CN114754776A - Four-way shuttle vehicle path planning method and device - Google Patents
Four-way shuttle vehicle path planning method and device Download PDFInfo
- Publication number
- CN114754776A CN114754776A CN202210404789.1A CN202210404789A CN114754776A CN 114754776 A CN114754776 A CN 114754776A CN 202210404789 A CN202210404789 A CN 202210404789A CN 114754776 A CN114754776 A CN 114754776A
- Authority
- CN
- China
- Prior art keywords
- path
- road section
- lockable
- driving road
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 230000008569 process Effects 0.000 claims abstract description 21
- 230000004044 response Effects 0.000 claims description 28
- 238000004590 computer program Methods 0.000 claims description 9
- 238000010586 diagram Methods 0.000 description 15
- 238000004891 communication Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a method and a device for planning a path of a four-way shuttle vehicle, and relates to the technical field of logistics. One embodiment of the method comprises: in the process of driving according to a preset initial path, before any reversing point is reached, the number of lockable path points is determined for the reversing point and a non-driving road section taking the reversing point as an entry point, and the occupation conditions of the reversing point and the non-driving road section are judged according to the number of the lockable path points; determining a current strategy according to the judged reversing point and the occupation condition of the non-driving road section; wherein the current policy comprises one of: normal driving, pause waiting, and attempt to re-plan the path. According to the embodiment, on the premise of ensuring the shortest path of the four-way shuttle, the invalid carrying distance and the efficiency loss caused by path conflict are reduced.
Description
Technical Field
The invention relates to the technical field of logistics, in particular to a four-way shuttle vehicle path planning method and device.
Background
The four-way shuttle car refers to a storage robot which can shuttle and run according to a grid map in four directions, namely the up direction, the down direction, the left direction and the right direction, and compared with an AGV (automatic Guided Vehicle), the four-way shuttle car runs on a track, has higher speed, more accurate positioning and simpler control and can be densely stored in multiple layers. In the existing four-way shuttle vehicle carrying system based on dense storage, a common path planning method is mainly an improved algorithm based on an algorithm a, and often selects a fixed number of path points in front for locking, so that a multi-vehicle system is very likely to have conflict or deadlock (deadlock refers to that two shuttle vehicles are at the destination of each other, and cannot smoothly reach the destination unless one side makes way), and a system strategy often selects to dynamically adjust (wait in place or detour) after conflict or deadlock occurs, but for dense storage bidirectional paths (namely, shuttle vehicles can run forwards and backwards), invalid carrying distance caused by detour is too long, and efficiency loss is too large.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for planning a four-way shuttle route, which can reduce invalid transportation distance and efficiency loss caused by route collision on the premise of ensuring a shortest route of the four-way shuttle.
To achieve the above object, according to one aspect of the present invention, a four-way shuttle path planning method is provided.
The four-way shuttle path planning method disclosed by the embodiment of the invention is implemented on a four-way shuttle which runs according to a preset map, wherein the map comprises a plurality of road sections and reversing points between the road sections; the method comprises the following steps: in the process of driving according to a preset initial path, before any reversing point is reached, the number of lockable path points is determined for the reversing point and a non-driving road section taking the reversing point as an entry point, and the occupation conditions of the reversing point and the non-driving road section are judged according to the number of the lockable path points; determining a current strategy according to the judged reversing point and the occupation condition of the non-driving road section; wherein the current policy comprises one of: normal driving, pause waiting, and attempt to re-plan the path.
Optionally, the determining the occupation statuses of the reversing point and the non-driving road segment according to the number of the lockable route points includes: if the number of the lockable path points is equal to the number of the path points contained in the non-driving road section plus 1, judging that the reversing point and the non-driving road section are not occupied by other four-way shuttle vehicles; if the number of the lockable path points is more than 1 and less than the sum of the number of the path points contained in the non-driving road section and 1, judging that other four-way shuttles which drive in the same direction exist in the non-driving road section; if the number of the lockable path points is equal to 1, judging that the non-driving road section is occupied by other four-way shuttle vehicles which relatively drive on the non-driving road section; and if the number of the lockable path points is zero, judging that the reversing point is occupied by other four-way shuttle vehicles.
Optionally, the determining a current policy according to the determined occupation situations of the reversing point and the non-driving road segment includes: when the reversing point and the non-driving road section are judged not to be occupied by other four-way shuttle vehicles, the reversing point and the non-driving road section are locked and normally driven; when judging that other four-way shuttles which run in the same direction exist in the non-running road section, locking the reversing point and the maximum number of lockable path points in the non-running road section, and running normally; when the non-driving road section is judged to be occupied by other four-way shuttles which are relatively driven on the non-driving road section, trying to re-plan a path; and when judging that the reversing point is occupied by other four-way shuttle vehicles, pausing and waiting, periodically judging the quantity of the current lockable path points of the reversing point and the non-driving road section, and determining a current strategy according to the quantity of the current lockable path points.
Optionally, the method further comprises: after locking the reversing point and the maximum number of lockable waypoints in the non-traveled segment and traveling normally: and locking the maximum number of lockable path points in the unlocked path points of the non-driving road section until the last path point of the non-driving road section is locked every time a new path point is entered.
Optionally, the attempting to re-plan the path when it is determined that the non-traveled road segment is occupied by another four-way shuttle vehicle traveling on the non-traveled road segment includes: when the non-driving road section is judged to be occupied by other four-way shuttles which are relatively driven on the non-driving road section, sending a request for re-planning a path to a server; after receiving the request of the target four-way shuttle vehicle, the server removes the occupied path points of other four-way shuttle vehicles from the map, and tries to plan the path according to the current position and the end position of the target four-way shuttle vehicle: if the planning is successful, returning a planning success response containing the new path to the target four-way shuttle vehicle; if the planning fails, returning a planning failure response to the target four-way shuttle; receiving a response returned by the server, and if the response is a planning success response, driving according to the new path; and if the response is a planning failure response, stopping waiting, periodically judging the number of the current lockable path points of the reversing point and the non-driving road section, and determining a current strategy according to the number of the current lockable path points.
