 7.
At this time, because the target path 3-7 is located in the preset conflict path set, the preset conflict path set can be used as a conflict path set to be tested, and then it is determined whether a robot does not exist in all paths in the conflict path set to be tested, that is, it is determined whether a robot does not exist on the path 2-4, the path 4-5, the path 2-5, and the path 3-7, it can be seen that the robot M2 exists in the path 4-5 in the example of fig. 4, that is, the robot M2 exists in the path 4-5 in the conflict path set to be tested, at this time, the application of the robot M1 for the use right of the target path is rejected, and the robot M1 needs to wait in the current path (i.e., the path point 3 in the path 1-3) until all paths in the conflict path set to be tested are unoccupied, and can not be allowed to enter the target path.
Referring to fig. 5, in some embodiments, the path planning method further includes:
step 016: and under the condition that the target path which the current robot applies to enter is not in the preset conflict path set, acquiring all conflict paths of the target path to serve as the conflict path set to be detected.
Specifically, under the condition that the target path which the current robot applies for entering is not in the preset conflict path set, it is described that the current robot does not need to enter any path in the preset conflict path set for traffic control, and at this time, it is only necessary to consider that the current robot does not collide with other robots when entering the target path, that is, it is only necessary to ensure that all conflict paths of the target path which the current robot applies for entering are not occupied by other robots, that is, all conflict paths of the target path can be obtained first, then all conflict paths of the target path are taken as a conflict path set to be detected, and then it is also necessary to judge whether all paths in the conflict path set to be detected do not have robots (that is, all paths are not occupied), and if all paths in the conflict path set to be detected are not occupied, the application of the current robot on the use right of the target path can be allowed, so that the current robot can enter the target path; if any path in the conflict path set to be tested is occupied, if the current robot enters the target path, collision may occur between the current robot and the robot in the occupied path, and therefore, the application of the right to use the target path by the current robot needs to be rejected, and the current robot is controlled to continue waiting on the current path.
Referring to fig. 6, in some embodiments, the path planning method further includes:
step 017: and under the condition of receiving the task request, the robot closest to the starting path point of the task request is scheduled to move from the starting path point of the task request to the ending path point of the task request, the starting path point of the task request is any path point, and the ending path point of the task request is any path point except the starting path point.
Specifically, in order to improve task execution efficiency, after the cloud platforms controlling all the robots receive task requests, the cloud platforms first determine starting path points of the task requests, and then acquire position information of all waiting robots (i.e., robots not executing tasks), so that the robot closest to the starting path point of the task request is scheduled to complete tasks of the task request, and the robot is moved from the starting path point of the task request to a terminating path point of the task request, thereby maximally improving task execution efficiency.
Similarly, the robot executing the task requested by the task performs path planning according to the current path point and the starting path point of the task request, so as to obtain a preparation route before starting to execute the task, and when the robot executing the task requested by the task moves along the preparation route, the robot also needs to apply the right of use of the target path needing to be entered in the preparation route, and the specific description of the application of the right of use of the target path in the preparation route is basically similar to the application principle of the right of use of the target path in the current task route in the foregoing steps 013, 014 and 015, and is not repeated here.
Referring to fig. 7, in order to better implement the path planning method according to the embodiment of the present application, a path planning apparatus 10 is further provided in the embodiment of the present application. The path planning apparatus 10 may include:
the map acquisition module 11 is configured to acquire a preset map, where the map includes a plurality of waypoints and a route connecting any two adjacent waypoints, the map includes a preset controlled area, and one or more routes in the map are selected as the preset controlled area; acquiring all paths in a preset control area and conflict paths of all paths in the preset control area as a preset conflict path set, wherein the conflict paths of the paths in the preset control area refer to paths of which the distance to the paths in the preset control area is less than a preset safety distance;
the planning module 12 is configured to, when a target path that the current robot applies for driving in is located in a preset conflict path set, take the preset conflict path set as a conflict path set to be detected; and under the condition that the robot does not exist in all paths in the conflict path set to be detected, the application of the use right of the target path is allowed, and the current robot is controlled to drive into the target path.
The planning module 12 is further configured to, if a robot exists in any one of the paths in the set of collision paths to be tested, reject the application of the usage right of the target path, and control the current robot to wait on the current path.
The planning module 12 is further configured to, when the target path that the current robot applies for driving is not in the preset conflict path set, obtain all conflict paths of the target path as a conflict path set to be detected.
The planning module 12 is further configured to obtain position information of all robots in the map; determining a path occupied by each robot according to the position information of each robot; and under the condition that all paths in the conflict path set to be detected are not occupied by the robot, determining that the robot does not exist in all paths in the conflict path set to be detected.
The planning module 12 is further configured to obtain a current task route of the current robot; and determining a target path for the current robot to apply for driving according to the current task route and the position information of the current robot.
The planning module 12 is further configured to, in a case where the task request is received, schedule the robot closest to the start path point of the task request to move from the start path point of the task request to the end path point of the task request, where the start path point of the task request is any path point, and the end path point of the task request is any path point other than the start path point.
The modules in the path planning apparatus 10 may be implemented in whole or in part by software, hardware, or a combination thereof. The modules may be embedded in hardware or independent from the processor 20 in the computer device, or may be stored in software in a memory in the computer device, so that the processor 20 invokes and executes operations corresponding to the modules.
Referring to fig. 8, a robot 100 according to an embodiment of the present disclosure includes a processor 20. The processor 20 is configured to execute the path planning method according to any of the above embodiments, and for brevity, the description is omitted here.
