Path planning method and device for unmanned device

A path planning device for an unmanned device, comprising:

• a memory;
• and
• a processor coupled to the memory, wherein the processor is configured to execute a path planning method for the unmanned device, comprising:
• determining a location of each landmark within a warehouse;
• mapping each landmark within the warehouse to a two-dimensional matrix map;
• determining a coordinate of an initial landmark of the unmanned device in the two-dimensional matrix map, and coordinates of a landmark corresponding to any one product to be picked in the two-dimensional matrix map;
• calculating a route distance from the initial landmark of the unmanned device to the landmark corresponding to the any one product to be picked and a route distance between landmarks corresponding to any two products to be picked according to coordinate values;
• taking a current landmark as a current node, obtaining a landmark corresponding to a product to be picked with a route closest to the current node, and taking the obtained landmark corresponding to the product to be picked as the current node, wherein an initial value of the current node is the initial landmark of the unmanned device;
• determining whether the current node is a landmark corresponding to a last product to be picked;
• if YES, stopping performing a step of obtaining the landmark corresponding to the product to be picked with the route closest to the current node, and taking the obtained landmark corresponding to the product to be picked as the current node again;
• if NO, performing the step of obtaining the landmark corresponding to the product to be picked with the route closest to the current node, and taking the obtained landmark corresponding to the product to be picked as the current node repeatedly;
• and
• taking a route composed of the initial landmark of the unmanned device and landmarks corresponding to products to be picked that are selected sequentially as a travel path of the unmanned device, wherein the calculating the route distance from the initial landmark of the unmanned device to the landmark corresponding to the any one product to be picked comprises:
• calculating a coordinate distance between the initial landmark of the unmanned device and the landmark corresponding to the any one product to be picked in the two-dimensional matrix map;
• determining whether the initial landmark of the unmanned device and the landmark corresponding to the any one product to be picked are located between a same two adjacent main lanes if the initial landmark of the unmanned device and the landmark corresponding to the any one product to be picked are located in different shelf lanes;
• determining a number of first landmarks from the initial landmark of the unmanned device to a first main lane in the two adjacent main lanes, a number of second landmarks from the initial landmark of the unmanned device to a second main lane in the two adjacent main lanes, a number of third landmarks from the landmark corresponding to the any one product to be picked to the first main lane, and a number of fourth landmarks from the landmark corresponding to the any one product to be picked to the second main lane;
• calculating a sum of the number of first landmarks and the number of third landmarks, and a sum of the number of second landmarks and the number of fourth landmarks if the initial landmark of the unmanned device and the landmark corresponding to the any one product to be picked are located between the same two adjacent main lanes;
• and
• adding a value corresponding to a smaller sum of the numbers of landmarks in the two sums of the numbers of landmarks in the two-dimensional matrix map to the coordinate distance to obtain the route distance from the initial landmark of the unmanned device to the landmark corresponding to the any one product to be picked.

A non-transitory computer readable storage medium, wherein the non-transitory computer readable storage medium stores computer program instructions which, when executed by a processor, implement a path planning method for an unmanned device, comprising:

• determining a location of each landmark within a warehouse;
• mapping each landmark within the warehouse to a two-dimensional matrix map;
• determining a coordinate of an initial landmark of the unmanned device in the two-dimensional matrix map, and coordinates of a landmark corresponding to any one product to be picked in the two-dimensional matrix map;
• calculating a route distance from the initial landmark of the unmanned device to the landmark corresponding to the any one product to be picked and a route distance between landmarks corresponding to any two products to be picked according to coordinate values;
• taking a current landmark as a current node, obtaining a landmark corresponding to a product to be picked with a route closest to the current node, and taking the obtained landmark corresponding to the product to be picked as the current node, wherein an initial value of the current node is the initial landmark of the unmanned device;
• determining whether the current node is a landmark corresponding to s last product to be picked;
• if YES, stopping performing a step of obtaining the landmark corresponding to the product to be picked with the route closest to the current node, and taking the obtained landmark corresponding to the product to be picked as the current node again;
• if NO, performing the step of obtaining the landmark corresponding to the product to be picked with the route closest to the current node, and taking the obtained landmark corresponding to the product to be picked as the current node repeatedly;
• and
• taking a route composed of the initial landmark of the unmanned device and landmarks corresponding to products to be picked that are selected sequentially as a travel path of the unmanned device, wherein the calculating the route distance from the initial landmark of the unmanned device to the landmark corresponding to the any one product to be picked comprises:
• calculating a coordinate distance between the initial landmark of the unmanned device and the landmark corresponding to the any one product to be picked in the two-dimensional matrix map;
• determining whether the initial landmark of the unmanned device and the landmark corresponding to the any one product to be picked are located between a same two adjacent main lanes if the initial landmark of the unmanned device and the landmark corresponding to the any one product to be picked are located in different shelf lanes;
• determining a number of first landmarks from the initial landmark of the unmanned device to a first main lane in the two adjacent main lanes, a number of second landmarks from the initial landmark of the unmanned device to a second main lane in the two adjacent main lanes, a number of third landmarks from the landmark corresponding to the any one product to be picked to the first main lane, and a number of fourth landmarks from the landmark corresponding to the any one product to be picked to the second main lane;
• calculating a sum of the number of first landmarks and the number of third landmarks, and a sum of the number of second landmarks and the number of fourth landmarks if the initial landmark of the unmanned device and the landmark corresponding to the any one product to be picked are located between the same two adjacent main lanes;
• and
• adding a value corresponding to a smaller sum of the numbers of landmarks in the two sums of the numbers of landmarks in the two-dimensional matrix map to the coordinate distance to obtain the route distance from the initial landmark of the unmanned device to the landmark corresponding to the any one product to be picked.