Optionally, before reaching any of the turning points, determining the number of lockable route points for the turning point and the non-driving road segment with the turning point as the entry point includes: determining the number of lockable route points for the reversing point and the non-driving road section before reaching the reversing point and when the distance between the reversing point and the route points is a preset number; the preset number is equal to the sum of an upward integer and a preset integer of the number of path points which need to be passed by the four-way shuttle vehicle after the four-way shuttle vehicle decelerates from the running speed until the four-way shuttle vehicle stops.
Optionally, the method further comprises: before proceeding from the reservoir into the non-traveled section, an attempt is made to lock each waypoint of the non-traveled section: if the locking is successful, the vehicle runs normally; if the locking fails, pausing and waiting in the storage area and periodically trying to lock until the locking is successful; the preset initial path is the shortest path planned by the server according to the starting position and the end position of the target four-way shuttle.
To achieve the above object, according to another aspect of the present invention, a four-way shuttle path planning device is provided.
The four-way shuttle path planning device is arranged on a four-way shuttle which runs according to a preset map, wherein the map comprises a plurality of road sections and reversing points between the road sections; the apparatus may include: a determination unit configured to: in the process of driving according to a preset initial path, before any reversing point is reached, the number of lockable path points is determined for the reversing point and a non-driving road section taking the reversing point as an entry point, and the occupation conditions of the reversing point and the non-driving road section are judged according to the number of the lockable path points; a decision unit for: determining a current strategy according to the judged reversing point and the occupation condition of the non-driving road section; wherein the current policy comprises one of: normal driving, pause waiting, and attempt to re-plan the path.
Optionally, the determining unit may be further configured to: if the number of the lockable path points is equal to the number of the path points contained in the non-driving road section plus 1, judging that the reversing point and the non-driving road section are not occupied by other four-way shuttle vehicles; if the number of the lockable path points is more than 1 and less than the sum of the number of the path points contained in the non-driving road section and 1, judging that other four-way shuttles which drive in the same direction exist in the non-driving road section; if the number of the lockable path points is equal to 1, judging that the non-driving road section is occupied by other four-way shuttle vehicles which relatively drive on the non-driving road section; if the number of the lockable path points is zero, judging that the reversing point is occupied by other four-way shuttle vehicles; the decision unit may be further configured to: when the reversing point and the non-driving road section are judged not to be occupied by other four-way shuttles, the reversing point and the non-driving road section are locked and normally driven; when judging that other four-way shuttles which run in the same direction exist in the non-running road section, locking the reversing point and the maximum number of lockable path points in the non-running road section, and running normally; when the non-driving road section is judged to be occupied by other four-way shuttles which are relatively driven on the non-driving road section, trying to re-plan a path; and when judging that the reversing point is occupied by other four-way shuttle vehicles, pausing and waiting, periodically judging the quantity of the current lockable path points of the reversing point and the non-driving road section, and determining a current strategy according to the quantity of the current lockable path points.
To achieve the above object, according to still another aspect of the present invention, there is provided an electronic apparatus.
An electronic device of the present invention includes: one or more processors; and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors realize the four-way shuttle path planning method provided by the invention.
To achieve the above object, according to still another aspect of the present invention, there is provided a computer-readable storage medium.
A computer-readable storage medium of the present invention has stored thereon a computer program which, when executed by a processor, implements the four-way shuttle path planning method provided by the present invention.
According to the technical scheme of the invention, the embodiment of the invention has the following advantages or beneficial effects:
in the process of driving according to a preset initial path, determining the number of lockable path points aiming at a reversing point and the whole non-driving road section taking the reversing point as an entry point by a preset distance before reaching any reversing point, judging the occupation conditions of the reversing point and the non-driving road section according to the number of the lockable path points, and finally determining that the current strategy is normal driving, pause waiting or trying to replan original path according to the judged occupation conditions of the reversing point and the non-driving road section. In this way, concepts such as "road section", "reversing point" and the like are introduced into the grid map, locking judgment is carried out on the front reversing point and the whole non-driving road section before entering the non-driving road section, and the fixed number of path point locking in the prior art is optimized into non-fixed number of path point locking (all path points or part of path points of the non-driving road section can be locked according to the occupation condition of the non-driving road section), so that a more flexible path planning strategy is realized, decision is carried out before collision or deadlock is possibly caused, the possibility that the shuttle vehicle finds the collision or the deadlock in the middle of the road section to cause the road obstruction and turn back is reduced, and invalid transportation distance and efficiency loss are avoided to the greatest extent.
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 four-way shuttle path planning method in the embodiment of the invention;
FIG. 2 is a first schematic diagram of a grid map of an embodiment of the present invention;
FIG. 3 is a schematic diagram of a road network map according to an embodiment of the present invention;
FIG. 4 is a second schematic diagram of a grid map of an embodiment of the present invention;
FIG. 5 is a schematic diagram of the components of a four-way shuttle path planning apparatus in an embodiment of the present invention;
FIG. 6 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;
fig. 7 is a schematic structural diagram of an electronic device for implementing the method for planning the path of the four-way shuttle in the embodiment of the present 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.
It should be noted that the embodiments of the present invention and the technical features of the embodiments may be combined with each other without conflict.
