Path planning method and device

文档序号：1706932 发布日期：2019-12-13 浏览：9次中文

阅读说明：本技术 一种路径规划方法和装置 (Path planning method and device ) 是由韩宁郎元辉于 2018-06-05 设计创作，主要内容包括：本发明公开了一种路径规划方法和装置,涉及计算机技术领域。该方法的一具体实施方式包括：根据给定地图构造多层级地图,多层级地图包括最低层级的给定地图和至少一个层级的构建层地图,每一层级构建层地图的坐标点从下一层级的给定地图或构建层地图选取；根据多层级地图的坐标点生成求解地图；根据求解地图,按照预设算法计算路径起点和路径终点之间行驶成本最小的路径,该行驶成本最小的路径包括对应一个或多个层级构建层地图的路径片段；将该行驶成本最小的路径中所有对应构建层地图的路径片段转换为对应给定地图的路径片段,以得到规划路径。该实施方式能缩短路径规划的计算时间、减小计算量、提高计算效率,节约存储资源。(the invention discloses a path planning method and a path planning device, and relates to the technical field of computers. One embodiment of the method comprises: constructing a multi-level map according to the given map, wherein the multi-level map comprises the given map of the lowest level and at least one level of construction layer maps, and the coordinate point of each level of construction layer map is selected from the given map or the construction layer map of the next level; generating a solving map according to the coordinate points of the multi-level map; calculating a path with the minimum driving cost between a path starting point and a path terminal point according to a preset algorithm according to a solved map, wherein the path with the minimum driving cost comprises path segments corresponding to one or more hierarchy building layer maps; and converting all the path segments corresponding to the construction layer map in the path with the minimum driving cost into the path segments corresponding to the given map to obtain the planned path. The implementation method can shorten the calculation time of path planning, reduce the calculation amount, improve the calculation efficiency and save the storage resources.)

1. A method of path planning, comprising:

Constructing a multi-level map from a given map, the multi-level map comprising a lowest level of the given map and at least one level of a build-layer map, the coordinate point of each level of the build-layer map being taken from a next level of the given map or the build-layer map;

Generating a solving map according to the coordinate points of the multi-level map;

Calculating a path with the minimum driving cost between a path starting point and a path terminal point according to the solved map and a preset algorithm, wherein the path with the minimum driving cost between the path starting point and the path terminal point comprises path segments corresponding to one or more hierarchy building layer maps;

And converting all the path segments corresponding to the construction layer map into the path segments corresponding to the given map in the path with the minimum driving cost between the path starting point and the path end point so as to obtain the planned path between the path starting point and the path end point.

2. the method of claim 1, wherein the step of generating a solution map from the coordinate points of the multi-level map comprises:

Generating a solving map according to the coordinate points of the highest level map in the multi-level map and the coordinate points of mapping areas respectively including the path starting point and the path end point in other multi-level maps except the highest level map;

The mapping areas of other level maps except the highest level map are as follows: the minimum area formed by the coordinate points of the map of the previous level of the hierarchy map is mapped to the area formed by the hierarchy map.

3. The method of claim 1, wherein the step of constructing a multi-level map from a given map comprises:

And based on the given map, selecting a key coordinate point from the coordinate points of the given map, taking the selected key coordinate point as the coordinate point of the previous-level map of the given map to construct the previous-level map of the given map, and then continuing to construct the next-level construction-level map based on the previous-level map of the given map according to the same method until the number of map levels reaches the number of configuration levels, and stopping constructing the subsequent construction-level map.

4. The method of claim 3, wherein the key coordinate points are selected from the coordinate points of a hierarchy map as follows:

and respectively selecting key coordinate points by taking each corner point of the level map as an initial key coordinate point, wherein for each initial key coordinate point:

And respectively selecting one coordinate point as a key coordinate point according to a selection rule along each travelable direction of the initial key coordinate point, and selecting one coordinate point as a next key coordinate point according to the selection rule for each selected key coordinate point along each travelable direction of the key coordinate point, and so on, thereby selecting subsequent key coordinate points according to each travelable direction of each key coordinate point, and stopping continuously selecting the key coordinate points until a preset termination condition is reached.

5. the method according to claim 4, wherein, when any one key coordinate point is taken as a current key coordinate point, and a next key coordinate point is selected along each travelable direction of the current key coordinate point, the selection rule is as follows:

In one direction of travel of the current key coordinate point,

When the first position coordinate point, the second position coordinate point and the third position coordinate point exist:

If the travelable direction of the second position coordinate point is completely the same as that of the current key coordinate point, and the travelable direction of the first position coordinate point is completely the same as that of the third position coordinate point, selecting the third position coordinate point as a next key coordinate point, wherein if the first position coordinate point or the second position coordinate point is a selected key coordinate point, the first position coordinate point or the second position coordinate point is still selected as the next key coordinate point, and the third position coordinate point is not selected as the next key coordinate point;

if the travelable directions of the current key coordinate point and the second position coordinate point are not completely the same, or the travelable directions of the first position coordinate point and the third position coordinate point are not completely the same, selecting the first position coordinate point as a next key coordinate point;

if the second position coordinate point is a corner point under the condition that only the first position coordinate point and the second position coordinate point exist, or if the first position coordinate point is a corner point under the condition that only the first position coordinate point exists, selecting the corner point as a next key coordinate point;

The first position coordinate point is a coordinate point adjacent to the current key coordinate point, the second position coordinate point is a coordinate point spaced from the current key coordinate point by one coordinate point, and the third position coordinate point is a coordinate point spaced from the current key coordinate point by two coordinate points.

6. The method of claim 1, wherein the step of converting all the route segments corresponding to the build layer map to the route segments corresponding to the given map to obtain the planned route between the route start point and the route end point in the route with the lowest driving cost between the route start point and the route end point comprises:

Converting paths between each pair of adjacent coordinate points in the path segments corresponding to each hierarchy building layer map into paths corresponding to each pair of adjacent coordinate points in the given map by mapping from layer to layer in a next hierarchy of maps, wherein the path corresponding to a certain pair of adjacent coordinate points in the given map is the path with the minimum driving cost between the pair of adjacent coordinate points in the given map;

and in the path with the minimum driving cost between the path starting point and the path ending point, replacing the path between each pair of adjacent coordinate points with the path corresponding to each pair of adjacent coordinate points on the given map, and removing the duplication of the same coordinate points, thereby obtaining the planned path.

7. The method according to claim 6, wherein a route between each pair of adjacent coordinate points in the route segment corresponding to each level of the construction level map is transformed into a route corresponding to each pair of adjacent coordinate points in the given map by mapping the map layer by layer to the next level, among the routes having the smallest travel cost between the route start point and the route end point, by means of multithreading.

8. a path planning apparatus, comprising:

the multi-level map construction module is used for constructing a multi-level map according to a given map, the multi-level map comprises the given map of the lowest level and at least one level of construction layer maps, and the coordinate point of each level of construction layer map is selected from the given map or the construction layer map of the next level;

the solution map generation module is used for generating a solution map according to the coordinate points of the multi-level map;

the first path planning module is used for calculating a path with the minimum driving cost between a path starting point and a path terminal point according to the solved map and a preset algorithm, wherein the path with the minimum driving cost between the path starting point and the path terminal point comprises path segments corresponding to one or more hierarchy construction layer maps;

and the second path planning module is used for converting all the path segments corresponding to the construction layer map into the path segments corresponding to the given map in the path with the minimum driving cost between the path starting point and the path terminal point so as to obtain a planned path between the path starting point and the path terminal point.

