Path planning method and device for transfer task, electronic equipment and medium

Abstract

This application provides a path planning method, apparatus, electronic device, and medium for transfer tasks. The method includes: receiving a transfer instruction including a starting position, an ending position, a first direction vector from the starting position to its adjacent main road, and a second direction vector from the adjacent main road of the ending position to the ending position; determining a first straight path based on the first direction vector, determining a second straight path based on the second direction vector, and using the endpoints of the first and second straight paths located on the main roads as the first and second positions; starting from the first position, performing a path search with the straight-line movement cost being a preset value and the turning movement cost being N times the preset value, so that the searched path from the first position to the second position is the target path with the minimum total movement cost; and connecting the first straight path, the target path, and the second straight path end-to-end to obtain the final travel path. This method reduces the number of turns in the path.

Description

Technical Field

[0001] This application relates to the field of path planning technology, and in particular to a path planning method, apparatus, electronic device and medium for transfer tasks. Background Technology

[0002] In port cargo transshipment areas (i.e., flat yards), a large number of goods are typically temporarily placed awaiting transshipment. For example, many cars may be parked in the flat yard; these cars may need to be transported from the flat yard to a multi-level parking garage for storage, or they may have been transported from the multi-level parking garage to the flat yard awaiting loading.

[0003] When transporting these goods (e.g., moving cars from a flat yard to a multi-level parking garage, or vice versa), straddle carriers are typically used. A straddle carrier is a vehicle that can completely cover and wrap the goods being grabbed.

[0004] When controlling straddle carriers to transport goods (e.g., transporting cars from a surface yard to a multi-level parking garage, or vice versa), a route needs to be planned for the straddle carrier. Existing technologies typically use the A* pathfinding and navigation algorithm for route planning. This algorithm only finds the shortest path from the starting point to the destination. However, this distance-only approach ignores how the straddle carrier turns. It assumes that as long as every path point is reachable, it forms a road, without considering that the straddle carrier is a single unit and cannot move instantaneously like a point of light. This results in the straddle carrier constantly making small, left-right adjustments, making the planned route full of jagged, fine-tuning. This not only affects the transport speed of the straddle carrier but also increases wear on the tires and steering system. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a path planning method, apparatus, electronic device and medium for transfer tasks, so as to reduce the number of turns in the path, reduce the S-shaped fluctuation of the generated path, which is beneficial to reduce the shear wear on the dock floor and straddle carrier tires under heavy load, and improve transfer efficiency.

[0006] In a first aspect, embodiments of this application provide a path planning method for transshipment tasks, wherein multiple parking spaces are arranged in a matrix in a planar storage yard, and each row of parking spaces is parallel and adjacent to at least one main road; the method includes: Receive transfer instructions from straddle carriers for performing transfer tasks; the transfer instructions include the departure position and the destination position of the straddle carrier, a first direction vector from the departure position to its adjacent main road, and a second direction vector from the adjacent main road to the destination position; one of the departure position and the destination position is a target parking location in a flat storage yard where goods to be transferred are parked, and the other position is located in the target site. In the global environment grid map, the goods to be transferred are temporarily removed from the obstacles to generate an obstacle grid map; the global environment grid map covers the planar storage yard, and when the target site does not belong to the planar storage yard, the global environment grid map also covers the target site; Based on the first direction vector, a first straight path is determined from the starting position to its adjacent main road, and the endpoint of the first straight path located on the main road is taken as the first position; based on the second direction vector, a second straight path is determined from the adjacent main road of the ending position to the ending position, and the endpoint of the second straight path located on the main road is taken as the second position. In the obstacle grid map, based on the safety radius preset for the straddle carrier, starting from the first position, a path search is performed with the straight-line movement cost being a preset value and the turning movement cost being N times the preset value, so that the searched path from the first position to the second position is the target path with the minimum total movement cost. Connect the first straight path, the target path, and the second straight path end to end to obtain the final driving path.

[0007] In conjunction with the first aspect, this application provides a first possible implementation of the first aspect, wherein when the transport vehicle's transfer task is to drive from the original parking space in the target site to the target parking space to pick up the goods to be transferred located in the target parking space, the starting position is the original parking space and the ending position is the target parking space. When the transport vehicle's transfer task is to transport the goods to be transferred from the target parking space to the target location in the target site, the starting position is the target parking space; and the ending position is the target location.

[0008] In conjunction with the first aspect, this application provides a second possible implementation of the first aspect, wherein, in the obstacle grid map, based on a preset safety radius for the straddle carrier, starting from the first position, a path search is performed with the straight-line movement cost being a preset value and the turning movement cost being N times the preset value, so that the searched path from the first position to the second position is the target path with the minimum total movement cost, including: From a pre-set set of decreasing safety radii, select one safety radius in descending order as the current safety radius; In the obstacle grid map, based on the current safety radius, starting from the first position, path search is performed with the straight-line movement cost being a preset value and the turning movement cost being N times the preset value. If a target path with the minimum total movement cost between the first position and the second position is successfully found, the iteration stops; if a target path with the minimum total movement cost between the first position and the second position is not successfully found, the next safety radius is selected to continue the path search until a target path is successfully found or the set of safety radii is traversed.

[0009] In conjunction with the second possible implementation of the first aspect, this application provides a third possible implementation of the first aspect, wherein, after selecting a safety radius as the current safety radius sequentially from a preset set of decreasing safety radii in descending order, the method further includes: Verify whether the first position and the second position meet the safety distance requirements of the current safety radius. If there are obstacles within the current safety radius around either the first position or the second position, then directly select the next safety radius.

[0010] In conjunction with the first aspect or the second possible implementation of the first aspect, this application provides a fourth possible implementation of the first aspect, wherein the step of performing path search from the first position with a straight-line movement cost of a preset value and a turning movement cost of N times the preset value includes: The first position is used as the initial current expansion point, and the first position is added to the candidate point set; During the path search process, each adjacent path point of the current expansion point is added to the candidate point set, and for each adjacent path point, the cost f of that adjacent path point is calculated according to the following formula: f = g + h + p Wherein, g represents the cumulative straight-line movement cost from the first position to the adjacent path point; the cumulative straight-line movement cost is obtained by summing the straight-line movement costs of each straight-line segment traversed; h represents the distance cost from the adjacent path point to the second position; the distance cost is determined based on the Manhattan distance between the adjacent path point and the second position; the distance cost is positively correlated with the Manhattan distance; p represents the cumulative turning movement cost from the first position to the adjacent path point; the cumulative turning movement cost is obtained by summing the turning movement costs of each turning segment traversed. Record the parent node of each adjacent path point; the parent node is the current expansion point for expanding the adjacent path point. The path point that is the current expansion point is removed from the candidate point set, and the path point with the smallest substitution value is selected from the candidate point set as the next current expansion point. The substitution value of each adjacent path point of the next current expansion point is calculated until the selected current expansion point is the second position and the search stops. Wherein, for any path point in the candidate point set, if the substitution value of the path point calculated later is different from the substitution value of the path point calculated earlier, the minimum substitution value is retained as the substitution value of the path point. Based on the parent node of each recorded adjacent path point, the target path is obtained by tracing back from the second position to the first position.