The method for planning the path of the four-way shuttle vehicle in the embodiment of the invention can execute the four-way shuttle vehicle running according to a preset map, the map can be a grid map, the grid map refers to a map formed based on array data arranged according to a given interval, and the grid map comprises a plurality of equidistant path points in a plane. In specific application, a plurality of four-way shuttles can interact with the server respectively, run according to the path planned by the server and independently execute the decision of a running strategy at certain moments. In particular, each four-way shuttle can travel according to a grid map maintained by the server, and in this case, each four-way shuttle can obtain the locking condition of other four-way shuttles for any path point in real time. Each four-way shuttle vehicle can also run according to a locally maintained grid map, and in this case, the server needs to share the latest path point locking condition of all the four-way shuttle vehicles to each four-way shuttle vehicle in real time, so that each four-way shuttle vehicle knows the latest locking condition of any path point in the grid map in real time.
As shown in fig. 2, 3 and 4, referring to fig. 2 to 4, the grid map of the embodiment of the present invention includes a plurality of storage areas, each storage area includes a plurality of storage locations, and in practical applications, the storage locations with different gray levels can be used for placing different articles. As shown in fig. 2, the storage position 1 with a larger gray scale is used for placing one article, and the storage position 2 with a smaller gray scale is used for placing another article. The outside of the storage area is provided with various channels, such as a transversely extending channel 1 and a longitudinally extending channel 2, in an actual scene, a four-way shuttle vehicle generally enters and exits the storage area from the channel 1 to execute a warehousing or ex-warehousing process, and the channel 2 is generally forbidden to enter and exit the storage area. In the embodiment of the present invention, the intersection position of the channel may be defined as a commutation point (the commutation point also belongs to a path point), and the channel between any two adjacent commutation points may be defined as a road segment (hereinafter, the concept of the road segment does not include the commutation points at both ends thereof).
It should be noted that the "non-driving section" to be described below refers to a whole section or a partial section located in front of (determined according to the planned route of the four-way shuttle) the position of the four-way shuttle (the position may be a certain position of the section or a certain position of the storage area) currently located. That is, if the four-way shuttle is currently in a certain road segment, the next complete road segment of the road segment according to the planned path is the non-driving road segment of the four-way shuttle; if the four-way shuttle is currently inside the reservoir, the section of the planned path that is entered from the reservoir (typically a partial section) is the non-traveled section of the four-way shuttle.
When the complete road section in front comprises the starting point of the four-way shuttle in the channel or the end point of the four-way shuttle in the channel, the non-driving road section refers to the channel between the starting point of the four-way shuttle in the channel or the end point of the four-way shuttle in the channel and the front reversing point (excluding the reversing point); when the starting point of the four-way shuttle in the channel or the end point of the four-way shuttle in the channel is not included in the front complete road section, the non-driving road section refers to the channel between the two nearest reversing points in the front in the planned path (the two reversing points are not included). The starting point/end point of the four-way shuttle vehicle in the channel is different from the starting point/end point of the four-way shuttle vehicle, generally, the starting point/end point of the four-way shuttle vehicle is a connection point or a specific storage position in a storage area, and the starting point/end point of the four-way shuttle vehicle in the channel is a starting point/end point of a planned path corresponding to the channel.
In practical application, the four-way shuttle car can realize locking by marking the path point of the grid map as occupied, and the mark can indicate the four-way shuttle car. For example, after a four-way shuttle M marks a certain waypoint as M, other four-way shuttles can know that M has occupied the waypoint. Generally, any four-way shuttle can only travel at its own locked waypoint. In a specific scenario, the above occupation can be divided into pre-occupation and occupation, the pre-occupation refers to that the four-way shuttle vehicle locks the front network in advance, the occupation refers to that the four-way shuttle vehicle is currently located at the already-locked path point, and when the four-way shuttle vehicle leaves the locked path point, the path point is released immediately, that is, the state of the path point is updated from "occupied by M" to "idle". In addition, any four-way shuttle can only lock path points in turn from near to far in the planned path, and is prohibited from crossing over to be locked, for example, a certain four-way shuttle is currently located at the path point R, and the front path point in the planned path is S, T in turn, then the four-way shuttle can only lock T after the locking S is successful, and if S is currently occupied by other four-way shuttle, the four-way shuttle cannot skip S locking T even if T is idle. In addition, in the embodiment of the invention, in order to lock the reversing point as late as possible so as to provide convenience for other relevant four-way shuttle vehicles, the reversing point is only locked when the reversing point is close to a certain reversing point, namely, only the non-driving road section and the entry point (the entry point refers to the position of the four-way shuttle vehicle entering the road section according to the planned path, generally the reversing point, and also can be the starting point of the four-way shuttle vehicle in the channel) are tried to be locked before the non-driving road section is approached, and the exit point of the non-driving road section (the exit point refers to the position of the four-way shuttle vehicle leaving the road section according to the planned path, generally the reversing point, and also can be the end point of the four-way shuttle vehicle in the channel) is not tried to be locked.
Fig. 3 is a road network map formed by adding a driving direction of each storage location and a path point in each channel in the grid map shown in fig. 2, and fig. 4 is a grid map with a larger scale than that of fig. 2, wherein a connection point may be connected with a hoist or a workstation, and is used as a starting point in a warehousing process and as an end point in a warehousing process. In the following description, the high grayscale route in fig. 4 is mainly taken as an example, and this route is an initial route of the outbound route, in this initial route, after the target four-way shuttle vehicle starts from the starting point position located in the storage area, it enters a road segment AB above the storage area from a (a is the starting point of the target four-way shuttle vehicle in the channel), and then passes through a reversing point B and a reversing point C in sequence, and the road segment between the reversing point B and the reversing point C is denoted as BC, when the target four-way shuttle vehicle is in the storage area, the road segment AB is an undriven road segment, a is the entry point of this undriven road segment, and B is the exit point of this undriven road segment; when the target four-way shuttle is located at AB, the road segment BC is a non-driving road segment, B is an entry point of the non-driving road segment, and C is an exit point of the non-driving road segment.