9. The apparatus of claim 8, wherein the solution map generation module is further configured to:

10. the apparatus of claim 8, wherein the multi-level mapping module is further configured to:

11. The apparatus of claim 10, wherein the multi-level map construction module comprises a key coordinate point selection sub-module configured to:

and respectively selecting key coordinate points by taking each corner point of the level map as an initial key coordinate point, wherein for each initial key coordinate point:

12. The apparatus of claim 11, wherein the key coordinate point selection sub-module is further configured to:

Taking any key coordinate point as a current key coordinate point, and when the next key coordinate point is selected along each travelable direction of the current key coordinate point:

In one direction of travel of the current key coordinate point,

When the first position coordinate point, the second position coordinate point and the third position coordinate point exist:

If the second position coordinate point is a corner point under the condition that only the first position coordinate point and the second position coordinate point exist, or if the first position coordinate point is a corner point under the condition that only the first position coordinate point exists, selecting the corner point as a next key coordinate point;

the first position coordinate point is a coordinate point adjacent to the current key coordinate point, the second position coordinate point is a coordinate point spaced from the current key coordinate point by one coordinate point, and the third position coordinate point is a coordinate point spaced from the current key coordinate point by two coordinate points.

13. The apparatus of claim 8, wherein the second path planning module is further configured to:

converting paths between each pair of adjacent coordinate points in the path segments corresponding to each hierarchy building layer map into paths corresponding to each pair of adjacent coordinate points in the given map by mapping from layer to layer in a next hierarchy of maps, wherein the path corresponding to a certain pair of adjacent coordinate points in the given map is the path with the minimum driving cost between the pair of adjacent coordinate points in the given map;

And in the path with the minimum driving cost between the path starting point and the path ending point, replacing the path between each pair of adjacent coordinate points with the path corresponding to each pair of adjacent coordinate points on the given map, and removing the duplication of the same coordinate points, thereby obtaining the planned path.

14. The apparatus of claim 13, wherein the second path planning module comprises a path conversion sub-module to:

And converting paths between each pair of adjacent coordinate points in the path segment corresponding to each hierarchy building layer map into paths corresponding to each pair of adjacent coordinate points in the given map by mapping from layer to layer in the next hierarchy map in the path with the minimum driving cost between the path starting point and the path ending point by utilizing multiple threads.

15. an electronic device, comprising:

One or more processors;

A memory for storing one or more programs,

The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method recited in any of claims 1-7.

16. a computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-7.

Technical Field

The invention relates to the technical field of computers, in particular to a path planning method and a path planning device.

Background

in an unmanned warehouse based on an AGV (Automated Guided Vehicle), the warehousing of commodities requires that the commodities are conveyed to a specified warehousing point, an intelligent scheduling system calculates required goods shelf information, and the AGV directly supports the required goods shelves to reach the warehousing point to finish warehousing and shelving; and the intelligent scheduling system calculates the most appropriate goods shelf containing the goods for the delivery of the goods, and the AGV directly supports the needed goods shelf to reach a delivery point to complete delivery. By the mode, the efficiency and the effect of warehousing and ex-warehouse of the commodities are greatly improved through the related scheduling algorithm and the application of the AGV.

when the AGV runs in the unmanned cabin, the path planning system is required to provide a path planning function to inform the AGV how to run, that is, to calculate the shortest path between two points, the shortest path between two points can be calculated by using Dijkstra (Dijkstra algorithm, which is an algorithm for calculating the shortest path from one vertex to the rest of the vertices), a-star (an algorithm for calculating the shortest path in a static road network) and other common algorithms.

The existing path planning method directly uses the existing algorithm for a large-scale map, such as a 1000 x 1000 map, has long calculation time and cannot meet the requirement of quick response of system interaction. Or, the result of path calculation of any two points in the map is stored by initialization, and the shortest path is directly queried when the AGV needs path planning to return the result faster, but this method may occupy a large amount of storage resources, and is not preferable in view of the cost of the current storage device.

In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:

The two existing path planning methods have the problems of long calculation time, large calculation amount, low calculation efficiency and large storage resource consumption respectively.

Disclosure of Invention

In view of this, embodiments of the present invention provide a path planning method and apparatus, which can shorten the calculation time of path planning, reduce the calculation amount, improve the calculation efficiency, and save storage resources.

to achieve the above object, according to an aspect of an embodiment of the present invention, a path planning method is provided.

A path planning method, comprising: constructing a multi-level map from a given map, the multi-level map comprising a lowest level of the given map and at least one level of a build-layer map, the coordinate point of each level of the build-layer map being taken from a next level of the given map or the build-layer map; generating a solving map according to the coordinate points of the multi-level map; calculating a path with the minimum driving cost between a path starting point and a path terminal point according to the solved map and a preset algorithm, wherein the path with the minimum driving cost between the path starting point and the path terminal point comprises path segments corresponding to one or more hierarchy building layer maps; and converting all the path segments corresponding to the construction layer map into the path segments corresponding to the given map in the path with the minimum driving cost between the path starting point and the path end point so as to obtain the planned path between the path starting point and the path end point.

Optionally, the step of generating a solution map according to the coordinate points of the multi-level map includes: generating a solving map according to the coordinate points of the highest level map in the multi-level map and the coordinate points of mapping areas respectively including the path starting point and the path end point in other multi-level maps except the highest level map; the mapping areas of other level maps except the highest level map are as follows: the minimum area formed by the coordinate points of the map of the previous level of the hierarchy map is mapped to the area formed by the hierarchy map.

Optionally, the step of constructing a multi-level map from a given map comprises: and based on the given map, selecting a key coordinate point from the coordinate points of the given map, taking the selected key coordinate point as the coordinate point of the previous-level map of the given map to construct the previous-level map of the given map, and then continuing to construct the next-level construction-level map based on the previous-level map of the given map according to the same method until the number of map levels reaches the number of configuration levels, and stopping constructing the subsequent construction-level map.

Optionally, the key coordinate point is selected from the coordinate points of a certain level map according to the following method: and respectively selecting key coordinate points by taking each corner point of the level map as an initial key coordinate point, wherein for each initial key coordinate point: and respectively selecting one coordinate point as a key coordinate point according to a selection rule along each travelable direction of the initial key coordinate point, and selecting one coordinate point as a next key coordinate point according to the selection rule for each selected key coordinate point along each travelable direction of the key coordinate point, and so on, thereby selecting subsequent key coordinate points according to each travelable direction of each key coordinate point, and stopping continuously selecting the key coordinate points until a preset termination condition is reached.