[0011] In conjunction with the first aspect, this application provides a fifth possible implementation of the first aspect, wherein the obstacles in the obstacle grid map include: all goods in the planar storage yard at the current time except for the goods to be transferred, and obstacles other than the goods; and when the target site does not belong to the planar storage yard, the obstacles in the obstacle grid map also include all obstacles in the target site.

[0012] In conjunction with the first aspect, this application provides a sixth possible implementation of the first aspect, wherein the method further includes: The final travel path is sent to the control unit of the straddle carrier so that the control unit controls the straddle carrier to travel according to the final travel path.

[0013] Secondly, embodiments of this application also provide a path planning device for transshipment tasks, wherein multiple parking spaces are arranged in a matrix in a planar storage yard, and each row of parking spaces is parallel and adjacent to at least one main road; the device includes: The receiving module is used to receive the transfer instructions of the straddle carrier for performing the transfer task; the transfer instructions include the departure position and the destination position of the straddle carrier, a first direction vector from the departure position to its adjacent main road, and a second direction vector from the adjacent main road to the destination position; one of the departure position and the destination position is a target parking position in the flat storage yard where the goods to be transferred are parked, and the other position is located in the target site. The first generation module is used to temporarily remove the goods to be transferred from the obstacles in the global environment grid map to generate an obstacle grid map; the global environment grid map covers the planar storage yard, and when the target site does not belong to the planar storage yard, the global environment grid map also covers the target site; The determining module is configured to determine, based on the first direction vector, a first straight path from the starting position to its adjacent main road, and take the endpoint of the first straight path located on the main road as the first position; and based on the second direction vector, determine a second straight path from the adjacent main road of the ending position to the ending position, and take the endpoint of the second straight path located on the main road as the second position. The search module is used to perform path search in the obstacle grid map, based on the preset safety radius for the straddle carrier, starting from the first position, with the straight-line movement cost being a preset value and the turning movement cost being N times the preset value, so that the searched path from the first position to the second position is the target path with the minimum total movement cost. The second generation module is used to connect the first straight path, the target path, and the second straight path end to end to obtain the final driving path.

[0014] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and when the machine-readable instructions are executed by the processor, the steps in any of the possible implementations of the first aspect described above are performed.

[0015] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps in any of the possible implementations of the first aspect described above.

[0016] This application provides a path planning method, apparatus, electronic device, and medium for transfer tasks. The method introduces differentiated settings for straight-line movement cost and turning movement cost during path search. Specifically, the straight-line movement cost is set to a preset value, and the turning movement cost is set to N times the preset value. This causes the search for a path from a first position to a second position to prioritize paths with fewer turns and a higher proportion of straight-line movement, thereby finding the target path with the minimum total movement cost. Compared to traditional methods that only optimize distance, this solution effectively suppresses unnecessary turning actions in the path by significantly increasing the turning movement cost. This avoids the jagged path caused by frequent small-angle corrections during straddle carrier operation, enabling the straddle carrier to complete the transfer task from the starting position to the destination position more smoothly and directly. This improves the transport speed of the straddle carrier and reduces the mechanical wear of the tires and steering system.

[0017] Furthermore, this embodiment addresses scenarios with densely stacked goods in flat yards. By temporarily removing the goods to be transferred from obstacles in the global environment grid map and generating an obstacle grid map, collision exemption is achieved for the goods to be transferred in the target parking position. This approach allows straddle carriers to approach the target parking position where the goods to be transferred are located during path planning, avoiding path planning failures caused by traditional static expansion obstacle avoidance methods misjudging the target parking position as an obstacle area. This ensures that straddle carriers can successfully complete close-range retrieval and placement tasks in densely stacked yards.

[0018] Meanwhile, this embodiment determines a first straight path from the starting position to the adjacent main road based on a first direction vector, and a second straight path from the adjacent main road to the destination position based on a second direction vector, thus constraining the straddle carrier's attitude adjustment near the starting and ending points to deterministic straight-line motion. This setting allows the straddle carrier to enter or exit the target parking space without complex turning adjustments in narrow parking areas. Instead, it first enters the open main road area via a straight segment before path planning, or directly cuts into the destination parking space in a straight line from the main road. This reduces the search complexity of the path planning algorithm in dense obstacle areas and also reduces invalid turning caused by attitude adjustments near the starting and ending points, further improving transport efficiency.

[0019] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A flowchart of a path planning method for a transfer task provided in an embodiment of this application is shown; Figure 2 A schematic diagram of a planar stockpile provided in an embodiment of this application is shown; Figure 3 This invention provides a schematic diagram of the structure of a straddle carrier according to an embodiment of the present application. Figure 4 A schematic diagram of a path planning method provided in an embodiment of this application is shown; Figure 5 A schematic diagram of the structure of a path planning device for transfer tasks provided in an embodiment of this application is shown; Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0023] In port cargo transshipment areas (i.e., flat yards), a large number of goods are typically temporarily placed awaiting transshipment. For example, many cars may be parked in the flat yard; these cars may need to be transported from the flat yard to a multi-level parking garage for storage, or they may have been transported from the multi-level parking garage to the flat yard awaiting loading.

[0024] When transporting these goods (e.g., moving cars from a flat yard to a multi-level parking garage, or vice versa), straddle carriers are typically used. A straddle carrier is a vehicle that can completely cover and wrap the goods being grabbed.

[0025] When controlling straddle carriers to transport goods (e.g., transporting cars from a surface yard to a multi-level parking garage, or vice versa), a route needs to be planned for the straddle carrier. Existing technologies typically use the A* pathfinding and navigation algorithm for route planning. This algorithm only finds the shortest path from the starting point to the destination. However, this distance-only approach ignores how the straddle carrier turns. It assumes that as long as every path point is reachable, it forms a road, without considering that the straddle carrier is a single unit and cannot move instantaneously like a point of light. This results in the straddle carrier constantly making small, left-right adjustments, making the planned route full of jagged, fine-tuning. This not only affects the transport speed of the straddle carrier but also increases wear on the tires and steering system.

