CN-116360412-B - AMR cluster path planning method, AMR cluster path planning system and electronic device

CN116360412BCN 116360412 BCN116360412 BCN 116360412BCN-116360412-B

Abstract

The application relates to a path planning method, a system, an electronic device and a storage medium of an AMR cluster, wherein the method comprises the steps of obtaining a target service scene and generating a corresponding road network map and a planning scheme; according to the task matching rule and the state information of each AMR in the AMR cluster, each task generated for a target service scene is respectively matched with the AMR to determine the task information of each AMR, according to the task information and the state information of each AMR, the path planning rule and the traffic control rule, the initial running path of each AMR on the road network map is determined, the road network map is updated according to the feedback information of each AMR in the working process, and the initial running path of each AMR is updated according to the updated road network map. The method solves the problems of short vision and low reliability of planning and scheduling the AMR clusters in the related technology, and achieves the technical effects of improving the reliability of planning and scheduling the AMR clusters and reducing the occurrence probability of blocking and deadlock.

Inventors

YE TING
WANG DONG
XIA YUNKAI
YAN JIAQING

Assignees

舜宇光学（浙江）研究院有限公司

Dates

Publication Date: 20260505
Application Date: 20211228

Claims (8)

1. A method for path planning for an AMR cluster, the method comprising: Acquiring a target service scene, and generating a road network map and a planning scheme corresponding to the target service scene, wherein the planning scheme comprises a task matching rule, a path planning rule and a traffic control rule; According to the task matching rule and the state information of each AMR in the AMR cluster, each task generated for the target service scene is matched with the AMR respectively, and the task information of each AMR is determined; Determining an initial running path of each AMR on the road network map according to the task information and the state information of each AMR, the path planning rule and the traffic control rule; Updating the road network map according to the feedback information of each AMR in the working process; updating the initial running path of each AMR according to the updated road network map; generating a road network map and a planning scheme corresponding to the target service scene comprises: the method comprises the steps of obtaining first characteristic information of a target service scene, wherein the first characteristic information comprises road condition information, flow information and AMR demand information; Selecting a task matching sub-rule matching the target service scene from a preset first rule set as the task matching rule according to the first characteristic information of the target service scene, selecting a path planning sub-rule matching the target service scene from a preset second rule set as the path planning rule, and selecting a traffic control sub-rule matching the target service scene from a preset third rule set as the traffic control rule; The first rule set comprises a first-in first-out rule, a priority rule, a maximum matching rule and multiple matching rules, the second rule set comprises a Dijkstra planning rule, an A planning rule, a A planning rule with a time window and a D planning rule, and the third rule set comprises a traffic area management rule, an exclusive area management rule, a node occupation management rule and a time window management rule.
2. The method for path planning of AMR clusters according to claim 1, wherein updating the road network map according to feedback information of each AMR during operation comprises: determining road blocking information and road maintenance information in the road network map and flow information of each road according to feedback information of each AMR in the working process; And blocking the road with the blocking state and the maintenance state in the road network map according to the road blocking information, the road maintenance information and the traffic flow information of each road, avoiding the road with the traffic flow larger than a preset threshold value, and updating the drivable area of the road network map.
3. The path planning method of AMR clusters according to claim 1, wherein updating an initial travel path of each AMR according to the updated road network map comprises: according to the feedback information of each AMR in the working process, updating the task information and the state information of each AMR; updating the path planning rule and the traffic control rule corresponding to the target service scene according to the updated road network map; And updating the initial running path of each AMR according to the updated task information and state information of each AMR, the updated road network map, the updated path planning rule and the updated traffic control rule.
4. A method for path planning for AMR clusters according to claim 3, wherein updating the initial travel path for each AMR according to the updated task information and status information for each AMR, the updated road network map, and the updated path planning rules and traffic control rules comprises: According to the updated task information and state information of each AMR, an updated road network map and an updated path planning rule, determining an optimized running path of each AMR on the updated road network map; determining the occupation information of each road in the updated road network map according to the updated traffic control rule; And updating the initial running path of each AMR according to the optimized running path of each AMR and the occupation information of each road in the updated road network map.
5. The method according to any one of claims 1 to 4, wherein determining task information of each AMR for each task generated by the target service scenario to match AMR according to the task matching rule and state information of each AMR, respectively, comprises: Acquiring second characteristic information of each task generated by the target service scene, wherein the second characteristic information comprises a task type, task completion time and task state; and respectively matching one or more AMRs for each task by utilizing the task matching rule according to the second characteristic information of each task and the state information of each AMR generated by the target service scene, wherein the state information comprises position information, abnormal information and electric quantity information.
6. A path planning system of an AMR cluster is characterized by comprising a dispatching center and a plurality of AMRs which are in communication connection with the dispatching center; wherein the scheduling center is configured to perform the path planning method of the AMR cluster according to any one of claims 1 to 5.
7. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the path planning method of an AMR cluster according to any one of claims 1 to 5.
8. A storage medium having stored therein a computer program, wherein the computer program when executed by a processor implements the path planning method of an AMR cluster according to any one of claims 1 to 5.