Fig. 1 is a schematic diagram of the main steps of a four-way shuttle path planning method according to an embodiment of the present invention. As shown in fig. 1, the four-way shuttle path planning method according to the embodiment of the present invention may be specifically executed according to the following steps:
step S101: in the process of driving according to a preset initial path, before any reversing point is reached, the number of lockable path points is determined for the reversing point and a non-driving road section taking the reversing point as an entry point, and the occupation conditions of the reversing point and the non-driving road section are judged according to the number of the lockable path points.
Step S101 is applied to the process when the target four-way shuttle vehicle approaches the reversing point, in the high grayscale path in fig. 4, the target four-way shuttle vehicle starts from the starting point position located in the storage area and enters the non-driving section AB from a, and the decision step of the target four-way shuttle vehicle at this time is as follows: before proceeding from the reservoir into the non-traveled section, an attempt is made to lock each waypoint of the non-traveled section: if the locking is successful, the vehicle runs normally; if the lock fails, then wait is suspended in the reservoir and periodically attempts to lock until the lock is successful. For example, the target four-way shuttle attempts to lock each waypoint of the AB before starting from the starting location of the reservoir into the undriven road segment AB: if the locking is successful, the vehicle runs normally; if the locking fails, the storage position at the outermost side of the storage area is paused for waiting and the locking attempt is periodically executed until the locking is successful.
And when the target four-way shuttle vehicle enters the AB, the target four-way shuttle vehicle normally runs according to a preset initial path. It is understood that the above preset initial path is the shortest path planned by the server according to the starting position and the ending position of the target four-way shuttle vehicle, using a known algorithm such as a ×. In the process of driving according to a preset initial path, before any reversing point B is reached, the number of lockable path points is determined for the reversing point B and a non-driving road section BC taking the reversing point B as an entry point. Specifically, the target four-way shuttle vehicle can determine the number of lockable waypoints according to whether the current states of waypoints in the grid map are free or not, wherein the waypoints are the reversing point B and the non-driving road section BC.
After the target four-way shuttle vehicle determines the number of the lockable route points of the reversing point B and the non-driving road section BC, the occupation conditions of the reversing point B and the non-driving road section BC can be judged according to the number of the lockable route points. There may be four cases at this time:
the first condition is as follows: if the number of lockable route points is equal to the number of route points included in the non-driving road segment BC plus 1, it indicates that all the route points of the reversing point B and the non-driving road segment BC are in the idle state, that is, the reversing point B and the non-driving road segment BC are not occupied by other four-way shuttles.
Case two: if the number of lockable route points is greater than 1 and less than the number of route points included in the non-driving road segment BC plus 1, then the diversion point B and a part of route points of the non-driving road segment BC close to the diversion point B can be locked, which indicates that there are other four-way shuttles driving in the same direction on the non-driving road segment BC, and the other four-way shuttles have left the route points in front of the diversion point B.
Case three: if the number of lockable route points is equal to 1, that is, only the reversing point B can be locked, it is determined that the non-driven road segment BC is occupied by another four-way shuttle that runs relatively on the non-driven road segment BC (that is, the direction of travel of the target four-way shuttle on the BC is opposite), at this time, the another four-way shuttle may not run to the BC yet but has already locked the reversing points C and BC in advance, or the another four-way shuttle may be running on the BC but has not locked the reversing point B yet.
Case four: if the number of the lockable path points is zero, the reversing point B is locked, and at the moment, the reversing point can be determined to be occupied by other four-way shuttle vehicles.
In the embodiment of the present invention, a reasonable time for performing locking judgment (that is, judging the number of lockable waypoints and then executing a corresponding policy for the reversing point B and the non-driving road segment BC using the reversing point B as the entry point) needs to be determined. It can be understood that before reaching the reversing point B, the target four-way shuttle vehicle may need to be decelerated to a stop according to the locking judgment result to realize pause waiting, re-planning of a path or turning, and therefore, if the position where the locking judgment is performed is too close to the reversing point B, the target four-way shuttle vehicle cannot be braked and stopped within a safe distance to further rush through the reversing point B, and even collide with other four-way shuttle vehicles; if the position for executing locking judgment is too far away from the reversing point B, the relevant path point and the reversing point are easily locked in advance, so that the locking time is longer, and the running of other four-way shuttle vehicles is influenced.
In view of the above, in the embodiment of the present invention, the lock determination timing is set as follows: before the four-way shuttle vehicle reaches the reversing point and when the four-way shuttle vehicle is away from the reversing point by the preset number of path points, the number of the lockable path points is determined according to the reversing point and the non-driving road section, the preset number is equal to the sum of an upward integer (for example, 1) and an upward integer of the number of the path points which need to be passed by the four-way shuttle vehicle after the four-way shuttle vehicle decelerates from the driving speed until the four-way shuttle vehicle stops, and the selection mode can reserve enough braking distance for the four-way shuttle vehicle on the premise of ensuring that the path points are not locked in advance. In practical application, after entering a path point, the four-way shuttle vehicle can judge whether the distance between the current position and the front reversing point is less than or equal to a preset number: if the current value is less than the preset value, ending the judgment; if yes, locking judgment is executed.
Step S102: determining a current strategy according to the judged occupation conditions of the reversing point and the non-driving road section, wherein the current strategy comprises one of the following steps: normal driving, pause waiting, and attempt to re-plan the path.