[0026] Based on this, the embodiments of this application provide a path planning method, apparatus, electronic device and medium for transfer tasks. By setting the turning movement cost to N times the straight movement cost, and combining it with the introduction of a forced straight path, the technical problems of zigzag fine-tuning of the path, low transportation efficiency and large mechanical wear in the background art are effectively solved. The following is a description through embodiments.

[0027] To facilitate understanding of this embodiment, a path planning method for transshipment tasks disclosed in this application will first be described in detail. In a planar storage yard, multiple parking spaces are arranged in a matrix, with each row of parking spaces parallel and adjacent to at least one main road. For example... Figure 1 As shown, the path planning method for transfer tasks includes the following steps S101-S105: S101: Receive transfer instructions from straddle carriers for performing transfer tasks; the transfer instructions include the departure position, the destination position, a first direction vector from the departure position to its adjacent main road, and a second direction vector from the adjacent main road to the destination position; one of the departure position and the destination position is a target parking location in a flat storage yard where goods awaiting transfer are parked, and the other position is located in the target site.

[0028] In this embodiment, the flat storage yard is a transit area in the dock used for temporary parking of goods (such as cars), such as... Figure 2 As shown, the planar storage yard has multiple parking spaces arranged in a matrix. Each row of parking spaces is parallel to and adjacent to at least one main road. The parking spaces are used for temporary storage of goods.

[0029] like Figure 3 As shown, a straddle carrier is a transport vehicle capable of covering (i.e., parceling) and grabbing goods for the purpose of transferring goods. When covering and grabbing goods, the straddle carrier can enter the parking space to grab them.

[0030] In step S101, before controlling the straddle carrier to execute the transfer task, a transfer instruction is first received from the scheduling system or the upper-level control system. The transfer instruction includes the straddle carrier's departure position, destination position, a first direction vector from the departure position to its adjacent main road, and a second direction vector from the adjacent main road to the destination position. One of the departure and destination positions is a target parking spot in the flat storage yard, and the other is located in the target site. The target parking spot holds the goods to be transferred. The target site can be located in or outside the flat storage yard.

[0031] In one specific embodiment, the target site can be a multi-level parking garage located outside the flat storage yard. In this case, the goods to be transferred can be new vehicles that need to be transported from the flat storage yard to the target site (such as the multi-level parking garage), or new vehicles that need to be transported from the target site (such as the multi-level parking garage) to the flat storage yard to wait for subsequent loading.

[0032] The first direction vector pointing from the departure position to its adjacent main road indicates the exit direction that the straddle carrier should follow when leaving the departure position. This first direction vector is perpendicular to the main road corresponding to the parking space where the departure position is located, meaning that the straddle carrier needs to drive in a straight line from the departure position to the main road adjacent to the parking space in the direction indicated by the first direction vector.

[0033] A second direction vector, pointing from the adjacent main road to the destination location, indicates the direction the straddle carrier should follow when entering the destination location. This second direction vector is perpendicular to the main road corresponding to the parking space at the destination location; that is, the straddle carrier needs to drive in a straight line from the main road adjacent to the parking space along the direction indicated by this second direction vector to the destination location.

[0034] By defining the vertical pointing relationship in the first and second direction vectors, it can be ensured that the straddle carrier moves in a straight line perpendicular to the main road when leaving or entering the target parking space, thereby avoiding complex turning adjustments in dense parking space areas.

[0035] In actual transport operations, straddle carrier transport tasks include two different operating directions, corresponding to the following two scenarios.

[0036] The first scenario is a pickup task: When the straddle carrier's transfer task is to move from its original parking space in the target area to a target parking space to pick up goods to be transferred located in the target parking space, the departure position in the transfer instruction is the original parking space where the straddle carrier is currently located, and the destination position is the target parking space where the goods to be transferred are located. In this case, the first direction vector is used to indicate the direction in which the straddle carrier moves from its original parking space to the adjacent main road, and the second direction vector is used to indicate the direction in which the straddle carrier moves from the main road adjacent to the target parking space into the target parking space.

[0037] The second scenario involves a transport mission: when the straddle carrier's transfer mission is to transport goods placed at a target parking location to a target location within the target site, the departure location in the transfer instruction is the target parking location where the goods are to be transferred, and the destination location is the target location. The target location can be a designated location within the target site outside the flat storage yard, such as the docking point of a multi-level parking garage, or other sites where goods need to be delivered. In this case, the first direction vector is used to indicate the direction in which the straddle carrier moves from the target parking location to the adjacent main road, and the second direction vector is used to indicate the direction in which the straddle carrier moves from the main road adjacent to the target location into the target location.

[0038] In both of the above task scenarios, regardless of whether the straddle carrier is performing a pickup or delivery task, it follows the same path planning logic: that is, the first straight path from the starting position to the main road is determined by the first direction vector, and the second straight path from the main road to the destination position is determined by the second direction vector. The first and second positions on the main road are used as the starting and ending points for subsequent path searches, thereby constraining the attitude adjustment of the straddle carrier near the starting and ending points to straight-line movement, reducing the complexity of path planning in densely packed parking areas.

[0039] For car roll-on / roll-off terminals, the cargo is the parked cars. In the flat yard, multiple parking spaces are usually arranged in a matrix and are densely packed with cars.

[0040] Upon receiving a transfer instruction, the location information of the target parking spot and the identification information of the goods to be transferred parked in that spot are parsed from the instruction. The goods to be transferred are the specific vehicles that need to be picked up or transported by the straddle carrier for this transfer task.

[0041] S102: In the global environment grid map, temporarily remove the goods to be transferred from the obstacles to generate an obstacle grid map; the global environment grid map covers the flat storage yard, and when the target site is not a flat storage yard, the global environment grid map also covers the target site.

[0042] In step S102, in this embodiment, when the target site is a flat storage yard, the global environment raster map only covers the flat storage yard; when the target site is not a flat storage yard, the global environment raster map covers both the target site and the flat storage yard. Since the flat storage yard is a transit area for temporarily storing goods, the goods stored in the flat storage yard change in real time, not remain constant. Therefore, the global environment raster map needs to be obtained before each route planning process.

[0043] This global environment grid map is a digital representation of the physical space containing a planar storage area (or a planar storage area and a target site). Each grid cell in the map corresponds to a unit area in the physical space, and the value of the grid cell is used to identify whether the area is occupied by an obstacle.