Optionally, when any one of the key coordinate points is taken as a current key coordinate point, and a next key coordinate point is selected along each travelable direction of the current key coordinate point, the selection rule is as follows: in one travelable direction of the current key coordinate point, when there is a first position coordinate point, a second position coordinate point, a third position coordinate point: if the travelable direction of the second position coordinate point is completely the same as that of the current key coordinate point, and the travelable direction of the first position coordinate point is completely the same as that of the third position coordinate point, selecting the third position coordinate point as a next key coordinate point, wherein if the first position coordinate point or the second position coordinate point is a selected key coordinate point, the first position coordinate point or the second position coordinate point is still selected as the next key coordinate point, and the third position coordinate point is not selected as the next key coordinate point; if the travelable directions of the current key coordinate point and the second position coordinate point are not completely the same, or the travelable directions of the first position coordinate point and the third position coordinate point are not completely the same, selecting the first position coordinate point as a next key coordinate point; if the second position coordinate point is a corner point under the condition that only the first position coordinate point and the second position coordinate point exist, or if the first position coordinate point is a corner point under the condition that only the first position coordinate point exists, selecting the corner point as a next key coordinate point; the first position coordinate point is a coordinate point adjacent to the current key coordinate point, the second position coordinate point is a coordinate point spaced from the current key coordinate point by one coordinate point, and the third position coordinate point is a coordinate point spaced from the current key coordinate point by two coordinate points.

Optionally, the step of converting all the route segments corresponding to the build level map into the route segments corresponding to the given map in the route with the minimum driving cost between the route start point and the route end point to obtain the planned route between the route start point and the route end point includes: converting paths between each pair of adjacent coordinate points in the path segments corresponding to each hierarchy building layer map into paths corresponding to each pair of adjacent coordinate points in the given map by mapping from layer to layer in a next hierarchy of maps, wherein the path corresponding to a certain pair of adjacent coordinate points in the given map is the path with the minimum driving cost between the pair of adjacent coordinate points in the given map; and in the path with the minimum driving cost between the path starting point and the path ending point, replacing the path between each pair of adjacent coordinate points with the path corresponding to each pair of adjacent coordinate points on the given map, and removing the duplication of the same coordinate points, thereby obtaining the planned path.

optionally, in the path with the minimum driving cost between the path starting point and the path ending point, a path between each pair of adjacent coordinate points in the path segment of the layer map is constructed corresponding to each layer by using multiple threads, and the path is mapped to the next layer of map layer by layer to be converted into the path corresponding to each pair of adjacent coordinate points in the given map.

According to another aspect of the embodiments of the present invention, a path planning apparatus is provided.

a path planner, comprising: the multi-level map construction module is used for constructing a multi-level map according to a given map, the multi-level map comprises the given map of the lowest level and at least one level of construction layer maps, and the coordinate point of each level of construction layer map is selected from the given map or the construction layer map of the next level; the solution map generation module is used for generating a solution map according to the coordinate points of the multi-level map; the first path planning module is used for calculating a path with the minimum driving cost between a path starting point and a path terminal point according to the solved map and a preset algorithm, wherein the path with the minimum driving cost between the path starting point and the path terminal point comprises path segments corresponding to one or more hierarchy construction layer maps; and the second path planning module is used for converting all the path segments corresponding to the construction layer map into the path segments corresponding to the given map in the path with the minimum driving cost between the path starting point and the path terminal point so as to obtain a planned path between the path starting point and the path terminal point.

optionally, the solution map generation module is further configured to: generating a solving map according to the coordinate points of the highest level map in the multi-level map and the coordinate points of mapping areas respectively including the path starting point and the path end point in other multi-level maps except the highest level map; the mapping areas of other level maps except the highest level map are as follows: the minimum area formed by the coordinate points of the map of the previous level of the hierarchy map is mapped to the area formed by the hierarchy map.

Optionally, the multi-level map construction module is further configured to: and based on the given map, selecting a key coordinate point from the coordinate points of the given map, taking the selected key coordinate point as the coordinate point of the previous-level map of the given map to construct the previous-level map of the given map, and then continuing to construct the next-level construction-level map based on the previous-level map of the given map according to the same method until the number of map levels reaches the number of configuration levels, and stopping constructing the subsequent construction-level map.

Optionally, the multi-level map construction module includes a key coordinate point selection sub-module, configured to: and respectively selecting key coordinate points by taking each corner point of the level map as an initial key coordinate point, wherein for each initial key coordinate point: and respectively selecting one coordinate point as a key coordinate point according to a selection rule along each travelable direction of the initial key coordinate point, and selecting one coordinate point as a next key coordinate point according to the selection rule for each selected key coordinate point along each travelable direction of the key coordinate point, and so on, thereby selecting subsequent key coordinate points according to each travelable direction of each key coordinate point, and stopping continuously selecting the key coordinate points until a preset termination condition is reached.

Optionally, the key coordinate point selection sub-module is further configured to: taking any key coordinate point as a current key coordinate point, and when the next key coordinate point is selected along each travelable direction of the current key coordinate point: in one travelable direction of the current key coordinate point, when there is a first position coordinate point, a second position coordinate point, a third position coordinate point: if the travelable direction of the second position coordinate point is completely the same as that of the current key coordinate point, and the travelable direction of the first position coordinate point is completely the same as that of the third position coordinate point, selecting the third position coordinate point as a next key coordinate point, wherein if the first position coordinate point or the second position coordinate point is a selected key coordinate point, the first position coordinate point or the second position coordinate point is still selected as the next key coordinate point, and the third position coordinate point is not selected as the next key coordinate point; if the travelable directions of the current key coordinate point and the second position coordinate point are not completely the same, or the travelable directions of the first position coordinate point and the third position coordinate point are not completely the same, selecting the first position coordinate point as a next key coordinate point; if the second position coordinate point is a corner point under the condition that only the first position coordinate point and the second position coordinate point exist, or if the first position coordinate point is a corner point under the condition that only the first position coordinate point exists, selecting the corner point as a next key coordinate point; the first position coordinate point is a coordinate point adjacent to the current key coordinate point, the second position coordinate point is a coordinate point spaced from the current key coordinate point by one coordinate point, and the third position coordinate point is a coordinate point spaced from the current key coordinate point by two coordinate points.

Optionally, the second path planning module is further configured to: converting paths between each pair of adjacent coordinate points in the path segments corresponding to each hierarchy building layer map into paths corresponding to each pair of adjacent coordinate points in the given map by mapping from layer to layer in a next hierarchy of maps, wherein the path corresponding to a certain pair of adjacent coordinate points in the given map is the path with the minimum driving cost between the pair of adjacent coordinate points in the given map; and in the path with the minimum driving cost between the path starting point and the path ending point, replacing the path between each pair of adjacent coordinate points with the path corresponding to each pair of adjacent coordinate points on the given map, and removing the duplication of the same coordinate points, thereby obtaining the planned path.

optionally, the second path planning module includes a path conversion sub-module, configured to: and converting paths between each pair of adjacent coordinate points in the path segment corresponding to each hierarchy building layer map into paths corresponding to each pair of adjacent coordinate points in the given map by mapping from layer to layer in the next hierarchy map in the path with the minimum driving cost between the path starting point and the path ending point by utilizing multiple threads.

According to yet another aspect of an embodiment of the present invention, an electronic device is provided.

an electronic device, comprising: one or more processors; a memory for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the path planning method provided by the present invention.

According to yet another aspect of an embodiment of the present invention, a computer-readable medium is provided.

a computer-readable medium, on which a computer program is stored which, when being executed by a processor, carries out the path planning method provided by the invention.