In this step, the currently adopted strategy may be determined according to the waypoint occupancy of the waypoint B and the non-traveled road segment BC determined in step S101. Specifically, for the case one, namely when the reversing point B and the non-driving road section BC are judged not to be occupied by other four-way shuttles, the reversing point B and the non-driving road section BC are locked and normally driven; in the case II, when it is judged that other four-way shuttles which run in the same direction exist in the non-running road section BC, the maximum number of lockable path points in the reversing point B and the non-running road section BC are locked, and the vehicle runs normally; thereafter, every time a new waypoint is entered, the maximum number of lockable waypoints are locked among the unlocked waypoints (excluding the waypoints released after locking) of the non-traveled section BC until the last waypoint (i.e., the waypoint closest to the waypoint C) of the non-traveled section BC is locked.
For case three, i.e., when it is determined that the non-traveled segment BC is occupied by other four-way shuttles traveling on the non-traveled segment, an attempt is made to re-plan the path. Specifically, when the target four-way shuttle vehicle judges that the non-driving road section BC is occupied by other four-way shuttle vehicles which drive relatively on the non-driving road section BC, a request for replanning a path is sent to the server; after receiving the request of the target four-way shuttle vehicle, the server removes the occupied path points of the other four-way shuttle vehicles from the grid map, and tries to plan the path according to the current position and the end position of the target four-way shuttle vehicle: if the planning is successful, returning a planning success response containing the new path to the target four-way shuttle vehicle; and if the planning fails, returning a planning failure response to the target four-way shuttle. The target four-way shuttle car receives a response returned by the server, and if the response is a planning success response, the target four-way shuttle car runs according to the new path; if the response is a planning failure response, stopping waiting, periodically judging the number of the current lockable path points of the reversing point B and the non-driving road section BC, and determining the current strategy according to the number of the current lockable path points. For example, if the number of currently lockable waypoints is equal to the number of waypoints included in the non-traveled section BC plus 1, indicating that the relatively traveling four-way shuttle vehicle has left the diversion point B, the diversion point B and the non-traveled section BC may be locked and normally traveled.
And for the case four, namely when judging that the reversing point B is occupied by other four-way shuttles, pausing and periodically judging the number of the current lockable route points of the reversing point B and the non-driving road section BC, and determining the current strategy according to the number of the current lockable route points. For example, if the number of currently lockable waypoints is equal to the number of waypoints included in the non-traveled section BC plus 1, indicating that the four-way shuttle vehicle occupying the reversing point B has left the reversing point B, then the reversing point B and the non-traveled section BC may be locked and normally traveled.
Through the arrangement, the early locking judgment and the driving strategy selection based on the locking judgment result can be executed for each reversing point and each non-driving road section of the four-way shuttle vehicle warehouse-out process and warehouse-in process.
In the technical scheme of the embodiment of the invention, the driving path of the four-way shuttle vehicle in the channel of the grid map with dense storage and bidirectional paths is optimized, the locking judgment is carried out on the reversing points and the whole non-driving road section, and the existing fixed number of path points are locked and adjusted to be the non-fixed number of path points, so that a more flexible path planning strategy is realized, the invalid transportation distance is avoided or reduced, and the point-to-point driving is completed.
It should be noted that, for the convenience of description, the foregoing method embodiments are described as a series of acts, but those skilled in the art will appreciate that the present invention is not limited by the order of acts described, and that some steps may in fact be performed in other orders or concurrently. Moreover, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no acts or modules are necessarily required to implement the invention.
To facilitate a better implementation of the above-described aspects of embodiments of the present invention, the following also provides relevant means for implementing the above-described aspects.
Referring to fig. 5, a four-way shuttle path planning apparatus 500 according to an embodiment of the present invention is disposed on a four-way shuttle traveling according to a preset map, where the map includes a plurality of road segments and reversing points between the road segments; the apparatus 500 may include: a judging unit 501 and a decision unit 502.
The determining unit 501 may be configured to: in the process of driving according to a preset initial path, before any reversing point is reached, the number of lockable path points is determined for the reversing point and a non-driving road section taking the reversing point as an entry point, and the occupation conditions of the reversing point and the non-driving road section are judged according to the number of the lockable path points; the decision unit 502 may be configured to: determining a current strategy according to the judged occupation conditions of the reversing point and the non-driving road section; wherein the current policy comprises one of: normal driving, pause waiting, and attempt to re-plan a path.
In this embodiment of the present invention, the determining unit 501 may be further configured to: if the number of the lockable path points is equal to the number of the path points contained in the non-driving road section plus 1, judging that the reversing point and the non-driving road section are not occupied by other four-way shuttle vehicles; if the number of the lockable path points is more than 1 and less than the sum of the number of the path points contained in the non-driving road section and 1, judging that other four-way shuttles which drive in the same direction exist in the non-driving road section; if the number of the lockable path points is equal to 1, judging that the non-driving road section is occupied by other four-way shuttle vehicles which relatively drive on the non-driving road section; if the number of the lockable path points is zero, judging that the reversing point is occupied by other four-way shuttle vehicles; the decision unit 502 may be further configured to: when the reversing point and the non-driving road section are judged not to be occupied by other four-way shuttle vehicles, the reversing point and the non-driving road section are locked and normally driven; when judging that other four-way shuttles which run in the same direction exist in the non-running road section, locking the reversing point and the maximum number of lockable path points in the non-running road section, and running normally; when the non-driving road section is judged to be occupied by other four-way shuttles which are relatively driven on the non-driving road section, trying to re-plan a path; and when judging that the reversing point is occupied by other four-way shuttles, pausing to wait, periodically judging the number of the current lockable path points of the reversing point and the non-driving road section, and determining a current strategy according to the number of the current lockable path points.
As a preferred solution, the decision unit 502 may further be configured to: after locking the diversion point and the maximum number of lockable waypoints in the non-traveled segment and normally traveling: and locking the maximum number of lockable path points in the unlocked path points of the non-driving road section until the last path point of the non-driving road section is locked every time a new path point is entered.