[0044] Obstacles in the global environment grid map include all cargo in the current flat yard, as well as other fixed or temporary obstacles (non-cargo obstacles) such as bollards, lighting fixture posts, and other operating equipment. When the target site is not a flat yard, obstacles in the global environment grid map also include all obstacles in the target site.

[0045] In this embodiment, an obstacle grid map for path search is generated based on the global environment grid map. The obstacle grid map is generated as follows: based on the target parking location information carried in the transfer instruction, the grid area occupied by the goods to be transferred in the global environment grid map is determined, and then the grid cells corresponding to the grid area are temporarily removed from the obstacle markers, that is, the grid values ​​of the area are set to an obstacle-free state.

[0046] This operation can be understood as temporarily removing the cargo to be transferred from the obstacle set. After removal, the obstacles in the obstacle grid map include: all cargo currently parked in the flat yard except for the cargo to be transferred, as well as other fixed or temporary obstacles (non-cargo obstacles) in the flat yard besides cargo, such as bollards, lighting fixture posts, and other operating equipment. When the target site is not a flat yard, the obstacles in the obstacle grid map also include all obstacles in the target site. The area occupied by the cargo to be transferred is considered a passable area in the obstacle grid map.

[0047] It should be noted that this temporary removal operation is only used during the path search phase and does not affect the physical obstacle avoidance of the straddle carrier during actual driving. When the straddle carrier travels to the vicinity of the target parking position according to the planned final driving path, the straddle carrier's own sensors will still detect the actual cargo to be transferred and control the straddle carrier to approach and grab the cargo in a safe manner.

[0048] The aforementioned temporary removal mechanism enables straddle carriers to successfully plan a path to the target parking position in densely packed yards, avoiding path planning failures caused by the traditional static expansion obstacle avoidance method marking the target parking position and its surrounding area as obstacles. This effectively solves the engineering problem of the difficulty in performing close-range cargo handling tasks in roll-on / roll-off terminals.

[0049] S103: Based on the first direction vector, determine the first straight path from the starting position to its adjacent main road, and take the endpoint of the first straight path located on the main road as the first position; based on the second direction vector, determine the second straight path from the adjacent main road of the ending position to the ending position, and take the endpoint of the second straight path located on the main road as the second position.

[0050] In step S103, based on the first and second direction vectors carried in the transfer instruction, straight-line driving paths of the straddle carrier are constructed near the starting point and the ending point, respectively.

[0051] Specifically, the first direction vector is a direction vector perpendicular to the main road from the starting position, and this first direction vector is perpendicular to the main road corresponding to the parking space where the starting position is located. Starting from the starting position, a straight line segment of a preset length is generated by extending outward along the direction indicated by the first direction vector. This straight line segment is the first straight path from the starting position to the adjacent main road. The endpoint of the first straight line path is located on the main road, and this endpoint is recorded as the first position.

[0052] Similarly, the second direction vector is the direction vector perpendicular to the main road adjacent to the destination location, pointing directly towards the destination location. This second direction vector is perpendicular to the main road corresponding to the parking space at the destination location. Starting from the point on the main road corresponding to the destination location, a straight line segment of a preset length is generated along the direction indicated by the second direction vector. This straight line segment is the second straight path from the main road to the destination location. The starting point of the second straight path is located on the main road, and its endpoint is recorded as the second location.

[0053] In a preferred embodiment, the preset length can be set to 4 meters. This length can be adaptively adjusted according to the vehicle size, parking space layout, and main road width to ensure that the vehicle can completely leave or enter the dense parking area when leaving the departure position or entering the destination position, thereby enabling subsequent route searching in the main road area.

[0054] Through the above process, this embodiment forcibly constrains the movement of the straddle carrier near the start and end points to deterministic linear motion. This decouples the attitude adjustment of the straddle carrier at the start and end points from the complex path search problem. At the start point, the straddle carrier does not need to turn in dense parking areas, but instead first drives straight into the main road via a first straight path; at the end point, the straddle carrier does not need to reverse or turn in dense parking areas, but instead first drives straight into the target parking space via a second straight path. This approach allows subsequent path searches to be conducted only in open main road areas and connecting passages, avoiding complex turning path planning in dense obstacle areas, reducing the algorithm's search complexity, and also reducing ineffective steering and mechanical wear caused by the straddle carrier adjusting its attitude in narrow areas during actual driving.

[0055] Furthermore, in the subsequent path search process S104, the first and second positions will be used as the start and end points of the search, instead of the original starting and ending positions. This means that the paths of the straddle carrier from the starting position to the first position and from the second position to the ending position are both straight paths in a fixed direction, without needing to participate in dynamic path search, further improving the efficiency and smoothness of path planning.

[0056] S104: In the obstacle grid map, based on the preset safety radius for the straddle carrier, starting from the first position, a path search is performed with the straight-line movement cost being a preset value and the turning movement cost being N times the preset value, so that the searched path from the first position to the second position is the target path with the minimum total movement cost.

[0057] In step S104, based on the obstacle grid map generated in step S102, a path search is performed from the first position to the second position. During the search, a safety radius is preset for the straddle carrier, which defines the minimum distance that the straddle carrier should maintain between itself and obstacles during its journey. This ensures that during the path search, each point on the searched path does not contain any obstacles within a radius defined by this safety radius.

[0058] In terms of cost calculation, the cost of moving straight is set to a preset value, and the cost of turning is set to N times that preset value. Here, N is a value greater than 1. In a preferred embodiment, the preset value is 1, and N is 10 or higher, for example, 120. By setting a turning cost much higher than the cost of moving straight, turning actions are avoided as much as possible during path searching, and straight-line expansion is prioritized.

[0059] In this embodiment, the value of N can be calculated using the following formula: N = The time spent turning corresponds to the equivalent cost of traveling an extra distance = w × T × the straight-line speed of the straddle carrier (m / s) × (1 / grid length); Where T is the time (s) required for the vehicle to complete one turn; w is the user's preference for turning [1|2|3]. It can be set to 1 without special reasons. If the user dislikes turning, it can be set to 2. If the user dislikes turning, it can be set to 3 (that is, the larger w is, the higher the user's aversion to turning). If it is even larger, the user will take too much detour to go straight, so the maximum value can be 3.

[0060] For example, if it takes 10 seconds for the straddle carrier to complete one turn, and the AGV's straight-line speed is 2m / s, and w=1, and the grid is 1m x 1m, then N=1×10×2×1=20.