One embodiment of the above invention has the following advantages or benefits: constructing a multi-level map according to a given map; generating a solving map according to the coordinate points of the highest level map and the coordinate points of mapping areas respectively including a path starting point and a path end point in other levels of maps except the highest level map; the mapping areas of other level maps except the highest level map are as follows: a minimum region formed by coordinate points of a level map above the level map is mapped to a region formed by the level map; calculating a path with the minimum driving cost between a path starting point and a path terminal point according to a preset algorithm according to the solved map; and in the path with the minimum driving cost between the path starting point and the path end point, converting all the path segments corresponding to the building layer map into the path segments corresponding to the given map so as to obtain the planned path between the path starting point and the path end point. The method can shorten the calculation time of path planning, reduce the calculation amount and improve the calculation efficiency, and does not need to store the path calculation results of any two points in the map through initialization, thereby saving the storage resource.

further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.

Drawings

the drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:

Fig. 1 is a schematic diagram of the main steps of a path planning method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the preferred main steps of a path planning method according to one embodiment of the present invention;

FIG. 3 is a schematic diagram of a map simulation of an unmanned bin according to an embodiment of the invention;

FIG. 4 is a schematic diagram of the main modules of a path planning apparatus according to an embodiment of the present invention;

FIG. 5 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;

FIG. 6 is a schematic block diagram of a computer system suitable for use with a server implementing an embodiment of the invention.

Detailed Description

exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

the embodiment of the invention provides a path planning method which can be applied to various super-large-scale maps, for example, an exemplary application scenario is that the optimal running path (namely the shortest path) of an AGV is solved in a super-large-scale unmanned cabin map. The path planning method reduces the number of coordinate points for solving the map, reduces the calculated amount, reduces the calculation time and improves the calculation speed; meanwhile, a parallel computing strategy is introduced, and the computing efficiency can be improved by utilizing a multithreading technology in partial computing. In addition, since the path calculation results of any two points in the map do not need to be stored through initialization, the embodiment of the invention can also save storage resources compared with the prior art.

Fig. 1 is a schematic diagram of main steps of a path planning method according to an embodiment of the present invention.

As shown in fig. 1, the path planning method of the embodiment of the present invention mainly includes the following steps:

Step S101: and constructing a multi-level map according to the given map, wherein the multi-level map comprises the given map of the lowest level and at least one level of construction layer maps, and the coordinate point of each level of construction layer map is selected from the given map or the construction layer map of the next level.

Step S102: and generating a solving map according to the coordinate points of the multi-level map.

Step S103: and calculating the path with the minimum driving cost between the starting point and the end point of the path according to a preset algorithm according to the solved map, wherein the calculated path with the minimum driving cost between the starting point and the end point of the path comprises path segments corresponding to one or more hierarchical building layer maps.

Step S104: and converting all the path segments corresponding to the building layer map in the path with the minimum driving cost between the path starting point and the path end point into the path segments corresponding to the given map so as to obtain the planned path between the path starting point and the path end point.

fig. 2 is a schematic diagram of the preferred main steps of a path planning method according to an embodiment of the present invention.

As shown in fig. 2, the path planning method according to the embodiment of the present invention mainly includes the following steps S201 to S204.

step S201: a multi-level map is constructed from a given map.

The multi-level map includes a lowest level of the given map and at least one level of a build-level map.

in a multi-level map, the lowest-level map is a given map, the given map is an original map used in general route planning, all the levels of maps except the given map in the multi-level map are constructed maps, the constructed levels of maps are referred to as construction level maps, for example, a level 1 map is constructed on the basis of the given map (corresponding to a level 0), and a level 2 map is constructed on the basis of the level 1 map, so that the level 1 map and the level 2 map are both construction level maps. The coordinate point of each level of the construction layer map is selected from the given map or the construction layer map of the next level, that is, the coordinate point of the construction layer map of level 1 is selected from the given map of the next level, and the coordinate point of the construction layer map of level 2 or more is selected from the construction layer map of the next level.

The step of constructing a multi-level map according to a given map may specifically include: and based on the given map, selecting key coordinate points from the coordinate points of the given map, taking the selected key coordinate points as the coordinate points of the previous-level map of the given map to construct the previous-level map of the given map, and then continuing to construct the construction-level map of the previous level based on the previous-level map of the given map according to the same method until the number of the map levels reaches the configuration level, and stopping constructing the subsequent construction-level map.

The number of the above-described arrangement layers is predetermined according to the map situation, the server situation, and the like.

the key coordinate points can be selected from the coordinate points of a certain level map according to the following method:

Each corner point of the level map is taken as a starting key coordinate point to respectively select key coordinate points, wherein the corner point is a coordinate point on each corner of the map, and generally for a rectangular map, the corner point is a coordinate point positioned at four corners of the rectangle. Wherein, for each starting key coordinate point:

and respectively selecting one coordinate point as a key coordinate point according to a selection rule along each travelable direction of the initial key coordinate point, and selecting one coordinate point as a next key coordinate point according to the selection rule for each selected key coordinate point along each travelable direction of the key coordinate point, so as to analogize the key coordinate points, thereby selecting subsequent key coordinate points according to each travelable direction of each key coordinate point, and stopping continuously selecting the key coordinate points until a preset termination condition is reached. When the next key coordinate point is selected according to a certain key coordinate point (set as a), the preset termination condition is at least one of the following two conditions: one is that a has no direction of travel available, specifically, no travel cost records between adjacent coordinate points of a and a can be queried. When the original map data (namely the data of a given map) is stored, the coordinates of each point of the map are stored in advance, the driving cost data from each coordinate point to the adjacent coordinate point is also stored, and if the driving cost data from one coordinate point to other coordinate points does not exist, the coordinate point does not have a drivable direction; and secondly, the next key coordinate point pre-selected according to the A is the selected key coordinate point. If the selected key coordinate point based on A is the key coordinate point which has been selected based on other coordinate points, repeated selection does not need to be continuously executed on the basis of the selected key coordinate point.

When any key coordinate point is taken as the current key coordinate point and the next key coordinate point is selected along each travelable direction of the current key coordinate point, the selection rule may specifically be:

in one direction of travel of the current key coordinate point,

When the first position coordinate point, the second position coordinate point and the third position coordinate point exist:

If the travelable direction of the second position coordinate point is completely the same as that of the current key coordinate point, and the travelable direction of the first position coordinate point is completely the same as that of the third position coordinate point, selecting the third position coordinate point as a next key coordinate point, wherein if the first position coordinate point or the second position coordinate point is the selected key coordinate point, the first position coordinate point or the second position coordinate point is still selected as the next key coordinate point, and the third position coordinate point is not selected as the next key coordinate point;

If the travelable directions of the current key coordinate point and the second position coordinate point are not completely the same, or the travelable directions of the first position coordinate point and the third position coordinate point are not completely the same, selecting the first position coordinate point as the next key coordinate point; and under the condition that only the first position coordinate point and the second position coordinate point exist, if the second position coordinate point is a corner point, or under the condition that only the first position coordinate point exists, if the first position coordinate point is a corner point, selecting the corner point as a next key coordinate point.

And the edge corner points are coordinate points on each edge of the map.