Description

AMR cluster path planning method, AMR cluster path planning system and electronic device Technical Field The present application relates to the field of autonomous mobile robots, and in particular, to a method, a system, an electronic device, and a storage medium for path planning of an AMR cluster. Background With the continuous development of automation technology, more flexible and efficient autonomous mobile robots (Automated Mobile Robot, abbreviated as AMR) gradually replace the conventional automatic guided robots (Automated Guided Vehicle, abbreviated as AGV) The environment inside the factory can be drawn into a map by using software, the map is imported into AMR, or the building drawing of the factory is directly imported into AMR, so that basis is provided for map navigation of the AMR, the AMR can utilize various sensors to detect the surrounding environment, a proper driving path is selected, autonomous working is realized, dynamic obstacles (traffic participants such as people and vehicles) are automatically avoided, and meanwhile, static obstacles are prevented from being collided. When the AMR cluster is deployed in a large scale, due to the problems of complex scene, heavy task amount and the like, road congestion or deadlock can be caused due to the short time of local planning, so how to ensure the efficient planning and scheduling of the AMR cluster in the complex scene is a problem to be solved by technicians. At present, aiming at the problems of short vision and low reliability in planning and scheduling AMR clusters in the related technology, no effective solution is proposed. Disclosure of Invention The embodiment of the application provides a path planning method, a system, an electronic device and a storage medium for an AMR cluster, which at least solve the problems of short vision and low reliability in the planning and scheduling of the AMR cluster in the related technology. The embodiment of the application provides a path planning method of an AMR cluster, which comprises the steps of obtaining a target service scene, generating a road network map and a planning scheme corresponding to the target service scene, wherein the planning scheme comprises a task matching rule, a path planning rule and a traffic control rule, respectively matching AMR for each task generated by the target service scene according to the task matching rule and the state information of each AMR in the AMR cluster, determining the task information of each AMR, determining an initial running path of each AMR on the road network map according to the task information and the state information of each AMR, the path planning rule and the traffic control rule, updating the road network map according to the feedback information of each AMR in the working process, and updating the initial running path of each AMR according to the updated road network map. In some embodiments, updating the road network map according to the feedback information of each AMR in the working process comprises determining road blocking information and road maintenance information in the road network map and flow information of each road according to the feedback information of each AMR in the working process, blocking the road with blocking state and maintenance state in the road network map according to the road blocking information, the road maintenance information and the vehicle flow information of each road, and avoiding the road with the vehicle flow larger than a preset threshold value, and updating the drivable area of the road network map. In some embodiments, updating the initial travel path of each AMR according to the updated road network map includes updating task information and state information of each AMR according to feedback information of each AMR in a working process, updating a path planning rule and a traffic control rule corresponding to the target service scene according to the updated road network map, and updating the initial travel path of each AMR according to the updated task information and state information of each AMR, the updated road network map, and the updated path planning rule and the updated traffic control rule. In some embodiments, updating the initial travel path of each AMR according to the updated task information and the updated state information of each AMR, the updated road network map, the updated path planning rule and the traffic control rule comprises determining an optimized travel path of each AMR on the updated road network map according to the updated task information and the updated state information of each AMR, the updated road network map and the updated path planning rule, determining the occupation information of each road in the updated road network map according to the updated traffic control rule, and updating the initial travel path of each AMR according to the optimized travel path of each AMR and the occupation information of each road in the updated road network map.