[0061] The goal of the search is to find a path with the minimum total movement cost between the first and second positions. Since the cost of turning is much higher than the cost of going straight, the path with the minimum total movement cost is essentially the path with the fewest turns and the longest straight distance, thus avoiding the jagged fine-tuning problem caused by only considering distance in traditional path planning.

[0062] In one possible implementation, considering the densely packed cargo and narrow transport lanes in a flat yard, using a uniform, large safety radius (high safety margin) would ensure safety on wide lanes but would render all narrow lanes too dangerous to navigate. Conversely, using a uniform, small safety radius (low safety margin) would allow passage on narrow lanes, but on wide lanes, even a slight mishap (such as a small obstacle on an outdated map) could easily result in a direct collision, leaving no room for buffering or correction. In other words, a fixed high safety margin would render many narrow lanes unusable, while a low safety margin would result in insufficient tolerance for mishaps when straddle carriers travel in open areas.

[0063] To balance the safety of straddle carriers in open areas and their ability to pass through narrow passages, this embodiment adopts a multi-level safety radius iterative search strategy. Specifically, a set of decreasing safety radii is pre-set, for example, the safety radii are 3 meters, 2 meters, and 1 meter.

[0064] In step S104, when performing path search in the obstacle grid map based on the preset safety radius for the straddle carrier, starting from the first position, and using a preset value for straight-line movement cost and N times the preset value for turning movement cost, so that the searched path from the first position to the second position is the target path with the minimum total movement cost, the following steps S1041-S1042 can be performed: S1041: From a preset set of decreasing safety radii, select one safety radius in descending order as the current safety radius.

[0065] S1042: In the obstacle grid map, based on the current safe radius, starting from the first position, perform path search by setting the straight-line movement cost to a preset value and the turning movement cost to N times the preset value. If the target path with the minimum total movement cost between the first and second positions is successfully found, the iteration stops; if the target path with the minimum total movement cost between the first and second positions is not successfully found, select the next safe radius to continue path search until the target path is successfully found or the set of safe radii is traversed.

[0066] In this embodiment, when starting the path search, a safe radius is selected from the set of safe radii in descending order as the current safe radius.

[0067] For the currently selected safety radius, a path search is performed on the obstacle grid map using this safety radius. The search process also uses a cost function where the cost of moving straight is a preset value and the cost of turning is N times the preset value, in order to find the target path with the minimum total movement cost from the first position to the second position.

[0068] If a target path is successfully found within the current safe radius, the iteration stops, and this path is taken as the target path in step S104. If a target path is not successfully found within the current safe radius (for example, because the current safe radius is too large, causing all feasible paths to be deemed unsafe), the next smaller safe radius in the set of safe radii is selected, and the path search continues.

[0069] Repeat the above iterative process until the target path is successfully found or the entire set of safety radii is traversed. Through this multi-level safety radius iterative approach, this embodiment prioritizes the use of larger safety radii in open areas to ensure sufficient tolerance between the vehicle and obstacles, while automatically downgrading to smaller safety radii when traversing narrow passages to ensure path feasibility, thereby achieving a globally optimal balance between safety and traffic capacity.

[0070] In one possible implementation, after step S1041 and before step S1042, the following steps may also be performed: Verify whether the first and second positions meet the safety distance requirements of the current safety radius. If there are obstacles within the current safety radius around either the first or second position, then directly select the next safety radius.

[0071] In this embodiment, after selecting a safety radius from a preset set of decreasing safety radii in descending order as the current safety radius, the safety distance between the first position and the second position is first verified.

[0072] Specifically, the areas surrounding the first position and the second position are checked respectively. If there are obstacles within a circle centered on the first position and with the current safety radius as the radius, it means that the straddle carrier cannot meet the safety requirements of the current safety radius when it departs from the first position; similarly, if there are obstacles within a circle centered on the second position and with the current safety radius as the radius, it means that the straddle carrier cannot meet the safety requirements of the current safety radius when it arrives at the second position.

[0073] If there are obstacles around either the first or second position within the current safe radius, then instead of performing a full path search within the current safe radius, the current safe radius is skipped, and the next smaller safe radius is selected for the next attempt.

[0074] This endpoint pre-verification mechanism helps avoid invalid path searches at the radius level that clearly does not meet the safety distance requirements, thereby reducing the consumption of computing resources and improving the overall efficiency of iterative search.

[0075] In one possible implementation, when performing step S104 or step S1042, starting from the first position, and performing path searching with the straight-moving cost being a preset value and the turning cost being N times the preset value, the specific steps S201-S205 can be executed as follows: S201: Take the first position as the initial current expansion point and add the first position to the candidate point set.

[0076] S202: During the path search process, each adjacent path point of the current expansion point is added to the candidate point set, and for each adjacent path point, the cost f of that adjacent path point is calculated according to the following formula: f = g + h + p Where g represents the cumulative straight-line movement cost from the first position to the adjacent path point; the cumulative straight-line movement cost is obtained by summing the straight-line movement costs (preset values) of each straight-line path segment traversed; h represents the distance cost from the adjacent path point to the second position; the distance cost is determined based on the Manhattan distance between the adjacent path point and the second position; the distance cost is positively correlated with the Manhattan distance; p represents the cumulative turning movement cost from the first position to the adjacent path point; the cumulative turning movement cost is obtained by summing the turning movement costs (N times the preset value) of each turning path segment traversed.

[0077] S203: Record the parent node of each adjacent path point; the parent node is the current extension point for expanding the adjacent path point.

[0078] S204: Remove the path point that is the current expansion point from the candidate point set, and select the path point with the smallest replacement value from the candidate point set as the next current expansion point, and continue to calculate the replacement value of each adjacent path point of the next current expansion point until the selected current expansion point is the second position and stop the search; wherein, for any path point in the candidate point set, if the replacement value of the path point calculated later is different from the replacement value of the path point calculated earlier, the minimum replacement value is retained as the replacement value of the path point.

[0079] S205: Based on the parent node of each recorded adjacent path point, backtrack from the second position to the first position to obtain the target path.

[0080] For example, Figure 4 A schematic diagram of an obstacle grid map is shown. Each grid cell represents a grid unit. Grid units filled with a pattern represent areas containing obstacles, while grid units not filled with a pattern (i.e., grid AO) represent passable areas. Figure 4 As shown in the example, for ease of illustration, assume the first position is A and the second position is F.

[0081] First, the first position A is taken as the initial current expansion point, and the first position is added to the candidate point set, which is now {A}.

[0082] For the current expansion point A, its adjacent path points include B, D, and E. After adding the adjacent path points B, D, and E to the candidate point set, the candidate point set is now {A, B, D, E}.