The first position coordinate point may be a coordinate point adjacent to the current key coordinate point, the second position coordinate point may be a coordinate point spaced apart from the current key coordinate point by one coordinate point, and the third position coordinate point may be a coordinate point spaced apart from the current key coordinate point by two coordinate points.

step S202: and generating a solving map according to the coordinate points of the highest level map and the coordinate points of mapping areas respectively comprising a path starting point and a path ending point in other level maps except the highest level map.

The mapping areas of other hierarchical maps except the highest hierarchical map are as follows: the minimum area formed by the coordinate points of the map of the previous level of the hierarchy map is mapped to the area formed by the hierarchy map.

Step S203: and calculating the path with the minimum driving cost between the starting point and the end point of the path according to the generated solving map and a preset algorithm.

Wherein the calculated path with the minimum driving cost between the starting point and the end point of the path comprises path segments corresponding to one or more hierarchy building layer maps.

Step S204: and converting all the path segments corresponding to the building layer map into the path segments corresponding to the given map in the calculated path with the minimum driving cost between the path starting point and the path end point so as to obtain a planned path between the path starting point and the path end point.

The planned path is a complete path between a starting point and an end point of the path to be planned.

Step S204 may specifically include: converting the paths between each pair of adjacent coordinate points in the path segments of the layer map constructed corresponding to each hierarchy into paths corresponding to each pair of adjacent coordinate points in the given map by mapping from layer to next layer map, wherein the path corresponding to a certain pair of adjacent coordinate points in the given map is the path with the minimum driving cost between the pair of adjacent coordinate points in the given map; and replacing the path between the adjacent coordinate points of the path with the minimum driving cost between the path starting point and the path end point with the path corresponding to each pair of adjacent coordinate points on the given map, and removing the duplication of the same coordinate points to obtain the planned path.

And, in the path with the minimum travel cost between the path starting point and the path ending point, the path between each pair of adjacent coordinate points in the path segment corresponding to each hierarchy building layer map can be converted into the path corresponding to each pair of adjacent coordinate points in the given map by mapping layer by layer to the next hierarchy map.

FIG. 3 is a schematic diagram of a map simulation of an unmanned bin according to an embodiment of the invention. As shown in fig. 3, the graph is a 30 × 22 simulation map, the AGV runs on the coordinate points, the map is a one-way route, that is, the route with x being an even number can only run upwards; the route with the x being odd can only drive downwards; routes with y being even may only be driven to the right; routes with y being odd can only be driven to the left. Where x and y represent the abscissa and ordinate values, respectively, and the AGV travels one cell per foot, i.e., travels one coordinate position in the abscissa or ordinate direction. The driving direction of the AGV at the coordinate point of the map is only an example, and the driving direction of the AGV at each coordinate point in the map can be planned according to the situations such as the field and the service, and is not limited to this example.

The following takes the map shown in fig. 3 as an example to describe the path planning method according to the embodiment of the present invention.

And when the system is initialized, map initialization of the warehouse is completed, wherein the map initialization comprises the steps of initializing coordinate information of a construction layer map, regional information of the construction layer map and cost data of adjacent points of each layer of the construction layer map.

When the coordinate information of the construction layer map is initialized, for a lower layer map (the lower layer map refers to a map of a certain level for constructing the construction layer map, namely, the map of each level except for the highest level map can become a lower layer map), selecting the key coordinate points to form the construction layer map of the previous level, wherein the coordinate points of the construction layer map are far less than those of the lower layer map, and if the constructed construction layer map has a lot of coordinate points, the construction layer map of the next level can be continuously constructed, so that the multi-level map is constructed.

Because the current unmanned cabin map is basically composed of one-way roads, each point generally has two driving directions except for the corner points, for example, in the unmanned cabin map of fig. 3, the driving rule of the AGV is as follows: routes where x is an even number can only be driven upwards; the route with the x being odd can only drive downwards; routes with y being even may only be driven to the right; routes with y being odd can only be driven to the left. Two adjacent coordinate points must have the same driving direction, and two driving directions of two points separated by one coordinate point are completely the same. Therefore, for a certain key coordinate point P1, along a certain travelable direction, its neighboring coordinate point is P2, its coordinate points separated by one coordinate point (hereinafter, this is the same as the above) is P3, and its coordinate points separated by two coordinate points is P4, which has the following characteristics: the P1 and the P3 have the same driving direction, the P2 and the P4 have the same driving direction, the P3 point can be replaced by the P1 point, the P2 point can be replaced by the P4 point, and the coordinate point P4 can be selected as a key coordinate point for the long-distance driving demand. And then continuing to select the key coordinate point based on the other travelable directions of P1, then continuing to select a subsequent key coordinate point along the travelable direction of the selected key coordinate point based on the key coordinate point selected through P1, and so on.

Taking the map shown in fig. 3 as an example, the coordinate point (0,0) is taken as the key coordinate point P1, the adjacent coordinate point (1,0) along the right direction of travel thereof is P2 (i.e., the first position coordinate point), and the coordinate point (2,0) that is one coordinate point apart is P3 (i.e., the second position coordinate point); the coordinate point (3,0) separated by two points is P4 (i.e., the third positional coordinate point). The traveling directions of P1 (coordinates (0,0)) and P3 (coordinates (2,0)) are the same right and upward; p2 (coordinates (1,0)) and P4 (coordinates (3,0)) are both right and down, so P3 can be replaced by P1, and P2 can be replaced by P4, and then P4 is selected as a key coordinate point. Then, the selection of the key coordinate point is continued again based on P1 along its upward traveling direction. Further, based on the selected key coordinate point, for example, P4, whose coordinate is (3,0), the selection of the key coordinate point is continued in the same manner as described above in each traveling direction.

When the key coordinate point is selected, the key coordinate point is selected according to the selection rule in the general case, but when the following special cases exist, the key coordinate point is selected according to the following rule:

If the directions of travel of P2 and P4 are not exactly the same, or the directions of travel of P1 and P3 are not exactly the same, e.g., the direction of travel of P2 is right and down, while the direction of travel of P4 is only right), then the adjacent coordinate point P2 of P1 is selected as the key coordinate point.

if the P2 is the selected key coordinate point (since the starting point of the selected key coordinate point is different, the driving direction is different, and after multiple selections, two adjacent coordinate points may be the key coordinate points), the P2 is selected as the key coordinate point. Similarly, if P3 is the selected key coordinate point, P3 is selected as the key coordinate point.

And if a certain selected key coordinate point PN exists, P (N + X) is a corner point, and X belongs to {1,2}, selecting the corner point P (N + X) as the key coordinate point.

if a certain selected key coordinate point PN does not have a travelable direction, the selection of further key coordinate points based on that key coordinate point is ended.

taking the unmanned cabin map shown in fig. 3 as an example, first, 4 corner points are obtained: (0,0), (0,21), (29,0), (29, 18). Firstly, selecting a key coordinate point for the first time, taking an original point P (0,0) as a starting key coordinate point, sequentially selecting two key coordinate points P (0,3) and P (3,0) at intervals according to the key coordinate point selection rule along the travelable direction. For selecting a new key coordinate point, for example, P (0,3), a key coordinate point P (0,6) is also selected in its travelable direction, for P (3,0), a key coordinate point P (6,0) is also selected in its travelable direction, and so on, so that, depending on the newly selected key coordinate point one by one, further key coordinate points are selected in its travelable direction. Finally, a coordinate matrix is obtained,

The following were used:

Then, a second key coordinate point selection is performed, and with (0,21) as the starting key coordinate point, according to the driving rule of the AGV in the unmanned cabin map of fig. 3, there is no driving direction for the (0,21) key coordinate point, and therefore there is no new key coordinate point selected.