Preferably, the decision unit 502 is further configured to: when the non-driving road section is judged to be occupied by other four-way shuttles which are relatively driven on the non-driving road section, sending a request for re-planning a path to a server; after receiving the request of the target four-way shuttle vehicle, the server removes the occupied path points of other four-way shuttle vehicles from the grid map, and tries to plan the path according to the current position and the end position of the target four-way shuttle vehicle: if the planning is successful, returning a planning success response containing the new path to the target four-way shuttle vehicle; if the planning fails, returning a planning failure response to the target four-way shuttle vehicle; receiving a response returned by the server, and if the response is a planning success response, driving according to the new path; and if the response is a planning failure response, pausing and waiting, periodically judging the number of the current lockable route points of the reversing point and the non-driving road section, and determining a current strategy according to the number of the current lockable route points.
In a specific application, the determining unit 501 may be further configured to: determining the number of lockable route points for the reversing point and the non-driving road section before reaching the reversing point and when the distance between the reversing point and the route points is a preset number; the preset number is equal to the sum of an upward integer and a preset integer of the number of path points which need to be passed by the four-way shuttle vehicle after the four-way shuttle vehicle decelerates from the running speed until the four-way shuttle vehicle stops.
Furthermore, in the embodiment of the present invention, the decision unit 502 may be further configured to: before proceeding from the reservoir into the non-traveled section, an attempt is made to lock each waypoint of the non-traveled section: if the locking is successful, the vehicle runs normally; if the locking fails, pausing and waiting in the storage area and periodically trying to lock until the locking is successful; the preset initial path is a shortest path planned by the server according to the starting position and the end position of the target four-way shuttle.
According to the technical scheme of the embodiment of the invention, in the process of driving according to a preset initial path, aiming at a preset distance before any reversing point is reached, the number of lockable path points is determined for the reversing point and the whole non-driving road section taking the reversing point as an entry point, then the occupation conditions of the reversing point and the non-driving road section are judged according to the number of the lockable path points, and finally the current strategy of normal driving, pause waiting or attempt to replan original path is determined according to the judged occupation conditions of the reversing point and the non-driving road section. In this way, concepts such as 'road sections', 'reversing points' and the like are introduced into the raster map, locking judgment is carried out on the front reversing points and the whole non-driving road section before the non-driving road section is entered, and the fixed number of path point locking in the prior art is optimized to be non-fixed number of path point locking, so that a more flexible path planning strategy is realized, decision is carried out before collision or deadlock is possibly generated, the possibility that the road is obstructed and turned back due to the fact that the collision or the deadlock is found only when the shuttle car is driven to the middle of the road section is reduced, and invalid conveying distance and efficiency loss are avoided to the greatest extent.
Fig. 6 illustrates an exemplary system architecture 600 to which the four-way shuttle path planning method or the four-way shuttle path planning apparatus of embodiments of the present invention may be applied.
As shown in fig. 6, the system architecture 600 may include four-way shuttles 601, 602, 603, a network 604, and a server 605 (this architecture is merely an example, and the components included in a particular architecture may be tailored to the application specific circumstances). Network 604 is used to provide a medium for communication links between four-way shuttles 601, 602, 603 and server 605. Network 604 may include various types of connections, such as wire, wireless communication links, or fiber optic cables.
It should be noted that the four-way shuttle path planning method provided by the embodiment of the present invention is generally executed by the four-way shuttles 601, 602, and 603, and accordingly, the four-way shuttle path planning apparatus is generally disposed in the four-way shuttles 601, 602, and 603.
It should be understood that the number of four-way shuttles, networks, and servers in FIG. 6 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for an implementation.
The invention also provides the electronic equipment. The electronic device of the embodiment of the invention comprises: one or more processors; and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors realize the four-way shuttle path planning method provided by the invention.
Referring now to FIG. 7, shown is a block diagram of a computer system 700 suitable for use with the electronic device implementing an embodiment of the present invention. The electronic device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU)701, which can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM703, various programs and data necessary for the operation of the computer system 700 are also stored. The CPU701, the ROM 702, and the RAM703 are connected to each other via a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
The following components are connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.
In particular, the processes described in the main step diagrams above may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the invention 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 main step diagram. In the above-described embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program performs the above-described functions defined in the system of the present invention when executed by the central processing unit 701.
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 context of the present invention, 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 the present invention, 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 invention. 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 units described in the embodiments of the present invention may be implemented by software or hardware. The described units may also be provided in a processor, and may be described as: a processor includes a determination unit and a decision unit. The names of these units do not in some cases form a limitation of the unit itself, for example, the decision unit can also be described as a "unit providing the decision unit with the reversing points and the occupation of the non-traveled route section".
As another aspect, the present invention also provides a computer-readable medium, which 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 the apparatus, cause the apparatus to perform steps comprising: in the process of driving according to a preset initial path, before any reversing point is reached, the number of lockable path points is determined for the reversing point and a non-driving road section taking the reversing point as an entry point, and the occupation conditions of the reversing point and the non-driving road section are judged according to the number of the lockable path points; determining a current strategy according to the judged reversing point and the occupation condition of the non-driving road section; wherein the current policy comprises one of: normal driving, pause waiting, and attempt to re-plan a path.
In the technical scheme of the embodiment of the invention, in the process of driving according to a preset initial path, aiming at a preset distance before any reversing point is reached, the number of lockable path points is determined for the reversing point and the whole non-driving road section taking the reversing point as an entry point, then the occupation conditions of the reversing point and the non-driving road section are judged according to the number of the lockable path points, and finally the current strategy is determined to be normal driving, pause waiting or attempt to replan original path according to the judged occupation conditions of the reversing point and the non-driving road section. In this way, concepts such as 'road section', 'reversing point' and the like are introduced into the grid map, locking judgment is carried out on the front reversing point and the whole non-driving road section before the non-driving road section is entered, and the fixed number of path point locking in the prior art is optimized to be non-fixed number of path point locking, so that a more flexible path planning strategy is realized, decision is carried out before collision or deadlock possibly occurs, the possibility that the shuttle vehicle finds the collision or deadlock in the middle of the road section to cause the road to be not turned back is reduced, and invalid conveying distance and efficiency loss are avoided to the greatest extent.