[0083] Assuming the cost of moving straight (preset value) is 1 and N is 100, then the cost of turning (N times the preset value) is 100. Assuming the coordinates of position A are (1,1), position B are (2,1), position D are (1,2), and so on, the coordinates of position F are (3,2).

[0084] Then, according to the above formula, the cost f of the adjacent path points B, D, and E of the current expansion point A are respectively: For the adjacent path point B of the current expansion point A, g=1, h= p=0; f=3.

[0085] For the adjacent path point D of the current expansion point A, g=1, h= p=100; f=103.

[0086] For the adjacent path point E of the current expansion point A, g=1, h= p=100; f=102.

[0087] Record the parent node of adjacent path points B, D, and E as A.

[0088] The path point A, which is currently the expansion point, is removed from the candidate point set, which now consists of {B, D, E}. At this point, the cost f for each path point B, D, and E in the candidate point set is 3, 10³, and 10², respectively.

[0089] Select the path point B with the smallest replacement value from the candidate point set {B, D, E} as the next current expansion point.

[0090] For the current expansion point B, its adjacent path points include A, D, E, F, and C. In this embodiment, path points that have already entered the candidate point set will not enter the candidate set again. That is, expansion points that have been deleted from the candidate point set will not enter the candidate point set again. Therefore, after adding the adjacent path points to the candidate point set, the candidate point set is now {B, D, E, F, C}. The cost f of the adjacent path points D, E, F, and C of the current expansion point B is calculated according to the above formula as follows: For the adjacent path point D of the current expansion point B, g=2, h= p=100; f=104.

[0091] For the adjacent path point E of the current expansion point B, g=2, h= p=100; f=104.

[0092] For the adjacent path point F of the current expansion point B, g=2, h= p=100; f=102.

[0093] For the adjacent path point C of the current expansion point B, g=2, h= p=0; f=3.

[0094] At this point, path point B, which is currently the expansion point, is removed from the candidate point set, and the current candidate point set is {D, E, F, C}. Since the parent node of adjacent path points D and E was recorded as A in the previous step, only the parent node of the remaining adjacent path points F and C is recorded as B.

[0095] At this point, for path points D and E in the candidate point set, the cost values ​​of path points D and E calculated earlier are 103 and 102 respectively, and the cost values ​​of path points D and E calculated later are 104 and 104 respectively. Therefore, the minimum cost value is retained as the cost value of the path point, that is, 103 and 102 are retained as the cost values ​​of path points D and E.

[0096] At this point, the cost values ​​of each path point D, E, F, and C in the candidate point set are 103, 102, 102, and 3, respectively. The path point C with the lowest cost value is selected from this candidate point set as the next current expansion point.

[0097] For the current expansion point C, its adjacent path points include B, E, and F. Since adjacent path point B is an expansion point that has been deleted from the candidate point set, while E and F are path points that already exist in the candidate point set, the candidate point set at this time is {D, E, F, C}. The cost f of the adjacent path points E and F of the current expansion point C is calculated according to the above formula: For the adjacent path point E of the current expansion point C, g=3, h= p=100; f=105.

[0098] For the adjacent path point F of the current expansion point C, g=3, h= p=100; f=103.

[0099] At this point, path point C, which is the current expansion point, is removed from the candidate point set, and the current candidate point set is {D, E, F}.

[0100] At this point, for path points E and F in the candidate point set, the cost values ​​of path points E and F calculated earlier are 104 and 102 respectively, and the cost values ​​of path points E and F calculated later are 105 and 103 respectively. The minimum cost value is retained as the cost value of the path point, that is, 104 and 102 are retained as the cost values ​​of path points E and F.

[0101] At this point, the cost values ​​of each path point D, E, and F in the candidate point set are 104, 104, and 102, respectively. The path point F with the lowest cost value is selected from this candidate point set as the next current expansion point.

[0102] Since path point F is the second position, the search stops. When the search stops, based on the parent node of each previously recorded adjacent path point, starting from the second position, the search proceeds backward along the parent node relationships to the first position, thus obtaining a sequence of path points from the first position to the second position. This sequence of path points is the target path in step S104. In the example above, the parent node of path point F is B, and the parent node of path point B is A. Therefore, the obtained target path is A, B, F.

[0103] This embodiment considers the straight-line movement cost, distance cost, and turning movement cost simultaneously during the path search process, so that the searched target path has the characteristics of the fewest turning times and the longest straight-line distance while satisfying the safety radius constraint, thereby achieving the smoothness and efficiency of the straddle carrier's travel path.

[0104] S105: Connect the first straight path, the target path, and the second straight path end to end to obtain the final driving path.

[0105] In this embodiment, after the target path is found, the first straight path determined in step S103, the target path determined in step S104, and the second straight path determined in step S103 are spliced ​​together to form a complete final driving path from the starting position to the ending position.

[0106] Specifically, the first straight path is a straight segment from the starting position to its adjacent main road, with the starting point at the starting position and the ending point at the first position. The target path is the path between the first position and the second position, generated by the path search process in step S104, with the starting point at the first position and the ending point at the second position. The second straight path is a straight segment from the main road adjacent to the ending position to the ending position, with the starting point at the second position and the ending point at the ending position.

[0107] The three routes are connected end-to-end according to the driving sequence: starting with the first straight route, its end point (i.e., the first position) is connected to the starting point of the target route; then the end point of the target route (i.e., the second position) is connected to the starting point of the second straight route, thus forming a continuous route from the starting position to the ending position. This continuous route is the final driving route of the straddle carrier for this transfer task.

[0108] In one possible implementation, after performing step S105, the following steps may also be performed: S106: The final travel path is sent to the straddle carrier's control unit so that the control unit controls the straddle carrier to travel according to the final travel path.

[0109] In this embodiment, the route planning method for transfer tasks is applied to a server, which converts the final travel route into executable driving instructions for the transport vehicle. The final travel route consists of a series of consecutive path points, each containing location coordinates and driving direction information at that point. The server arranges these path points in the driving order to generate a path point sequence.

[0110] The server then sends the path point sequence to the straddle carrier's control unit. The straddle carrier's control unit can be located inside or outside the straddle carrier. It receives driving commands from the server and controls the straddle carrier's drive, steering, and braking mechanisms accordingly, ensuring the straddle carrier travels along the designated path.