The third time of selecting the key coordinate point is performed, and with (29,0) as the starting key coordinate point, similarly to (0,21), there is no travelable direction for (29,0), and therefore no new key coordinate point is selected.

And (3) selecting for the fourth time, taking (29,21) as the initial key coordinate point, selecting the key coordinate point along the travelable direction according to the same method, and further selecting the subsequent key coordinate point along the traveling direction according to the newly selected key coordinate point. According to the travel rule of the AGV in the unmanned cabin map of fig. 3, the travelable direction of the key coordinate points (29,21) is downward and leftward, wherein when a key coordinate point is selected in the leftward travelable direction, according to the above-mentioned key coordinate point selection rule, a key coordinate point can be selected (26,21), and when the key coordinate points are continuously selected based on (26,21), the travelable direction of the key coordinate point (26,21) is leftward, in which travelable direction a coordinate point (24,21) that is one coordinate point apart from (26,21) is a selected key coordinate point, according to the above-mentioned "if the first position coordinate point or the second position coordinate point is the selected key coordinate point, the first position coordinate point or the second position coordinate point is still selected as the next key coordinate point, and the third position coordinate point is not selected as the next key coordinate point", the coordinate point (24 is still selected, 21) the selected key coordinate point is obtained.

Finally, by the four selections, a complete key point coordinate matrix of 11 x 8 is finally obtained,

The method comprises the following specific steps:

the above is the unmanned bin map 30 x 22 of fig. 3, for one x_l*y_lcalculated to be x_u*y_uConsidering that the map may be an irregular polygon, the following formula can be obtained:

Wherein x is_lis the x_l*y_lNumber of coordinate points on the x-axis of the map), y_lis the x_l*y_lnumber of coordinate points on the y-axis of the map), x_uis the x_u*y_uNumber of coordinate points on the x-axis of the map, y_uis the x_u*y_uThe number of coordinate points on the y-axis of the map. For the above-described simulation map of 30 × 22 of fig. 3, namely:

Get 11 promptly

Namely 8 is taken out.

For a super-large map, for example, a 1000 × 1000 map has 100 ten thousand points, a build level map of 334 × 334 of one level is obtained through calculation, 11 ten thousand points exist, calculation is performed once based on the build level map of 334 × 334, and then a build level map of 112 × 112 of another higher level can be obtained, which only includes 1 ten thousand points, shortest path calculation is performed based on the 1 ten thousand points, and the calculation time consumption under the current server calculation capacity can already meet the current system performance requirement.

after the coordinate information of the build layer map is initialized, the area information of the build layer map is initialized. For the construction layer map of each level, area information can be initialized according to coordinate information, the area information is information of a closed area formed by adjacent points of the construction layer map, and based on the condition that each coordinate point and the adjacent points of the current unmanned warehouse map can form 4 edges at most, the coordinate point of each level map can correspond to 1 to 4 areas of a map of a level above the level map except the highest level map. For the build layer map, each piece of regional information includes the following:

Area ID: a unique designation of the zone record.

Map level: 0 is the original map (i.e., the given map described above), and the value is incremented by 1 every higher level.

Current layer coordinates contained: coordinates in the build layer map where the region is located.

The included lower layer coordinates: the coordinates in the next level map to which the region corresponds.

taking the 30 × 22 unpopulated bin map shown in fig. 3 as an example, the 30 × 22 map is a given map, i.e., an original map, and a hierarchy of 11 × 8 build level maps is constructed from the 30 × 22 map, so that for a closed region formed by (0,0), (0,3), (3,0), (3,3) in the 11 × 8 build level map, the coordinates of the corresponding next level map (i.e., the most original map in this example) are (0,0), (0,1), (0,2), (0,3), (1,0), (1,1), (1,2), (1,3), (2,0), (2,1), (2,2), (2,3), (3,0), (3,1), (3,2), (3, 3). Namely, the piece of region information is:

Area ID: 1

Map level: 1

Current layer coordinates contained: (0,0),(0,3),(3,0),(3,3)

the included lower layer coordinates: (0,0),(0,1),(0,2),(0,3),(1,0),(1,1),(1,2),(1,3),(2,0),(2,1),(2,2),(2,3),(3,0),(3,1),(3,2),(3,3)

If a multi-level construction layer map is included, regional information of each level construction layer map is initialized according to the above method.

after initializing the area information of the build-layer map, the cost data of the adjacent coordinate points of each level of the build-layer map is initialized. The cost data of the adjacent coordinate points includes a travel cost between the adjacent coordinate points, and a path with the minimum travel cost between the two coordinate points is a shortest path between the two coordinate points.

The running cost of the adjacent coordinate points of the original map can be calculated according to an algorithm for calculating the running cost in the existing path planning scheme, such as Dijkstra, A-star and the like, and is mainly calculated according to factors such as the running speed of a vehicle, the distance between the adjacent two points and the like, the running cost of the adjacent coordinate points of the original map can be stored in advance, specifically, when the data of the original map is stored, not only the coordinates of each point of the map but also the running cost data from each coordinate point to the adjacent coordinate point are stored, and therefore, the running cost of the adjacent coordinate points of the original map is only required to be inquired and read. For the driving cost of the adjacent coordinate points of the building layer map, the following method can be adopted: taking a certain two adjacent coordinate points of a certain level of construction layer map as an example, firstly calculating the mapping of the two coordinate points to the next level map of the construction layer map, then calculating the shortest path of the two coordinate points, and then using the value of the superposition of the driving cost of each coordinate point in the shortest path as the driving cost of the adjacent coordinate point of the construction layer map.

For example, the travel cost from coordinate point (0,0) to coordinate point (0,3) of the construction level map (map level 1) in fig. 3 is C_(0,0)-(0,3)That is, the next level map (in this example, the original map, the map level is 0) obtains the shortest path from point (0,0) to point (0,3), and the shortest path is obtained as follows: (0,0),(0,1),(0,2),(0,3). And then overlapping the running costs in the shortest path to obtain:

C_{(0,0)_(0,3)}＝C_{(0,0)_(0,1)}+C_{(0,1)_(0,2)}+C_{(0,2)_(0,3)}

Wherein, C_{(0,0)_(0,1)}、C_{(0,1)_(0,2)}、C_{(0,2)_(0,3)}the travel costs of the coordinate points (0,0) to (0,1), (0,1) to (0,2), (0,2) to (0,3) of the next-level map, respectively.

if the construction layer map comprises a plurality of levels, when the driving cost is initialized, the driving cost of the construction layer map of each level is mapped to the next level step by step, and finally mapped to the lowest level (original map), and the driving cost in the shortest path is superposed according to the method.