The robot 100 may be an AGV, a clamp car, a tractor, a forklift, a front crane, a storage robot, or other devices with mobility.
Referring to fig. 9, an embodiment of the present application further provides a computer-readable storage medium 300, on which a computer program 310 is stored, and in a case that the computer program 310 is executed by the processor 20, steps of the path planning method according to any one of the above embodiments are implemented, which are not described herein again for brevity.
It will be appreciated that the computer program 310 comprises computer program code. The computer program code may be in the form of source code, object code, an executable file or some intermediate form, and the like. The computer readable storage medium can be a non-volatile computer readable storage medium such as any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic diskette, an optical disk, a computer Memory, a Read-Only Memory (ROM), a Random Access Memory (RAM), a software distribution medium, and so forth.
In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the various embodiments or examples and features of the various embodiments or examples described in this specification can be combined and combined by those skilled in the art without being mutually inconsistent.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application and that variations, modifications, substitutions and alterations in the above embodiments may be made by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A method of path planning, comprising:
acquiring a preset map, wherein the map comprises a plurality of path points and a path connecting any two adjacent path points, the map comprises a preset control area, and one or more paths in the map are selected as the preset control area;
acquiring all the paths in the preset control area and conflict paths of all the paths in the preset control area as a preset conflict path set, wherein the conflict paths of the paths in the preset control area refer to paths of which the distance to the paths in the preset control area is less than a preset safety distance;
under the condition that a target path which the current robot applies to enter is located in the preset conflict path set, taking the preset conflict path set as a conflict path set to be detected;
and under the condition that no robot exists in all the paths in the conflict path set to be detected, allowing application of the use right of the target path, and controlling the current robot to drive into the target path.
2. The method according to claim 1, wherein the conflicting path of the path in the preset regulation area refers to a path whose distance from the path in the preset regulation area is smaller than a preset safety distance, and the method comprises: the conflict path of the path in the preset controlled area refers to a path of which the minimum distance with the path in the preset controlled area is smaller than the preset safety distance; the preset safety distance is determined according to the size of the robot.
3. The path planning method according to claim 1, further comprising:
and under the condition that the robot exists in any one path in the conflict path set to be detected, rejecting the application of the use right of the target path, and controlling the current robot to wait in the current path.
4. The path planning method according to claim 1, further comprising:
and under the condition that the target path which the current robot applies to drive in is not in the preset conflict path set, acquiring all conflict paths of the target path to serve as the conflict path set to be detected.
5. The path planning method according to claim 1, further comprising:
acquiring position information of all the robots in the map;
determining the path occupied by each robot according to the position information of each robot;
and under the condition that all the paths in the conflict path set to be detected are not occupied by the robots, determining that no robot exists in all the paths in the conflict path set to be detected.
6. The path planning method according to claim 1, further comprising:
acquiring a current task route of the current robot; and
and determining the target path for the current robot to apply for entering according to the current task route and the position information of the current robot.
7. The path planning method according to claim 1, further comprising:
and under the condition of receiving a task request, scheduling the robot which is closest to the starting path point of the task request to move from the starting path point of the task request to the ending path point of the task request, wherein the starting path point of the task request is any one path point, and the ending path point of the task request is any one path point except the starting path point.
8. A path planner, comprising:
the map acquisition module is used for acquiring a preset map, wherein the map comprises a plurality of path points and a path connecting any two adjacent path points, the map comprises a preset control area, and one or more paths in the map are selected as the preset control area; acquiring all the paths in the preset control area and conflict paths of all the paths in the preset control area as a preset conflict path set, wherein the conflict paths of the paths in the preset control area refer to paths of which the distance to the paths in the preset control area is less than a preset safety distance;
the planning module is used for taking the preset conflict path set as a conflict path set to be detected under the condition that a target path which the current robot applies to enter is positioned in the preset conflict path set; and under the condition that no robot exists in all the paths in the conflict path set to be detected, the application of the use right of the target path is allowed, and the current robot is controlled to drive into the target path.
9. A robot is characterized by comprising a processor, wherein the processor is used for acquiring a preset map, the map comprises a plurality of path points and paths connecting any two adjacent path points, the map comprises a preset control area, and one or more paths in the map are selected as the preset control area; acquiring all the paths in the preset control area and conflict paths of all the paths in the preset control area as a preset conflict path set, wherein the conflict paths of the paths in the preset control area refer to paths of which the distance to the paths in the preset control area is less than a preset safety distance; under the condition that a target path which is applied for driving by the current robot is located in the preset conflict path set, taking the preset conflict path set as a conflict path set to be detected; and under the condition that no robot exists in all the paths in the conflict path set to be detected, allowing application of the use right of the target path, and controlling the current robot to drive into the target path.
10. A computer-readable storage medium containing a computer program which, when executed by one or more processors, implements a method of path planning as claimed in any one of claims 1 to 7.
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| CN117557184A (en) * | 2023-10-20 | 2024-02-13 | 华芯智上半导体设备(上海)有限公司 | Crown block operation fault processing method, crown block operation fault processing system, electronic equipment and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117557184A (en) * | 2023-10-20 | 2024-02-13 | 华芯智上半导体设备(上海)有限公司 | Crown block operation fault processing method, crown block operation fault processing system, electronic equipment and medium |
| CN117557184B (en) * | 2023-10-20 | 2024-04-30 | 华芯智上半导体设备(上海)有限公司 | Crown block operation fault processing method, crown block operation fault processing system, electronic equipment and medium |
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