[0111] After receiving the final travel route from the control unit, the straddle carrier begins its transfer task. The straddle carrier first travels in a straight line from its starting position to the main road along a first straight path, then travels along the target route on the main road and connecting lanes, and finally travels in a straight line from the main road to its destination along a second straight path. Throughout the journey, the straddle carrier uses its own positioning system (such as laser navigation, visual navigation, or inertial navigation) to determine its position in real time and compares it with the final travel route. Closed-loop control is used to adjust the driving state to ensure that the actual travel trajectory remains consistent with the planned path.

[0112] Because the target path in the final driving route is searched by setting the turning movement cost to N times the straight-line movement cost, the straddle carrier significantly reduces the number of turns during actual driving, resulting in a smoother driving trajectory. This improves the efficiency of the transfer task and reduces mechanical wear on the tires and steering system. Furthermore, due to the forced straight-line guidance near the start and end points, the straddle carrier does not require complex steering adjustments when entering and exiting densely packed parking spaces, further enhancing the safety and reliability of the transfer operation.

[0113] Based on the same technical concept, embodiments of this application also provide a planar storage yard with multiple parking spaces arranged in a matrix, each row of parking spaces being parallel and adjacent to at least one main road; such as Figure 5 As shown, the device includes: The receiving module 501 is used to receive a transfer instruction from a straddle carrier for performing a transfer task; the transfer instruction includes the departure position and the destination position of the straddle carrier, a first direction vector from the departure position to its adjacent main road, and a second direction vector from the adjacent main road to the destination position; one of the departure position and the destination position is a target parking position in a flat storage yard where goods to be transferred are parked, and the other position is located in the target site. The first generation module 502 is used to temporarily remove the goods to be transferred from the obstacles in the global environment grid map to generate an obstacle grid map; the global environment grid map covers the planar storage yard, and when the target site does not belong to the planar storage yard, the global environment grid map also covers the target site; The determining module 503 is configured to determine, based on the first direction vector, a first straight path from the starting position to its adjacent main road, and take the endpoint of the first straight path located on the main road as the first position; and based on the second direction vector, determine a second straight path from the adjacent main road of the ending position to the ending position, and take the endpoint of the second straight path located on the main road as the second position. The search module 504 is used to perform path search in the obstacle grid map, based on the safety radius preset for the straddle carrier, starting from the first position, with the straight-line movement cost being a preset value and the turning movement cost being N times the preset value, so that the searched path from the first position to the second position is the target path with the minimum total movement cost. The second generation module 505 is used to connect the first straight path, the target path, and the second straight path end to end to obtain the final driving path.

[0114] Optionally, when the transport vehicle's transfer task is to drive from its original parking space in the target site to the target parking space to pick up the goods to be transferred located in the target parking space, the starting position is the original parking space and the ending position is the target parking space; When the transport vehicle's transfer task is to transport the goods to be transferred from the target parking space to the target location in the target site, the starting position is the target parking space; and the ending position is the target location.

[0115] Optionally, when the search module 504 performs path searching in the obstacle grid map, based on a preset safety radius for the straddle carrier, starting from the first position and with the straight-line movement cost being a preset value and the turning movement cost being N times the preset value, so that the searched path from the first position to the second position is the target path with the minimum total movement cost, it is specifically used for: From a pre-set set of decreasing safety radii, select one safety radius in descending order as the current safety radius; In the obstacle grid map, based on the current safety radius, starting from the first position, path search is performed with the straight-line movement cost being a preset value and the turning movement cost being N times the preset value. If a target path with the minimum total movement cost between the first position and the second position is successfully found, the iteration stops; if a target path with the minimum total movement cost between the first position and the second position is not successfully found, the next safety radius is selected to continue the path search until a target path is successfully found or the set of safety radii is traversed.

[0116] Optionally, the device further includes: The verification module is used to verify whether the first position and the second position meet the safety distance requirements of the current safety radius after the search module 504 selects a safety radius from a preset set of decreasing safety radii in descending order. If there are obstacles within the range of the current safety radius around either the first position or the second position, the next safety radius is selected directly.

[0117] Optionally, when the search module 504 performs path searching starting from the first position, with the straight-moving cost being a preset value and the turning-moving cost being N times the preset value, it is specifically used for: The first position is used as the initial current expansion point, and the first position is added to the candidate point set; During the path search process, each adjacent path point of the current expansion point is added to the candidate point set, and for each adjacent path point, the cost f of that adjacent path point is calculated according to the following formula: f = g + h + p Wherein, g represents the cumulative straight-line movement cost from the first position to the adjacent path point; the cumulative straight-line movement cost is obtained by summing the straight-line movement costs of each straight-line segment traversed; h represents the distance cost from the adjacent path point to the second position; the distance cost is determined based on the Manhattan distance between the adjacent path point and the second position; the distance cost is positively correlated with the Manhattan distance; p represents the cumulative turning movement cost from the first position to the adjacent path point; the cumulative turning movement cost is obtained by summing the turning movement costs of each turning segment traversed. Record the parent node of each adjacent path point; the parent node is the current expansion point for expanding the adjacent path point. The path point that is the current expansion point is removed from the candidate point set, and the path point with the smallest substitution value is selected from the candidate point set as the next current expansion point. The substitution value of each adjacent path point of the next current expansion point is calculated until the selected current expansion point is the second position and the search stops. Wherein, for any path point in the candidate point set, if the substitution value of the path point calculated later is different from the substitution value of the path point calculated earlier, the minimum substitution value is retained as the substitution value of the path point. Based on the parent node of each recorded adjacent path point, the target path is obtained by tracing back from the second position to the first position.

[0118] Optionally, the obstacles in the obstacle grid map include: all goods in the planar storage yard at the current time except for the goods to be transferred, and obstacles other than the goods; and when the target site does not belong to the planar storage yard, the obstacles in the obstacle grid map also include all obstacles in the target site.

[0119] Optionally, the device further includes: The control module is used to send the final travel path to the control unit of the straddle carrier, so that the control unit controls the straddle carrier to travel according to the final travel path.

[0120] Figure 6 A schematic diagram of an electronic device provided in this application embodiment includes: a processor 601, a memory 602, and a bus 603. The memory 602 stores machine-readable instructions executable by the processor 601. When the electronic device runs the above-described information processing method, the processor 601 and the memory 602 communicate through the bus 603. The processor 601 executes the machine-readable instructions to perform the steps of the method described in Embodiment 1.

[0121] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps described in Embodiment 1.

[0122] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, electronic devices, and computer-readable storage media described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0123] In the several embodiments provided in this application, it should be understood that the disclosed methods, apparatuses, electronic devices, and computer-readable storage media can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or modules may be electrical, mechanical, or other forms.

[0124] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0125] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0126] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0127] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the claims.