After a multi-level map is constructed and the map initialization is performed, a solution map is generated according to coordinate points of the highest-level map and coordinate points of mapping areas respectively including a path starting point (namely, a starting point or a starting point for short) and a path end point (namely, an end point or an end point for short) in each level map except the highest-level map. The mapping areas of other hierarchical maps except the highest hierarchical map are as follows: the minimum area formed by the coordinate points of the map of the previous level of the hierarchy map is mapped to the area formed by the hierarchy map.

specifically, w-th layer (w is the value of the highest-level building layer map by default) map coordinates and area coordinates of two w-1-th layer maps containing a starting point and an ending point are loaded, if the w-1 layer map is not the lowest-level map, the area coordinates of the two w-2-th layer maps containing the starting point and the ending point are loaded again until w-n is the lowest-level map, and the solving map is assembled according to the loaded coordinate points.

Taking the unmanned warehouse map shown in fig. 3 as an example, according to the above example, a building level map (denoted as level L1) of one level is constructed on the basis of the original map (denoted as level L0), and a multi-level map having two levels in common is obtained. In calculating the shortest path from the coordinate point (0,0) to the coordinate point (18,7), the coordinate points used for generating the solution map are loaded according to the above method, that is, all the coordinate points of the map of the L1 level are loaded, and the coordinate points of two mapping regions of the L0 level respectively including the coordinate points (0,0) and (18,7) are loaded, wherein the minimum region of the L1 level including the coordinate point (0,0) is a closed region formed by (0,0), (0,3), (3,0), (3,3), and the closed region is mapped to the mapping region of the L0 level, that is, the L0 level, and includes 16 coordinate points: (0,0),(0,1),(0,2),(0,3),(1,0),(1,1),(1,2),(1,3),(2,0),(2,1),(2,2),(2,3),(3,0),(3,1),(3,2),(3,3). There are two minimum regions of the L1 level including the coordinate point (18,7), which are closed regions respectively constituted by (18,6), (21,6), (21,9), (18,9) and (15,6), (15,9), (18,6), (18,9), and 28 coordinate points of (18,7) in the mapping region of the L0 level are obtained in the same manner. Coordinate points included in the finally generated solution map include: after the 88 coordinate points of the L1 level map, the 16 coordinate points of one mapping region containing (0,0) and the 28 coordinate points of two mapping regions containing (18,7), the coordinate points selected by the L0 level map and the L1 level map are de-duplicated, a total of 122 (i.e., 88+16+28-4-6) coordinate points are obtained, and the 122 coordinate points constitute the solving map.

based on the generated solution map, the shortest path between any two coordinate points can be quickly calculated by using Dijkstra, A-star and other algorithms. Dijkstra, an algorithm of Dijkstra was proposed by the netherlands computer scientist dikstra in 1959, and is therefore also called a dikstra algorithm. The method is a shortest path algorithm from one vertex to the rest of the vertices, and solves the shortest path problem in the directed graph. The Dijkstra algorithm is mainly characterized in that the Dijkstra algorithm expands outwards layer by taking a starting point as a center until the expansion reaches a terminal point. The general representation of the Dijkstra algorithm generally has two modes, one with permanent and temporary labels, and one with OPEN, CLOSE tables, where permanent and temporary labels are used. Note that this algorithm requires that no negative weight edges exist in the graph. The A-Star (A-Star) algorithm is the most effective method for solving the shortest path in the static road network. The formula is expressed as: (n) g (n) + h (n), where f (n) is an evaluation function of node n from the initial point to the target point, g (n) is the actual cost in state space from the initial node to n nodes, and h (n) is the estimated cost of the best path from n to the target node.

the part of the calculation of the shortest path between any two coordinate points is calculated by using algorithms such as Dijkstra and A-star, and the algorithm modules of the existing path planning can be well reused for the condition that the input parameter and the output parameter of the algorithms are consistent with the existing common path planning scheme, namely the input parameter is a map (the input parameter of the algorithm in the prior art is an original map, the input parameter is a solution map in the invention), the starting point and the ending point, and the output parameter is the path from the starting point to the ending point.

for the shortest path calculated according to the solution map, except for the partial path segments of the starting point and the end point, the path segments of the partial construction layer map are included, the path segments of the partial construction layer map are required to be converted into the path segments of the lower layer map, the thinking of initializing the cost data of the adjacent points of each layer of map is similar, namely for the adjacent points of the construction layer map path, the shortest path of the adjacent points after the adjacent points are mapped to the lower layer map is calculated (if the adjacent points are the multi-level construction layer map, the adjacent points are mapped to the lowest level step by step), the coordinate points in the complete shortest path are replaced by the obtained shortest path segments, and the final path is obtained through deduplication processing.

Taking the unmanned bin map shown in fig. 3 as an example, the shortest path from point (0,0) to point (18,7) is calculated according to the solution map, and the obtained shortest path is: (0,0),(1,0),(2,0),(3,0),(6,0),(9,0),(12,0),(15,0),(18,0),(18,3),(18,6),(18,7). Wherein, the middle 8 points: the paths of (3,0), (6,0), (9,0), (12,0), (15,0), (18,0), (18,3), (18,6) are path segments of L1 level, and path conversion is required, that is, every two coordinate points form one pair, 7 pairs, and for coordinate points (3,0) to (6,0), (3,0), (4,0), (5,0), (6,0) after conversion.

Through the multithreading technology, the 7 pairs of coordinate points can be simultaneously calculated in parallel, and the results are merged and then replaced into a complete shortest path to obtain the final path: (0,0),(1,0),(2,0),(3,0),(4,0),(5,0),(6,0),(7,0),(8,0),(9,0),(10,0),(11,0),(12,0),(13,0),(14,0),(15,0),(16,0),(17,0),(18,0),(18,1),(18,2),(18,3),(18,4),(18,5),(18,6),(18,7).

Fig. 4 is a schematic diagram of main modules of a path planning apparatus according to an embodiment of the present invention.

As shown in fig. 4, the path planning apparatus 400 according to the embodiment of the present invention mainly includes: the map construction method comprises a multi-level map construction module 401, a solution map generation module 402, a first path planning module 403 and a second path planning module 404.

the multi-level map construction module 401 is configured to construct a multi-level map according to a given map, where the multi-level map includes a given map of a lowest level and at least one level of a build-layer map, and a coordinate point of each level of the build-layer map is selected from the given map or the build-layer map of a next level.

The multi-level map construction module 401 may be specifically configured to: and based on the given map, selecting key coordinate points from the coordinate points of the given map, taking the selected key coordinate points as the coordinate points of the previous-level map of the given map to construct the previous-level map of the given map, and then continuing to construct the construction-level map of the previous level based on the previous-level map of the given map according to the same method until the number of the map levels reaches the configuration level, and stopping constructing the subsequent construction-level map.

The multi-level map construction module 401 may include a key coordinate point selection sub-module for: and respectively selecting key coordinate points by taking each corner point of the level map as an initial key coordinate point, wherein for each initial key coordinate point: and respectively selecting one coordinate point as a key coordinate point according to a selection rule along each travelable direction of the initial key coordinate point, and selecting one coordinate point as a next key coordinate point according to the selection rule for each selected key coordinate point along each travelable direction of the key coordinate point, and so on, thereby selecting subsequent key coordinate points according to each travelable direction of each key coordinate point, and stopping continuously selecting the key coordinate points until a preset termination condition is reached.

The key coordinate point selection submodule may be specifically configured to:

Taking any key coordinate point as a current key coordinate point, and when the next key coordinate point is selected along each travelable direction of the current key coordinate point:

in one direction of travel of the current key coordinate point,

When the first position coordinate point, the second position coordinate point and the third position coordinate point exist:

If the travelable direction of the second position coordinate point is completely the same as that of the current key coordinate point, and the travelable direction of the first position coordinate point is completely the same as that of the third position coordinate point, selecting the third position coordinate point as a next key coordinate point, wherein if the first position coordinate point or the second position coordinate point is the selected key coordinate point, the first position coordinate point or the second position coordinate point is still selected as the next key coordinate point, and the third position coordinate point is not selected as the next key coordinate point;

And under the condition that only the first position coordinate point and the second position coordinate point exist, if the second position coordinate point is a corner point, or under the condition that only the first position coordinate point exists, if the first position coordinate point is a corner point, selecting the corner point as the next key coordinate point.

the first position coordinate point is a coordinate point adjacent to the current key coordinate point, the second position coordinate point is a coordinate point separated from the current key coordinate point by one coordinate point, and the third position coordinate point is a coordinate point separated from the current key coordinate point by two coordinate points.

The solution map generation module 402 is configured to generate a solution map according to the coordinate points of the highest-level map and the coordinate points of the mapping areas, which respectively include a route starting point and a route ending point, in each of the other hierarchical maps except the highest-level map; the mapping areas of other level maps except the highest level map are as follows: the minimum area formed by the coordinate points of the map of the previous level of the hierarchy map is mapped to the area formed by the hierarchy map.

The first path planning module 403 is configured to calculate, according to the solution map and according to a preset algorithm, a path with the minimum driving cost between the path starting point and the path ending point, where the path with the minimum driving cost between the path starting point and the path ending point includes path segments corresponding to one or more hierarchy building layer maps.

The second path planning module 404 is configured to convert all the path segments corresponding to the build layer map in the path with the minimum driving cost between the path start point and the path end point into the path segments corresponding to the given map, so as to obtain a planned path between the path start point and the path end point.

The second path planning module 404 may be specifically configured to: converting paths between each pair of adjacent coordinate points in a path segment corresponding to each hierarchy building layer map into paths corresponding to each pair of adjacent coordinate points in the given map by mapping from layer to layer in a next hierarchy map, wherein the path corresponding to a certain pair of adjacent coordinate points in the given map is the path with the minimum driving cost between the pair of adjacent coordinate points in the given map; and in the path with the minimum driving cost between the path starting point and the path ending point, replacing the path between each pair of adjacent coordinate points with the path corresponding to each pair of adjacent coordinate points on the given map, and removing the duplication of the same coordinate points, thereby obtaining the planned path.

The second path planning module 404 may include a path conversion sub-module to: and converting the paths between each pair of adjacent coordinate points in the path segment corresponding to each level of the construction level map into the paths corresponding to each pair of adjacent coordinate points in the given map by mapping from layer to layer in the next level map in the path with the minimum driving cost between the path starting point and the path ending point by utilizing multiple threads.

The path planning device provided by the embodiment of the invention can effectively solve the path planning problem under the large map, effectively improve the path planning efficiency, and enable the method to quickly obtain the shortest path between any two points in the map in the warehouse based on the AGV and the oversized map, thereby improving the operation efficiency of the unmanned warehouse.

In addition, the detailed implementation of the path planning apparatus in the embodiment of the present invention has been described in detail in the above path planning method, and therefore, the repeated content will not be described again.

Fig. 5 shows an exemplary system architecture 500 to which the path planning method or the path planning apparatus according to the embodiments of the present invention may be applied.

As shown in fig. 5, the system architecture 500 may include terminal devices 501, 502, 503, a network 504, and a server 505. The network 504 serves to provide a medium for communication links between the terminal devices 501, 502, 503 and the server 505. Network 504 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.

the user may use the terminal devices 501, 502, 503 to interact with a server 505 over a network 504 to receive or send messages or the like. The terminal devices 501, 502, 503 may have various communication client applications installed thereon, such as a shopping application, a web browser application, a search application, an instant messaging tool, a mailbox client, social platform software, and the like.

the terminal devices 501, 502, 503 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.

The server 505 may be a server that provides various services, such as a background management server that supports shopping websites browsed by users using the terminal devices 501, 502, 503. The backend management server may analyze and perform other processing on the received data such as the path query request, and feed back a processing result (for example, path information) to the terminal device.

It should be noted that the path planning method provided by the embodiment of the present invention is generally executed by the server 505, and accordingly, the path planning apparatus is generally disposed in the server 505.

It should be understood that the number of terminal devices, networks, and servers in fig. 5 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.

referring now to FIG. 6, shown is a block diagram of a computer system 600 suitable for use in implementing a server according to embodiments of the present application. The server shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.

As shown in fig. 6, the computer system 600 includes a Central Processing Unit (CPU)601 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)602 or a program loaded from a storage section 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for the operation of the system 600 are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.

the following components are connected to the I/O interface 605: an input portion 606 including a keyboard, a mouse, and the like; an output portion 607 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The driver 610 is also connected to the I/O interface 605 as needed. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 610 as necessary, so that a computer program read out therefrom is mounted in the storage section 608 as necessary.

In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 609, and/or installed from the removable medium 611. The above-described functions defined in the system of the present application are executed when the computer program is executed by the Central Processing Unit (CPU) 601.

It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

the modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor includes a multi-level map construction module 401, a solution map generation module 402, a first path planning module 403, a second path planning module 404. Where the names of these modules do not in some cases constitute a limitation on the modules themselves, for example, the multi-level map construction module 401 may also be described as a "module for constructing a multi-level map from a given map".

As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise: constructing a multi-level map from a given map, the multi-level map comprising a lowest level of the given map and at least one level of a build-layer map, the coordinate point of each level of the build-layer map being taken from a next level of the given map or the build-layer map; generating a solving map according to the coordinate points of the highest level map and the coordinate points of mapping areas respectively comprising a path starting point and a path end point in other level maps except the highest level map; the mapping areas of other level maps except the highest level map are as follows: a minimum region formed by coordinate points of a level map above the level map is mapped to a region formed by the level map; calculating a path with the minimum driving cost between the path starting point and the path terminal point according to the solved map and a preset algorithm, wherein the path with the minimum driving cost between the path starting point and the path terminal point comprises path segments corresponding to one or more hierarchy building layer maps; and converting all the path segments corresponding to the construction layer map into the path segments corresponding to the given map in the path with the minimum driving cost between the path starting point and the path end point so as to obtain the planned path between the path starting point and the path end point.

According to the technical scheme of the embodiment of the invention, a multi-level map is constructed according to a given map; generating a solving map according to the coordinate points of the highest level map and the coordinate points of mapping areas respectively including a path starting point and a path end point in other levels of maps except the highest level map; the mapping areas of other level maps except the highest level map are as follows: a minimum region formed by coordinate points of a level map above the level map is mapped to a region formed by the level map; calculating a path with the minimum driving cost between a path starting point and a path terminal point according to a preset algorithm according to the solved map; and converting all the path segments corresponding to the building layer map in the path with the minimum driving cost between the path starting point and the path end point into the path segments corresponding to the given map so as to obtain the planned path between the path starting point and the path end point. The method can shorten the calculation time of path planning, reduce the calculation amount and improve the calculation efficiency, and does not need to store the path calculation results of any two points in the map through initialization, thereby saving the storage resource.

The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

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