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.
Claims (11)
1. A four-way shuttle path planning method is characterized in that a four-way shuttle which runs according to a preset map is executed, wherein the map comprises a plurality of road sections and reversing points between the road sections; the method comprises the following steps:
in the process of driving according to a preset initial path, before any reversing point is reached, the number of lockable path points is determined for the reversing point and a non-driving road section taking the reversing point as an entry point, and the occupation conditions of the reversing point and the non-driving road section are judged according to the number of the lockable path points;
determining a current strategy according to the judged reversing point and the occupation condition of the non-driving road section; wherein the current policy comprises one of: normal driving, pause waiting, and attempt to re-plan a path.
2. The method according to claim 1, wherein the determining the occupancy of the diversion point and the non-driving road segment according to the number of lockable route points comprises:
if the number of the lockable path points is equal to the number of the path points contained in the non-driving road section plus 1, judging that the reversing point and the non-driving road section are not occupied by other four-way shuttle vehicles;
if the number of the lockable path points is more than 1 and less than the sum of the number of the path points contained in the non-driving road section and 1, judging that other four-way shuttles which drive in the same direction exist in the non-driving road section;
if the number of the lockable path points is equal to 1, judging that the non-driving road section is occupied by other four-way shuttle vehicles which relatively drive on the non-driving road section;
and if the number of the lockable path points is zero, judging that the reversing point is occupied by other four-way shuttle vehicles.
3. The method of claim 2, wherein determining the current strategy based on the determined occupancy of the waypoint and the unlawn section comprises:
when the reversing point and the non-driving road section are judged not to be occupied by other four-way shuttle vehicles, the reversing point and the non-driving road section are locked and normally driven;
when judging that other four-way shuttles which run in the same direction exist in the non-running road section, locking the reversing point and the maximum number of lockable path points in the non-running road section, and running normally;
when the non-driving road section is judged to be occupied by other four-way shuttles which are relatively driven on the non-driving road section, trying to re-plan a path;
and when judging that the reversing point is occupied by other four-way shuttle vehicles, pausing and waiting, periodically judging the quantity of the current lockable path points of the reversing point and the non-driving road section, and determining a current strategy according to the quantity of the current lockable path points.
4. The method of claim 3, further comprising: after locking the reversing point and the maximum number of lockable waypoints in the non-traveled segment and traveling normally:
and locking the maximum number of lockable path points in the unlocked path points of the non-driving section until the last path point of the non-driving section is locked every time a new path point is entered.
5. The method of claim 3, wherein attempting to re-plan a path upon determining that the unlawn segment is occupied by another four-way shuttle that is traveling relative to the unlawn segment comprises:
when the non-driving road section is judged to be occupied by other four-way shuttles which are relatively driven on the non-driving road section, sending a request for replanning a path to a server; after receiving the request of the target four-way shuttle vehicle, the server removes the occupied path points of other four-way shuttle vehicles from the map, and tries to plan the path according to the current position and the end position of the target four-way shuttle vehicle: if the planning is successful, returning a planning success response containing the new path to the target four-way shuttle vehicle; if the planning fails, returning a planning failure response to the target four-way shuttle vehicle;
receiving a response returned by the server, and if the response is a planning success response, driving according to the new path; and if the response is a planning failure response, pausing and waiting, periodically judging the number of the current lockable route points of the reversing point and the non-driving road section, and determining a current strategy according to the number of the current lockable route points.
6. The method of claim 1, wherein determining the number of lockable waypoints for the waypoint and the untrained segment having the waypoint as the entry point before reaching any waypoint comprises:
determining the number of lockable route points for the reversing point and the non-driving road section before reaching the reversing point and when the distance between the reversing point and the route points is a preset number; the preset number is equal to the sum of an upward integer value and a preset integer of the number of path points which need to be passed by the four-way shuttle vehicle after the four-way shuttle vehicle decelerates from the driving speed until the four-way shuttle vehicle stops.
7. The method of any of claims 1-6, further comprising: before proceeding from the reservoir into the non-traveled section, an attempt is made to lock each waypoint of the non-traveled section: if the locking is successful, the vehicle runs normally; if the locking fails, pausing and waiting in the storage area and periodically trying to lock until the locking is successful;
the preset initial path is a shortest path planned by the server according to the starting position and the end position of the target four-way shuttle.
8. A four-way shuttle path planning device is characterized by being arranged on a four-way shuttle which runs according to a preset map, wherein the map comprises a plurality of road sections and reversing points between the road sections; the device comprises:
a determination unit configured to: in the process of driving according to a preset initial path, before any reversing point is reached, the number of lockable path points is determined for the reversing point and a non-driving road section taking the reversing point as an entry point, and the occupation conditions of the reversing point and the non-driving road section are judged according to the number of the lockable path points;
a decision unit for: determining a current strategy according to the judged reversing point and the occupation condition of the non-driving road section; wherein the current policy comprises one of: normal driving, pause waiting, and attempt to re-plan the path.