Claims

1. A method for path planning for a transfer task, characterized in that, In a planar storage yard, multiple parking spaces are arranged in a matrix, with each row of parking spaces parallel and adjacent to at least one main aisle; the method includes: Receive transfer instructions from straddle carriers for performing transfer tasks; the transfer instructions include the departure position and the destination position of the straddle carrier, a first direction vector from the departure position to its adjacent main road, and a second direction vector from the adjacent main road to the destination position; one of the departure position and the destination position is a target parking location in a flat storage yard where goods to be transferred are parked, and the other position is located in the target site. In the global environment grid map, the goods to be transferred are temporarily removed from the obstacles to generate an obstacle grid map; the global environment grid map covers the planar storage yard, and when the target site does not belong to the planar storage yard, the global environment grid map also covers the target site; Based on the first direction vector, a first straight path is determined from the starting position to its adjacent main road, and the endpoint of the first straight path located on the main road is taken as the first position; based on the second direction vector, a second straight path is determined from the adjacent main road of the ending position to the ending position, and the endpoint of the second straight path located on the main road is taken as the second position. In the obstacle grid map, based on the safety radius preset for the straddle carrier, starting from the first position, a path search is performed with the straight-line movement cost being a preset value and the turning movement cost being N times the preset value, so that the searched path from the first position to the second position is the target path with the minimum total movement cost. Connect the first straight path, the target path, and the second straight path end to end to obtain the final driving path.

2. The method according to claim 1, characterized in that, When the transport vehicle's transfer task is to drive from its original parking space in the target site to the target parking space to pick up the goods to be transferred located in the target parking space, the starting position is the original parking space and the ending position is the target parking space; When the transport vehicle's transfer task is to transport the goods to be transferred from the target parking space to the target location in the target site, the starting position is the target parking space; and the ending position is the target location.

3. The method according to claim 1, characterized in that, In the obstacle grid map, based on a preset safety radius for the straddle carrier, starting from the first position, a path search is performed with the straight-line movement cost being a preset value and the turning movement cost being N times the preset value, so that the searched path from the first position to the second position is the target path with the minimum total movement cost, including: From a pre-set set of decreasing safety radii, select one safety radius in descending order as the current safety radius; In the obstacle grid map, based on the current safety radius, starting from the first position, path search is performed with the straight-line movement cost being a preset value and the turning movement cost being N times the preset value. If a target path with the minimum total movement cost between the first position and the second position is successfully found, the iteration stops; if a target path with the minimum total movement cost between the first position and the second position is not successfully found, the next safety radius is selected to continue the path search until a target path is successfully found or the set of safety radii is traversed.

4. The method according to claim 3, characterized in that, After selecting a safety radius from a pre-set set of decreasing safety radii in descending order as the current safety radius, the method further includes: Verify whether the first position and the second position meet the safety distance requirements of the current safety radius. If there are obstacles within the current safety radius around either the first position or the second position, then directly select the next safety radius.

5. The method according to claim 1 or 3, characterized in that, The path search starting from the first position, with the straight-line movement cost being a preset value and the turning movement cost being N times the preset value, includes: The first position is used as the initial current expansion point, and the first position is added to the candidate point set; During the path search process, each adjacent path point of the current expansion point is added to the candidate point set, and for each adjacent path point, the cost f of that adjacent path point is calculated according to the following formula: f = g + h + p Wherein, g represents the cumulative straight-line movement cost from the first position to the adjacent path point; the cumulative straight-line movement cost is obtained by summing the straight-line movement costs of each straight-line segment traversed; h represents the distance cost from the adjacent path point to the second position; the distance cost is determined based on the Manhattan distance between the adjacent path point and the second position; the distance cost is positively correlated with the Manhattan distance; p represents the cumulative turning movement cost from the first position to the adjacent path point; the cumulative turning movement cost is obtained by summing the turning movement costs of each turning segment traversed. Record the parent node of each adjacent path point; the parent node is the current expansion point for expanding the adjacent path point. The path point that is the current expansion point is removed from the candidate point set, and the path point with the smallest substitution value is selected from the candidate point set as the next current expansion point. The substitution value of each adjacent path point of the next current expansion point is calculated until the selected current expansion point is the second position and the search stops. Wherein, for any path point in the candidate point set, if the substitution value of the path point calculated later is different from the substitution value of the path point calculated earlier, the minimum substitution value is retained as the substitution value of the path point. Based on the parent node of each recorded adjacent path point, the target path is obtained by tracing back from the second position to the first position.

6. The method according to claim 1, characterized in that, The obstacles in the obstacle grid map include: all goods in the current flat storage yard except for the goods to be transferred, and obstacles other than the goods; and when the target site does not belong to the flat storage yard, the obstacles in the obstacle grid map also include all obstacles in the target site.

7. The method according to claim 1, characterized in that, The method further includes: The final travel path is sent to the control unit of the straddle carrier so that the control unit controls the straddle carrier to travel according to the final travel path.

8. A path planning device for transfer tasks, characterized in that, The planar storage yard has multiple parking spaces arranged in a matrix, with each row of parking spaces parallel and adjacent to at least one main road; the device includes: The receiving module is used to receive the transfer instructions of the straddle carrier for performing the transfer task; the transfer instructions include the departure position and the destination position of the straddle carrier, a first direction vector from the departure position to its adjacent main road, and a second direction vector from the adjacent main road to the destination position; one of the departure position and the destination position is a target parking position in the flat yard where the goods to be transferred are parked, and the other position is located in the target site. The first generation module is used to temporarily remove the goods to be transferred from the obstacles in the global environment grid map to generate an obstacle grid map; the global environment grid map covers the planar storage yard, and when the target site does not belong to the planar storage yard, the global environment grid map also covers the target site; The determining module is configured to determine, based on the first direction vector, a first straight path from the starting position to its adjacent main road, and take the endpoint of the first straight path located on the main road as the first position; and based on the second direction vector, determine a second straight path from the adjacent main road of the ending position to the ending position, and take the endpoint of the second straight path located on the main road as the second position. The search module is used to perform path search in the obstacle grid map, based on the preset safety radius for the straddle carrier, starting from the first position, with the straight-line movement cost being a preset value and the turning movement cost being N times the preset value, so that the searched path from the first position to the second position is the target path with the minimum total movement cost. The second generation module is used to connect the first straight path, the target path, and the second straight path end to end to obtain the final driving path.

9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is in operation, the processor communicates with the memory via the bus, and the machine-readable instructions, when executed by the processor, perform the steps of the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the method as described in any one of claims 1 to 7.

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