9. The apparatus of claim 8,
the judging unit is further configured to: if the number of the lockable path points is equal to the number of the path points contained in the non-driving road section plus 1, judging that the reversing point and the non-driving road section are not occupied by other four-way shuttle vehicles; if the number of the lockable path points is more than 1 and less than the sum of the number of the path points contained in the non-driving road section and 1, judging that other four-way shuttles which drive in the same direction exist in the non-driving road section; if the number of the lockable path points is equal to 1, judging that the non-driving road section is occupied by other four-way shuttle vehicles which relatively drive on the non-driving road section; if the number of the lockable path points is zero, judging that the reversing point is occupied by other four-way shuttle vehicles;
the decision unit is further configured to: when the reversing point and the non-driving road section are judged not to be occupied by other four-way shuttle vehicles, the reversing point and the non-driving road section are locked and normally driven; when judging that other four-way shuttles which run in the same direction exist in the non-running road section, locking the reversing point and the maximum number of lockable path points in the non-running road section, and running normally; when the non-driving road section is judged to be occupied by other four-way shuttles which are relatively driven on the non-driving road section, trying to re-plan a path; and when judging that the reversing point is occupied by other four-way shuttle vehicles, pausing and waiting, periodically judging the quantity of the current lockable path points of the reversing point and the non-driving road section, and determining a current strategy according to the quantity of the current lockable path points.
10. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-7.
11. A computer-readable storage 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210404789.1A CN114754776A (en) | 2022-04-18 | 2022-04-18 | Four-way shuttle vehicle path planning method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210404789.1A CN114754776A (en) | 2022-04-18 | 2022-04-18 | Four-way shuttle vehicle path planning method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114754776A true CN114754776A (en) | 2022-07-15 |
Family
ID=82330718
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210404789.1A Pending CN114754776A (en) | 2022-04-18 | 2022-04-18 | Four-way shuttle vehicle path planning method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114754776A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115140481A (en) * | 2022-09-01 | 2022-10-04 | 青岛盈智科技有限公司 | Dynamic avoidance method and device for four-way shuttle |
| CN115629587A (en) * | 2022-11-18 | 2023-01-20 | 湖北凯乐仕通达科技有限公司 | Dispatching method and device for rail carrying trolley |
| CN116216159A (en) * | 2023-05-08 | 2023-06-06 | 北京柏瑞安电子技术有限公司 | Four-way shuttle positioning method for intelligent logistics storage |
| CN116300861A (en) * | 2022-12-20 | 2023-06-23 | 上海木蚁机器人科技有限公司 | Path planning method and electronic equipment |
| CN116767740A (en) * | 2023-08-18 | 2023-09-19 | 天津万事达物流装备有限公司 | Three-dimensional storage method for four-way shuttle |
-
2022
- 2022-04-18 CN CN202210404789.1A patent/CN114754776A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115140481A (en) * | 2022-09-01 | 2022-10-04 | 青岛盈智科技有限公司 | Dynamic avoidance method and device for four-way shuttle |
| CN115140481B (en) * | 2022-09-01 | 2022-12-02 | 青岛盈智科技有限公司 | Dynamic avoidance method and device for four-way shuttle |
| CN115629587A (en) * | 2022-11-18 | 2023-01-20 | 湖北凯乐仕通达科技有限公司 | Dispatching method and device for rail carrying trolley |
| CN115629587B (en) * | 2022-11-18 | 2023-11-17 | 湖北凯乐仕通达科技有限公司 | Scheduling method and device for rail transport trolley |
| CN116300861A (en) * | 2022-12-20 | 2023-06-23 | 上海木蚁机器人科技有限公司 | Path planning method and electronic equipment |
| CN116216159A (en) * | 2023-05-08 | 2023-06-06 | 北京柏瑞安电子技术有限公司 | Four-way shuttle positioning method for intelligent logistics storage |
| CN116767740A (en) * | 2023-08-18 | 2023-09-19 | 天津万事达物流装备有限公司 | Three-dimensional storage method for four-way shuttle |
| CN116767740B (en) * | 2023-08-18 | 2024-04-30 | 天津万事达物流装备有限公司 | Three-dimensional storage method for four-way shuttle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114754776A (en) | Four-way shuttle vehicle path planning method and device | |
| CN107807640B (en) | AGV-based traffic management method, electronic device, storage medium and system | |
| CN111508271B (en) | System, method, infrastructure and vehicle for autonomous passenger parking | |
| JPWO2019225270A1 (en) | Parking management system, vehicle control device, and control center | |
| US9845192B2 (en) | Transport vehicle system and transport method | |
| CN110275492B (en) | Method and device for determining automatic guide transport vehicle driving path based on roadway | |
| JP2006293698A (en) | Conveyance vehicle system | |
| CN111738649B (en) | Track cooperation method, device and system | |
| KR102285573B1 (en) | Parking lot management device | |
| CN112368661A (en) | AGV system and method for controlling AGV system | |
| KR101010718B1 (en) | A Dynamic Routing Method for Automated Guided Vehicles Occupying Multiple Resources | |
| CN114035522A (en) | Anti-deadlock scheduling method for OHT (overhead hoist transport) system | |
| CN109656241A (en) | Method and apparatus for controlling the carrier in unmanned storehouse | |
| CN113450589B (en) | Vehicle scheduling method, device and system | |
| KR101286815B1 (en) | Traffic control system and operating method of automated lifiting vehicles | |
| CN113341969A (en) | Traffic control system for mining truck and method thereof | |
| CN112099492A (en) | AGV dynamic traffic control method and system in control area containing avoidance points | |
| US20220089372A1 (en) | Systems and methods for managing movement of materials handling vehicles | |
| CN115617049A (en) | AGV dolly control system based on concrete transportation platform | |
| CN114613140B (en) | Intelligent scheduling method and device for cross area of unmanned vehicle | |
| JPH0224706A (en) | Unmanned carrier device based upon traveling reservation closed control | |
| CN114141034B (en) | Traffic control method, system and electronic equipment | |
| KR101079192B1 (en) | Method for Controlling Traffic of Autonomous Guided Vehicle Using Path Tracking | |
| CN115185264A (en) | Traffic control method and system | |
| WO2022120116A2 (en) | Systems and methods for managing movement of materials handling vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |